diff --git a/episodes/c2_p017_e027/data.npz b/episodes/c2_p017_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9cc29a517f7c7a9cfc5769a088864b2854a00c30 --- /dev/null +++ b/episodes/c2_p017_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30a6cc0753fd5a5a942bcb66800e68f75f63051c47f6549660b0e70ea4632871 +size 185688 diff --git a/episodes/c2_p017_e027/device_events.jsonl b/episodes/c2_p017_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8be08e9bbc120df02f7ce658440e0774540614d4 --- /dev/null +++ b/episodes/c2_p017_e027/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 3, "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": 3, "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": 3, "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": 3, "seq": 4, "step": 2201, "t": 11.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 2292, "t": 11.46, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 2353, "t": 11.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "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": 3, "seq": 8, "step": 7380, "t": 36.9, "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": 9, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.027014996350571}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 7380, "t": 36.9, "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": 11, "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": 3, "seq": 12, "step": 7380, "t": 36.9, "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": 13, "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": 3, "seq": 14, "step": 7799, "t": 38.995, "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": 15, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7799, "t": 38.995, "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": 17, "step": 7799, "t": 38.995, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 7799, "t": 38.995, "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": 20, "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": 3, "seq": 21, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.027014996350571}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8205, "t": 41.025, "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": 8205, "t": 41.025, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0300000000010385}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8205, "t": 41.025, "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": 2.0300000000010385}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 8205, "t": 41.025, "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": 8205, "t": 41.025, "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": 8205, "t": 41.025, "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": 8625, "t": 43.125, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 29, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.952746711696989e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.952746711696989e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 33, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 9207, "t": 46.035, "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": 10980, "t": 54.9, "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": 36, "step": 10980, "t": 54.9, "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": 10980, "t": 54.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 38, "step": 10980, "t": 54.9, "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/c2_p017_e027/env.mp4 b/episodes/c2_p017_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..43f786d32b1a08838c7fc1436df18377d53ab310 --- /dev/null +++ b/episodes/c2_p017_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce5fc1de0fc2b0399a86af7f25b9e39a99aedd9a621708760d5953e9bb58c71a +size 1223622 diff --git a/episodes/c2_p017_e027/meta.json b/episodes/c2_p017_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..efc334d97852652b7253389383c660c852b99e83 --- /dev/null +++ b/episodes/c2_p017_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p017/magicsim/27", + "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": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p017_e027/scene_snapshot.json b/episodes/c2_p017_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1d58cde0f7883959b39647e443d23efe7a1f5523 --- /dev/null +++ b/episodes/c2_p017_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 3, + "run_id": "c2_p017", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5008344650268555, + 0.05531501770019531, + 0.8999999761581421 + ], + "ori": [ + -0.7013771533966064, + 0.0, + 0.0, + 0.7127903699874878 + ], + "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": [ + 1.682081991055684e-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": 0.22684727236336255, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26278602120828654, + "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": 0.22684727236336255, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.654195785522461, + 0.6330804824829102, + 0.8999999761581421 + ], + "ori": [ + 0.8642101883888245, + 5.301076555497275e-08, + -8.19012200281577e-08, + 0.5031310319900513 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.839700065735087e-07, + -7.438962370542868e-07, + -2.030283212661743e-06 + ], + "angular_velocity": [ + 6.714921619277447e-05, + -4.239270492689684e-05, + -1.6440450281152152e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11315536499023438, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.8514014200075053e-10, + 3.7233180427698187e-10, + 3.1402585591422394e-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": [ + 1.9545784990526727e-09, + 1.7574837141154376e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.17032469563128e-08, + 1.656950558981407e-07, + -2.9191140171747065e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5271015167236328, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -4.2425148421898484e-05, + 5.328403052118347e-09, + 1.6683493475611044e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4261503089585403e-09, + 6.99109103940998e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.5737827747416304e-08, + -1.336861288336877e-07, + -1.4369896383925607e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2940568923950195, + 1.0472145080566406, + 0.8999999761581421 + ], + "ori": [ + -0.3725985288619995, + 4.444287071692088e-08, + -1.0802057026637613e-09, + 0.9279926419258118 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0766374730918358e-10, + 2.2398710664006671e-10, + 0.0 + ], + "angular_velocity": [ + -5.05828054997437e-08, + -3.232464962366066e-08, + 5.185242013538982e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6682558059692383, + 0.6378002166748047, + 0.9179999828338623 + ], + "ori": [ + 0.8883812427520752, + 6.53183178656036e-08, + -7.050246608741872e-08, + 0.45910653471946716 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.313341158493131e-06, + -1.7092504549509613e-06, + -1.084059476852417e-06 + ], + "angular_velocity": [ + 6.662452506134287e-05, + -4.4395430450094864e-05, + -9.083655072572583e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.1283435821533203, + 0.4383535385131836, + 0.9180000424385071 + ], + "ori": [ + 0.9992470145225525, + -1.586254350094407e-09, + -8.106491866666232e-11, + 0.038799215108156204 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.711772501522546e-09, + 2.586015845906786e-08, + -5.777925252914429e-06 + ], + "angular_velocity": [ + 6.094612103879626e-08, + -1.6769258763815742e-06, + -7.619890141086216e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.5222749710083008, + 1.1430425643920898, + 0.9180000424385071 + ], + "ori": [ + 0.029759442433714867, + 6.062121471472892e-09, + 2.75414802075602e-09, + 0.9995571374893188 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.711202343330115e-09, + -4.595029690079855e-09, + -5.1818788051605225e-06 + ], + "angular_velocity": [ + -7.383443971775705e-07, + 1.7537172425363678e-06, + -1.3162370748887042e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.2886934280395508, + 1.0523157119750977, + 0.9179999828338623 + ], + "ori": [ + -0.4338058531284332, + 4.727461089260032e-08, + -4.055084712462076e-09, + 0.9010064005851746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4784326651806623e-08, + 7.261071033326516e-08, + -3.6284327507019043e-06 + ], + "angular_velocity": [ + -2.8654160360019887e-06, + 2.7610404629285767e-08, + 7.659896539280453e-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": 8.559999999999938, + "step": 1712, + "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": 1.682081991055684e-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": 0.22684727236336255, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1622, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5041957795619965, + 0.1830804944038391, + 0.0 + ], + "carrier_2": [ + -0.26315537095069885, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 0.37710151076316833, + 0.6999977231025696, + 0.0 + ], + "carrier_4": [ + -1.444056898355484, + 0.5972145199775696, + 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": [ + 0.6075449755138042, + 0.22274563364848532, + 2.9940043092864896 + ], + "ori": [ + 2.763547971685, + -5.383291236956364, + -10.630280806204485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5653.054650006854, + "color": [ + 0.8831102539316213, + 0.9763296761072483, + 0.8081732288614341 + ], + "intensity": 12667.813188894715, + "width": 1.4402054951983363, + "height": 1.3492170635964513 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.49591547946284265, + -0.7623389461724048, + 1.683369618415382 + ], + "ori": [ + -19.652455290568493, + -37.409300471390964, + 38.56346146606421 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7272.339678668016, + "color": [ + 0.8474813346255994, + 0.9860802477197264, + 0.7668886095279686 + ], + "intensity": 2353.154937773726, + "radius": 0.15023657606922497 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 923.0304078652454, + "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": [ + [ + 0.9141044616699219, + -1.7193961143493652, + 2.090498685836792, + -1.941901683807373, + -1.5707999467849731, + 2.484901189804077, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.7957353591918945, + -1.6382490396499634, + 2.0550506114959717, + -1.987889051437378, + -1.5702509880065918, + 4.3640828132629395, + 0.007775448262691498, + 0.0070358216762542725 + ], + [ + 2.8042402267456055, + -1.5167289972305298, + 2.1442315578460693, + -2.1983041763305664, + -1.5706918239593506, + 4.374378204345703, + 0.007765494287014008, + 0.007128997705876827 + ], + [ + 0.9141119122505188, + -1.7193937301635742, + 2.090496778488159, + -1.941900372505188, + -1.5707999467849731, + 2.484907627105713, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + 2.877254467452853e-38, + 0.0, + -2.5909223878225846e-38, + -6.424522531625537e-37, + 0.0, + -2.840828834911501e-37, + 5.19807805687833e-08, + -5.1980777016069624e-08 + ], + [ + 0.005728700198233128, + 0.01981143280863762, + -0.018124299123883247, + -0.0017993811052292585, + -0.00026590333436615765, + 0.006647947710007429, + -0.009068352170288563, + 0.00035635390668176115 + ], + [ + -0.0005101325223222375, + -6.26301480224356e-05, + 0.00019627712026704103, + -0.0008289336692541838, + -0.004179653711616993, + 0.010111709125339985, + -0.008257461711764336, + 0.0003234771720599383 + ], + [ + 3.405963752811658e-06, + 3.4059373774653068e-06, + -9.381960486276597e-12, + -1.1157423726246285e-12, + -3.405976940484834e-06, + 9.73131514606096e-13, + 5.198058161681729e-08, + -5.198040753384703e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.046055980026721954, + -0.0011049580061808228, + -0.028713535517454147, + -0.28231191635131836, + 0.6452641487121582, + 0.6486639976501465, + -0.28839072585105896 + ], + [ + 0.052776917815208435, + 4.755493137054145e-05, + -0.02943790890276432, + -0.269745409488678, + 0.6512646675109863, + 0.6487510800361633, + -0.28672945499420166 + ], + [ + 0.05029536038637161, + 0.0012950511882081628, + -0.025445707142353058, + -0.2804911434650421, + 0.648980438709259, + 0.6497126221656799, + -0.2793252170085907 + ], + [ + 0.050600167363882065, + -0.0011828052811324596, + -0.031033026054501534, + -0.2726399600505829, + 0.6593852043151855, + 0.6384662389755249, + -0.2885124385356903 + ] + ], + "camera1": [ + [ + 0.06153901293873787, + 0.5888142585754395, + 1.9322865009307861, + 0.04202638939023018, + 0.012042325921356678, + 0.28131771087646484, + 0.9586183428764343 + ], + [ + 0.06115063652396202, + 0.564190149307251, + 1.965323567390442, + 0.05247778818011284, + 0.004319620318710804, + 0.2684183120727539, + 0.9618622660636902 + ], + [ + 0.060152824968099594, + 0.5681736469268799, + 1.9643558263778687, + 0.031501445919275284, + 0.0033089839853346348, + 0.28750187158584595, + 0.9572561979293823 + ], + [ + 0.03913158178329468, + 0.5807902812957764, + 1.9281389713287354, + 0.040158480405807495, + 0.029172243550419807, + 0.2675740122795105, + 0.962257981300354 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p017_e027/wrist.mp4 b/episodes/c2_p017_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3b8ac3e67c9bb955692a55098646df93d379130b --- /dev/null +++ b/episodes/c2_p017_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ea4948a567615b71a7691ad856ee2fd1cf5b28d0d76fc52b0095419c2c7a6c1 +size 6791829 diff --git a/episodes/c4_p015_e000/data.npz b/episodes/c4_p015_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..bc9e9d686d8231e5bc8b18c1c353fbf044536f5c --- /dev/null +++ b/episodes/c4_p015_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f6e23ec9fac7719fcd7527605f488d620cf77851a3a9079ca3802ec52947e95 +size 185415 diff --git a/episodes/c4_p015_e000/device_events.jsonl b/episodes/c4_p015_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..075e2ddb490ef79b101a3eb5283c28d092d98b72 --- /dev/null +++ b/episodes/c4_p015_e000/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "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": 2, "seq": 3, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1047, "t": 5.235, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1117, "t": 5.585, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 5662, "t": 28.31, "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": 6276, "t": 31.38, "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": 6276, "t": 31.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.15951798532775}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6276, "t": 31.38, "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": 6276, "t": 31.38, "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": 6276, "t": 31.38, "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": 6695, "t": 33.475, "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": 6695, "t": 33.475, "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": 6695, "t": 33.475, "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": 6695, "t": 33.475, "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": 6695, "t": 33.475, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6695, "t": 33.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 6695, "t": 33.475, "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": 6695, "t": 33.475, "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": 6695, "t": 33.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.15951798532775}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7127, "t": 35.635, "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": 7127, "t": 35.635, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.160000000001105}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7127, "t": 35.635, "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": 2.160000000001105}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7127, "t": 35.635, "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": 7127, "t": 35.635, "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": 7127, "t": 35.635, "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": 7547, "t": 37.735, "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": 7547, "t": 37.735, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7547, "t": 37.735, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7547, "t": 37.735, "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": 7547, "t": 37.735, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 7547, "t": 37.735, "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": 8128, "t": 40.64, "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": 9812, "t": 49.06, "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": 9812, "t": 49.06, "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": 9812, "t": 49.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 9812, "t": 49.06, "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_p015_e000/env.mp4 b/episodes/c4_p015_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..291b3fa4a79eb45751058d39eb7c1452259677a7 --- /dev/null +++ b/episodes/c4_p015_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d9189f45e19c3f37c1f7333977e786b601bc734d78b18c9c15bdf9fd81e33e2 +size 1264289 diff --git a/episodes/c4_p015_e000/meta.json b/episodes/c4_p015_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..985c5880a9ff239255d50f526aa4f6770ec9ef25 --- /dev/null +++ b/episodes/c4_p015_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p015/magicsim/0", + "fps": 25, + "frames": 1153, + "kept_ticks": "even", + "video_frames": { + "wrist": 1153, + "env": 1153 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p015_e000/scene_snapshot.json b/episodes/c4_p015_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..449ec4e84db47e19ba63b618b433a30b05deea14 --- /dev/null +++ b/episodes/c4_p015_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 2, + "run_id": "c4_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.4776611328125, + 0.0931386947631836, + 0.8999999761581421 + ], + "ori": [ + 0.734546422958374, + 0.0, + 0.0, + -0.6785584092140198 + ], + "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": 0.2452546246612542, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09096798999111927, + "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": 0.2452546246612542, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2364282608032227, + 1.0923070907592773, + 0.8999999761581421 + ], + "ori": [ + -0.27245819568634033, + 4.419557697588061e-08, + 4.587085555840531e-08, + 0.9621676206588745 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.396380038849344e-10, + 3.867228204335049e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.6094462529945304e-08, + 3.969288187022357e-08, + 4.490715355132124e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0585479736328125, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.0015156199093553e-09, + -2.2948631883679127e-09, + -7.67976507631829e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4349723631568168e-09, + 1.2341602184662293e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.663668810664603e-08, + 1.2950198424732662e-07, + -1.1354877038627365e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.23800373077392578, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 4.880748747382313e-05, + -1.0730415445081576e-09, + 4.1032471864710374e-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": [ + -7.498268672634367e-11, + -6.442661959482621e-10, + 0.0 + ], + "angular_velocity": [ + 8.332440160074839e-08, + 1.2299111062930024e-08, + -9.205441742210496e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6709794998168945, + 0.6675939559936523, + 0.8999999761581421 + ], + "ori": [ + 0.8351379036903381, + 2.9368786513828127e-08, + 5.505413014361693e-08, + 0.5500407814979553 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.571114876559477e-09, + 3.4389513459132104e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.0531604743846401e-07, + -3.734132292265713e-08, + -2.6195625224545438e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.2340755462646484, + 1.0905046463012695, + 0.9179999828338623 + ], + "ori": [ + -0.29734593629837036, + 4.5047450214497076e-08, + 4.761214000836844e-08, + 0.9547697901725769 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1949674078314274e-08, + 2.7612689024181236e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -1.2326149771979544e-06, + 6.439227036025841e-07, + 8.424341046975314e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.04394054412841797, + 0.44953060150146484, + 0.9180000424385071 + ], + "ori": [ + 0.9991300702095032, + 2.7566013915958365e-09, + -1.381574521452933e-09, + -0.041702330112457275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.4574010321364312e-09, + 1.2809171501260153e-08, + -5.6140124797821045e-06 + ], + "angular_velocity": [ + 5.153768256604963e-07, + -1.8220832771476125e-06, + -4.6784091267682015e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.24700260162353516, + 1.1431665420532227, + 0.9180000424385071 + ], + "ori": [ + 0.01917947083711624, + -2.060353665456205e-09, + -4.964617050795539e-10, + 0.9998161196708679 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.032063097436094e-09, + -7.705570403970796e-09, + -5.211681127548218e-06 + ], + "angular_velocity": [ + -5.206337050367438e-07, + 1.4196123174770037e-06, + 5.166348415741595e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6845312118530273, + 0.6716737747192383, + 0.9179999828338623 + ], + "ori": [ + 0.7894464135169983, + 3.4626037148655087e-08, + 4.985380286370855e-08, + 0.6138195991516113 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.07529252963468e-08, + -5.242369383040568e-08, + -1.519918441772461e-06 + ], + "angular_velocity": [ + 2.5545150492689572e-06, + -2.2806193555879872e-06, + -1.9946006091231538e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.1199999999999557, + "step": 624, + "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": 0.2452546246612542, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 530, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.3864282667636871, + 0.6423071026802063, + 0.0 + ], + "carrier_2": [ + -0.09145203232765198, + -3.039836883544922e-06, + 0.0 + ], + "carrier_3": [ + 0.0880037248134613, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + 1.52097949385643, + 0.2175939679145813, + 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": [ + 0.10393554801689142, + -0.3177575866256698, + 2.8485238322851822 + ], + "ori": [ + 12.384577398353539, + -9.417254278102703, + 23.190928761857002 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4099.078907758183, + "color": [ + 0.9746318478846879, + 0.8530816973833006, + 0.8378389615868325 + ], + "intensity": 7820.23504188014, + "width": 2.110308483416581, + "height": 1.1565535375695104 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.193160957077988, + -0.5724729786379622, + 2.681945910990974 + ], + "ori": [ + -8.158510892867561, + -12.466465399401024, + -34.401619294413095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7227.5253625050855, + "color": [ + 0.8322037962175257, + 0.8433007512985489, + 0.9009003359526027 + ], + "intensity": 2436.0512825858013, + "radius": 0.12224574341115708 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1100.1798306404237, + "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": [ + [ + 0.050849173218011856, + -0.002810340840369463, + -0.027304207906126976, + -0.27428576350212097, + 0.6521643996238708, + 0.6540155410766602, + -0.26779207587242126 + ], + [ + 0.04600204899907112, + -0.0010753415990620852, + -0.030709780752658844, + -0.28659775853157043, + 0.6449413895606995, + 0.6554920077323914, + -0.2687796950340271 + ], + [ + 0.05119007080793381, + -0.004503393545746803, + -0.03182486817240715, + -0.29331132769584656, + 0.6383795142173767, + 0.6538002490997314, + -0.2810432016849518 + ], + [ + 0.050404131412506104, + -0.0015576704172417521, + -0.029432686045765877, + -0.28644615411758423, + 0.6499292850494385, + 0.6439133286476135, + -0.28445756435394287 + ] + ], + "camera1": [ + [ + 0.05453416332602501, + 0.5892351865768433, + 1.9702764749526978, + 0.028143227100372314, + 0.007130261044949293, + 0.2828567624092102, + 0.9587226510047913 + ], + [ + 0.05162474513053894, + 0.5865690112113953, + 1.9718877077102661, + 0.04509630799293518, + 0.0038586845621466637, + 0.2860357463359833, + 0.9571493864059448 + ], + [ + 0.02673882246017456, + 0.5754377245903015, + 1.9644941091537476, + 0.056790485978126526, + 0.013017404824495316, + 0.2662488520145416, + 0.9621418714523315 + ], + [ + 0.06878474354743958, + 0.5917893052101135, + 1.934268832206726, + 0.029427025467157364, + 0.0153779536485672, + 0.259988397359848, + 0.9650407433509827 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p015_e000/wrist.mp4 b/episodes/c4_p015_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f006cc2d3ed5b2ab44fd19dd195beebbecacd7a7 --- /dev/null +++ b/episodes/c4_p015_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9f44bfed4d1882b5b18baf6dbd827a40e2dc6d35f6a3dde17a0d4204578d075 +size 6388140 diff --git a/episodes/c4_p015_e001/data.npz b/episodes/c4_p015_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a94aece98a84c4b91e145f5d740b88f9e6f67891 --- /dev/null +++ b/episodes/c4_p015_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48c6b0ff4f91b9e43139ff576d60fd3a29d3b5f7f46cde1dda65a72257129015 +size 200768 diff --git a/episodes/c4_p015_e001/device_events.jsonl b/episodes/c4_p015_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d073f25ba151051496dc7c415bc398f3468e6a79 --- /dev/null +++ b/episodes/c4_p015_e001/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "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": 3, "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": 3, "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": 3, "seq": 4, "step": 1314, "t": 6.57, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6223, "t": 31.115, "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": 6836, "t": 34.18, "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": 7, "step": 6836, "t": 34.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.808376070524364}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6836, "t": 34.18, "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": 9, "step": 6836, "t": 34.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6836, "t": 34.18, "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": 11, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7255, "t": 36.275, "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": 13, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7255, "t": 36.275, "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": 15, "step": 7255, "t": 36.275, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7255, "t": 36.275, "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": 18, "step": 7255, "t": 36.275, "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": 7255, "t": 36.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.808376070524364}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7617, "t": 38.085, "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": 7617, "t": 38.085, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.810000000000926}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7617, "t": 38.085, "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": 1.810000000000926}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7617, "t": 38.085, "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": 24, "step": 7617, "t": 38.085, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 7617, "t": 38.085, "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": 26, "step": 8037, "t": 40.185, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8037, "t": 40.185, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.867683417979606e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8037, "t": 40.185, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.867683417979606e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8037, "t": 40.185, "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": 30, "step": 8037, "t": 40.185, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8037, "t": 40.185, "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": 32, "step": 8619, "t": 43.095, "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": 10836, "t": 54.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10836, "t": 54.18, "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": 10836, "t": 54.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10836, "t": 54.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p015_e001/env.mp4 b/episodes/c4_p015_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d302ea580c71407e19f778bc6f921c2a682a5040 --- /dev/null +++ b/episodes/c4_p015_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3853f9aad4ee6314295a553a6c524552c9ad944556f2d1c0ebba83ad548eba64 +size 1341063 diff --git a/episodes/c4_p015_e001/meta.json b/episodes/c4_p015_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adea27a4fc531b7395723ee3e93b6ae4c07ed7b4 --- /dev/null +++ b/episodes/c4_p015_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p015/magicsim/1", + "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": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p015_e001/scene_snapshot.json b/episodes/c4_p015_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3a33f1ab7b467102d4f906b1e819010f4ea5a6 --- /dev/null +++ b/episodes/c4_p015_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 3, + "run_id": "c4_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.515411376953125, + 0.0921182632446289, + 0.8999999761581421 + ], + "ori": [ + 0.7259191274642944, + 0.0, + 0.0, + -0.6877800822257996 + ], + "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": [ + 1.8072443498315383e-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": 0.25158855116235845, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.16119833352476584, + "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": 0.25158855116235845, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6570119857788086, + 0.638127326965332, + 0.8999999761581421 + ], + "ori": [ + 0.8609982132911682, + -9.053977834128091e-08, + 1.2733252674479445e-08, + 0.5086080431938171 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.299029789464839e-07, + 6.633765678998316e-07, + -3.825873136520386e-06 + ], + "angular_velocity": [ + -5.371599763748236e-05, + 5.432805119198747e-05, + 1.007981268230651e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.30058956146240234, + 1.152705192565918, + 0.8999999761581421 + ], + "ori": [ + -0.00917025189846754, + 4.057612912333752e-08, + -2.012159883157949e-10, + 0.9999579787254333 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.0801317879868293e-10, + 4.343323034561308e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -2.80898831306331e-07, + -6.150914089175785e-08, + -1.0178617948497504e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.011491775512695312, + 0.44728565216064453, + 0.8999999761581421 + ], + "ori": [ + 0.9999494552612305, + -1.1957811407725671e-09, + 1.4334857745268437e-09, + 0.010054560378193855 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.656909302624967e-10, + 1.6507969435863856e-09, + 0.0 + ], + "angular_velocity": [ + -3.9707803267674535e-08, + -1.8451215666459575e-08, + 2.4410679699826687e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3928756713867188, + 0.8554220199584961, + 0.8999999761581421 + ], + "ori": [ + -0.6414987444877625, + -3.274552540233344e-08, + -4.789905716506837e-08, + 0.7671241760253906 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.24270715729358e-09, + 5.935122615596811e-09, + -4.0978193283081055e-08 + ], + "angular_velocity": [ + -1.0460528301337035e-06, + -3.324588533359929e-07, + 3.6267486791530246e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6491146087646484, + 0.6453580856323242, + 0.9179999828338623 + ], + "ori": [ + 0.8484342694282532, + -1.0008816531126286e-07, + 6.959723464206036e-09, + 0.5293008685112 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.482131665397901e-06, + 1.4131658190308372e-06, + -3.766268491744995e-06 + ], + "angular_velocity": [ + -5.32131343788933e-05, + 5.429856537375599e-05, + 1.0924559319391847e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.30434322357177734, + 1.1615877151489258, + 0.9180000424385071 + ], + "ori": [ + -0.0619535818696022, + 3.978659890435665e-08, + -8.919344152147346e-10, + 0.9980790615081787 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1685990841669991e-08, + 2.6351276716241046e-08, + -5.271285772323608e-06 + ], + "angular_velocity": [ + -1.318096337854513e-06, + 2.334811597393127e-06, + -5.793835455847329e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.002758026123046875, + 0.44120121002197266, + 0.9180000424385071 + ], + "ori": [ + 0.9990825653076172, + -1.9051253907775845e-09, + 2.0449673066025298e-09, + -0.04282635450363159 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.949921373840425e-08, + 1.0331652866568675e-08, + -5.122274160385132e-06 + ], + "angular_velocity": [ + -3.903650167558226e-07, + -1.8245457340526627e-06, + 2.0093081332106522e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3828773498535156, + 0.8610258102416992, + 0.9179999828338623 + ], + "ori": [ + -0.6719683408737183, + -2.8996934631209115e-08, + -4.205761783282469e-08, + 0.7405799031257629 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.124489905166229e-08, + 4.757731275617516e-08, + -3.1925737857818604e-06 + ], + "angular_velocity": [ + -3.0637049803772243e-06, + -2.2570338842342608e-06, + -2.412818673747097e-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": 4.519999999999926, + "step": 904, + "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": 1.8072443498315383e-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": 0.25158855116235845, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 733, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5070119798183441, + 0.188127338886261, + 0.0 + ], + "carrier_2": [ + 0.15058955550193787, + 0.7027052044868469, + 0.0 + ], + "carrier_3": [ + -0.1614917814731598, + -0.0027143359184265137, + 0.0 + ], + "carrier_4": [ + -1.5428756773471832, + 0.40542203187942505, + 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": [ + 0.5643988504509235, + -0.4128115862920677, + 2.6135554741785523 + ], + "ori": [ + 0.9812444946551597, + -10.176848749957095, + 21.440970089631655 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7102.034881477722, + "color": [ + 0.9106636387944921, + 0.9265219651271598, + 0.9617638559171929 + ], + "intensity": 4806.947499685225, + "width": 2.382880667920335, + "height": 1.7661530679087636 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3504451339589285, + -0.9485437250156032, + 2.4541838159327036 + ], + "ori": [ + 21.333991460863103, + -5.490731241480695, + 14.117480916425919 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4782.99675126253, + "color": [ + 0.909246078918767, + 0.7500970779266378, + 0.7763950771480569 + ], + "intensity": 10050.769458376519, + "radius": 0.23435356472672925 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1100.1798306404237, + "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 + ], + [ + 0.9140374660491943, + -1.7190977334976196, + 2.0903916358947754, + -1.9420915842056274, + -1.5707999467849731, + 2.484701156616211, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 0.8895014524459839, + -1.3838611841201782, + 2.1701338291168213, + -2.3570241928100586, + -1.5707961320877075, + 2.5434677600860596, + 0.018000049516558647, + 0.01799994893372059 + ], + [ + 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 + ], + [ + -0.0004072071169503033, + 0.0018302000826224685, + -0.0006135855219326913, + -0.0011013036128133535, + -2.0890402083750814e-06, + -0.0011578771518543363, + 3.22022378895781e-06, + -3.220304733986268e-06 + ], + [ + -0.0001477845071349293, + 0.016536889597773552, + 0.00826644990593195, + -0.0235640536993742, + -7.859266588639002e-06, + 1.9978109776275232e-05, + -7.217298389150528e-06, + 7.219167400762672e-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": [ + [ + 0.0511673279106617, + -0.0026903017424046993, + -0.027501050382852554, + -0.2740316092967987, + 0.6545918583869934, + 0.6534619331359863, + -0.263445645570755 + ], + [ + 0.04911506921052933, + 0.0011226554634049535, + -0.03094588592648506, + -0.2884478271007538, + 0.6409338712692261, + 0.6561061143875122, + -0.2748207151889801 + ], + [ + 0.048625148832798004, + -0.0025655480567365885, + -0.0332743264734745, + -0.2948215901851654, + 0.6383432745933533, + 0.6531410217285156, + -0.2810781002044678 + ], + [ + 0.04908480867743492, + -0.002137020928785205, + -0.024787964299321175, + -0.28370651602745056, + 0.6542806029319763, + 0.6398564577102661, + -0.28637605905532837 + ] + ], + "camera1": [ + [ + 0.05453416332602501, + 0.5892351865768433, + 1.9702764749526978, + 0.028143227100372314, + 0.007130261044949293, + 0.2828567624092102, + 0.9587226510047913 + ], + [ + 0.05162474513053894, + 0.5865690112113953, + 1.9718877077102661, + 0.04509630799293518, + 0.0038586845621466637, + 0.2860357463359833, + 0.9571493864059448 + ], + [ + 0.02673882246017456, + 0.5754377245903015, + 1.9644941091537476, + 0.056790485978126526, + 0.013017404824495316, + 0.2662488520145416, + 0.9621418714523315 + ], + [ + 0.06878474354743958, + 0.5917893052101135, + 1.934268832206726, + 0.029427025467157364, + 0.0153779536485672, + 0.259988397359848, + 0.9650407433509827 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p015_e001/wrist.mp4 b/episodes/c4_p015_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3b89f2b50038e5557b8afbb9387540b2a801c37e --- /dev/null +++ b/episodes/c4_p015_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31205ab4997999484dc8e8705270e76d4101fce4402a96dd9a4b46b78c530a19 +size 7898309 diff --git a/episodes/c4_p015_e002/data.npz b/episodes/c4_p015_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e5d5fcc02e5760ae956a1a296e061fcdd5f5d860 --- /dev/null +++ b/episodes/c4_p015_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcf67dc94d63661ebe8b342d56a6bb99569be078ef2af65b7a63badffbfe6e2a +size 192564 diff --git a/episodes/c4_p015_e002/device_events.jsonl b/episodes/c4_p015_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77c697c84af5eb1cf1ced984564ef67f41e4a91a --- /dev/null +++ b/episodes/c4_p015_e002/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 142, "t": 0.71, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "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": 1, "seq": 3, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6828045663394073}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7515, "t": 37.575, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6828045663394073}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8252, "t": 41.26, "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": 8252, "t": 41.26, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.685000000001885}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8252, "t": 41.26, "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": 3.685000000001885}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8252, "t": 41.26, "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": 8252, "t": 41.26, "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": 8252, "t": 41.26, "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": 8672, "t": 43.36, "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": 8672, "t": 43.36, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.112254062415559e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8672, "t": 43.36, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.112254062415559e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8672, "t": 43.36, "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": 8672, "t": 43.36, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8672, "t": 43.36, "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": 9251, "t": 46.255, "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": 10992, "t": 54.96, "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": 10992, "t": 54.96, "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": 10992, "t": 54.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10992, "t": 54.96, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p015_e002/env.mp4 b/episodes/c4_p015_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5804e3b34f1aa19ab5e9988c7b57c6414ec5fefd --- /dev/null +++ b/episodes/c4_p015_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53921ebe20ab213dcc87155de4c1ad662e1f25895ffc005ecf07cd32b046cf13 +size 1294183 diff --git a/episodes/c4_p015_e002/meta.json b/episodes/c4_p015_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..459219d3936d5c7d460c6f742c3b10a9970bb429 --- /dev/null +++ b/episodes/c4_p015_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p015/magicsim/2", + "fps": 25, + "frames": 1267, + "kept_ticks": "even", + "video_frames": { + "wrist": 1267, + "env": 1267 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p015_e002/scene_snapshot.json b/episodes/c4_p015_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fa75652ec3b9300acd054a908af73d86a894ded5 --- /dev/null +++ b/episodes/c4_p015_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 1, + "run_id": "c4_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4817361831665039, + 0.11155509948730469, + 0.8999999761581421 + ], + "ori": [ + 0.7353622317314148, + 0.0, + 0.0, + -0.6776742339134216 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0843461545340105e-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": 0.206540758052472, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04907166892770404, + "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": 0.206540758052472, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4678716659545898, + 0.47394847869873047, + 0.8999999761581421 + ], + "ori": [ + 0.9857919216156006, + 4.4954067135449804e-09, + -1.0719036325212983e-08, + 0.16797149181365967 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.788370090378578e-10, + -7.661310474915695e-10, + 0.0 + ], + "angular_velocity": [ + 3.6850792639597785e-08, + 1.6148359094358966e-08, + 3.2013671713571057e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10151481628417969, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.069162340414323e-09, + -2.513146357685514e-10, + 8.573582817916758e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4242186036360636e-10, + 1.771814917006509e-10, + 0.0 + ], + "angular_velocity": [ + -9.972538350666582e-10, + 1.2612805022627072e-08, + -2.836694212859925e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2760734558105469, + 0.5357351303100586, + 0.8999999761581421 + ], + "ori": [ + -0.9350600242614746, + 1.3968893597393617e-07, + 4.103217676743043e-08, + 0.3544895350933075 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.187145989462351e-09, + -9.01134189490449e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 7.564288466710423e-07, + -3.408766531265428e-07, + 3.5924504260265167e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11354255676269531, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 5.6028507970040664e-05, + -6.401411845047278e-09, + -2.9870799167497353e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1718733478337526e-09, + -1.1811752687052035e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 9.655586552526074e-08, + -2.2753432915578742e-07, + -4.8470649716136904e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.480478286743164, + 0.4711647033691406, + 0.9179999828338623 + ], + "ori": [ + 0.9799737930297852, + 4.24326751513604e-09, + -9.573948744900918e-09, + 0.19912652671337128 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7546384728793782e-08, + -2.9968738601837686e-08, + 6.332993507385254e-08 + ], + "angular_velocity": [ + 7.901475669314095e-07, + -1.194754531752551e-06, + 4.0258584022012656e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.09477424621582031, + 0.44362926483154297, + 0.9180000424385071 + ], + "ori": [ + 0.9972575306892395, + 3.83894782629568e-09, + 8.984222255037366e-10, + 0.07401030510663986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.260942235300718e-09, + 8.24120771625303e-09, + -5.1371753215789795e-06 + ], + "angular_velocity": [ + 1.0761800695036072e-06, + -2.8064221169188386e-07, + 1.056706580015998e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.2679567337036133, + 0.5314865112304688, + 0.9179999828338623 + ], + "ori": [ + -0.94222092628479, + 1.3994450398513436e-07, + 3.811313575852182e-08, + 0.33499231934547424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2762932044552144e-08, + 2.4437140311306393e-08, + -5.561858415603638e-06 + ], + "angular_velocity": [ + 1.7133652363554575e-07, + -1.282807261304697e-06, + 2.506034206817276e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.11202621459960938, + 1.1406316757202148, + 0.9179999828338623 + ], + "ori": [ + 0.05424026772379875, + -8.071713963886396e-09, + 5.670106606459058e-10, + 0.9985279440879822 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.923905467217992e-08, + 3.883490506950693e-08, + 2.3096799850463867e-07 + ], + "angular_velocity": [ + -1.906875695567578e-06, + 2.6894422262557782e-06, + -2.36830999256199e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.499999999999926, + "step": 900, + "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": 1.0843461545340105e-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": 0.206540758052472, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 757, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3178716599941254, + 0.023948490619659424, + 0.0 + ], + "carrier_2": [ + -0.04848518967628479, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + -1.4260734617710114, + 0.08573514223098755, + 0.0 + ], + "carrier_4": [ + -0.036457449197769165, + 0.6999948620796204, + 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": [ + 0.8606225382735636, + -0.28859309343571726, + 3.1090734813998715 + ], + "ori": [ + 4.709984199595009, + -14.958272877252808, + -21.167448731542052 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6105.183698314027, + "color": [ + 0.9734598856863002, + 0.9664538081362111, + 0.796196316251306 + ], + "intensity": 15039.956454872836, + "width": 2.010973378705711, + "height": 1.0718138437992493 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5963788554826988, + 0.5140085139536632, + 2.2969186895341656 + ], + "ori": [ + 38.95725949954067, + 16.88176913569876, + 1.0113019433289026 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3241.463076161883, + "color": [ + 0.8037635590097094, + 0.8121643903181942, + 0.9440820432125248 + ], + "intensity": 5628.338384032358, + "radius": 0.2158103696935485 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1100.1798306404237, + "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 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.8895045518875122, + -1.388505458831787, + 2.167799234390259, + -2.3500452041625977, + -1.5707961320877075, + 2.5434601306915283, + 0.018000053241848946, + 0.01799994893372059 + ], + [ + 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 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + -0.00014779192861169577, + 0.016372641548514366, + 0.008370366878807545, + -0.02350318618118763, + -7.832962182874326e-06, + 1.9988119674962945e-05, + -7.123705927369883e-06, + 7.073601864249213e-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": [ + [ + 0.050841644406318665, + -0.004752501379698515, + -0.026662077754735947, + -0.274339884519577, + 0.6571421027183533, + 0.650690495967865, + -0.26363563537597656 + ], + [ + 0.04842107370495796, + 0.00048231417895294726, + -0.03238191828131676, + -0.2884849011898041, + 0.640754759311676, + 0.6553735136985779, + -0.2769392132759094 + ], + [ + 0.050400905311107635, + -0.0025048810057342052, + -0.032175082713365555, + -0.297068327665329, + 0.6362075805664062, + 0.6525940895080566, + -0.2848004698753357 + ], + [ + 0.04877571016550064, + -0.0019843231420964003, + -0.026688560843467712, + -0.286263644695282, + 0.6530073881149292, + 0.6393365859985352, + -0.2878943681716919 + ] + ], + "camera1": [ + [ + 0.05453416332602501, + 0.5892351865768433, + 1.9702764749526978, + 0.028143227100372314, + 0.007130261044949293, + 0.2828567624092102, + 0.9587226510047913 + ], + [ + 0.05162474513053894, + 0.5865690112113953, + 1.9718877077102661, + 0.04509630799293518, + 0.0038586845621466637, + 0.2860357463359833, + 0.9571493864059448 + ], + [ + 0.02673882246017456, + 0.5754377245903015, + 1.9644941091537476, + 0.056790485978126526, + 0.013017404824495316, + 0.2662488520145416, + 0.9621418714523315 + ], + [ + 0.06878474354743958, + 0.5917893052101135, + 1.934268832206726, + 0.029427025467157364, + 0.0153779536485672, + 0.259988397359848, + 0.9650407433509827 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p015_e002/wrist.mp4 b/episodes/c4_p015_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6b1aea4cc567d98797504eb9756bc647c3d7a8bd --- /dev/null +++ b/episodes/c4_p015_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ef4339fa943ac4e886d4293f71f09e5ddebf9f03ec6edab76e87d235ab1c394 +size 6745360 diff --git a/episodes/c4_p015_e003/data.npz b/episodes/c4_p015_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f8746443dfdc7031efce5906b15ca90d2904ad31 --- /dev/null +++ b/episodes/c4_p015_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:069186955b1bc5564c9fdd215aa51f7a63d38f59f5a7a8dbf28a22a83dc9589b +size 186761 diff --git a/episodes/c4_p015_e003/device_events.jsonl b/episodes/c4_p015_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7003808251b3203150829fed5acf771da1630f17 --- /dev/null +++ b/episodes/c4_p015_e003/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 97, "t": 0.485, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "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": 0, "seq": 3, "step": 102, "t": 0.51, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2216, "t": 11.08, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6959, "t": 34.795, "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": 7568, "t": 37.84, "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": 7, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0644618175215728}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7568, "t": 37.84, "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": 9, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7568, "t": 37.84, "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": 11, "step": 7987, "t": 39.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7987, "t": 39.935, "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": 13, "step": 7987, "t": 39.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7987, "t": 39.935, "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": 15, "step": 7987, "t": 39.935, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7987, "t": 39.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7987, "t": 39.935, "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": 18, "step": 7987, "t": 39.935, "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": 7987, "t": 39.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0644618175215728}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8400, "t": 42.0, "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": 8400, "t": 42.0, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0650000000010564}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8400, "t": 42.0, "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": 2.0650000000010564}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8400, "t": 42.0, "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": 8400, "t": 42.0, "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": 8400, "t": 42.0, "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": 8820, "t": 44.1, "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": 8820, "t": 44.1, "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": 8820, "t": 44.1, "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": 8820, "t": 44.1, "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": 8820, "t": 44.1, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8820, "t": 44.1, "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": 9399, "t": 46.995, "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": 11128, "t": 55.64, "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": 34, "step": 11128, "t": 55.64, "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": 11128, "t": 55.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11128, "t": 55.64, "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/c4_p015_e003/env.mp4 b/episodes/c4_p015_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..53cf279c9302b3fcb942e3bbea48e4aa33fa8d2e --- /dev/null +++ b/episodes/c4_p015_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6284407825afaf5413e4ff5d8072ea78bcdf0a86f4f8c8f0a37bb2f422ca619 +size 1167331 diff --git a/episodes/c4_p015_e003/meta.json b/episodes/c4_p015_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dadf06b2f54151a530c9d0d175c37b2c6ee61708 --- /dev/null +++ b/episodes/c4_p015_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p015/magicsim/3", + "fps": 25, + "frames": 1182, + "kept_ticks": "even", + "video_frames": { + "wrist": 1182, + "env": 1182 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p015_e003/scene_snapshot.json b/episodes/c4_p015_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd6e0b432325dfba8db8a690eb3baee344ce01b --- /dev/null +++ b/episodes/c4_p015_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 0, + "run_id": "c4_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.47370147705078125, + 0.12525367736816406, + 0.8999999761581421 + ], + "ori": [ + 0.724022388458252, + 0.0, + 0.0, + -0.6897764801979065 + ], + "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": [ + 3.2530384636020315e-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": 0.25210140570915796, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2874530766806019, + "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": 0.25210140570915796, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13777732849121094, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.645258067093039e-10, + 7.898149356755368e-10, + -4.983975031791488e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.013145288832675e-10, + 5.383243295575824e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.9485960340025485e-08, + 3.381220281539754e-08, + -7.054624440172574e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4150848388671875, + 0.4595832824707031, + 0.8999999761581421 + ], + "ori": [ + 0.996225118637085, + -3.075565402355096e-08, + 1.139636083280493e-07, + 0.08680815249681473 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.058562457804783e-09, + 9.37182509375134e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + -2.442625657295139e-07, + 4.0816848922986537e-07, + -5.773716438284282e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4037904739379883, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 1.833926398830954e-05, + -6.3560259278006015e-09, + 3.8664498269724845e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7728201129330046e-09, + 2.8030044063598325e-08, + 0.0 + ], + "angular_velocity": [ + -6.385473056980118e-07, + 1.6604641928097408e-07, + -2.0417303403519327e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2214078903198242, + 1.1014289855957031, + 0.8999999761581421 + ], + "ori": [ + -0.2482721358537674, + 1.1788970510906438e-07, + -1.5075022119503956e-08, + 0.9686903357505798 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.148811129032424e-10, + 1.68699987312948e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.4062109455799146e-08, + 3.878067644791372e-09, + -1.4764546030221481e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.15119361877441406, + 0.45351314544677734, + 0.9179999828338623 + ], + "ori": [ + 0.9962639808654785, + -1.0194112221029172e-09, + 1.47745737866245e-09, + -0.08636029809713364 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4300825412760787e-08, + 1.3589751546305706e-10, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 6.40137841401156e-07, + -2.05561309485347e-06, + -3.769039125245399e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.4231491088867188, + 0.4719104766845703, + 0.9180000424385071 + ], + "ori": [ + 0.999836802482605, + -3.815102544990623e-08, + 1.1172986091878556e-07, + 0.018066730350255966 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.522903994721219e-09, + 7.819814129561564e-08, + -5.930662155151367e-06 + ], + "angular_velocity": [ + 9.866171239991672e-07, + -2.5077968075493118e-06, + 4.978221568308072e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.40564537048339844, + 1.1599998474121094, + 0.9180000424385071 + ], + "ori": [ + 0.04871489480137825, + -1.722248832436435e-08, + -1.2704921914519218e-07, + 0.998812735080719 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.785624802636448e-07, + 3.732036020664964e-06, + -6.586313247680664e-06 + ], + "angular_velocity": [ + 1.4188954992278013e-05, + -1.039462676999392e-05, + -2.5726709282025695e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.2111186981201172, + 1.1125850677490234, + 0.9179999828338623 + ], + "ori": [ + -0.26689326763153076, + 1.1678757516619953e-07, + -1.528852422438831e-08, + 0.9637261033058167 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.495319399528853e-08, + 5.5471705451282105e-08, + -1.914799213409424e-06 + ], + "angular_velocity": [ + -2.2372450985130854e-06, + 1.8398792462903657e-06, + 3.149514071765225e-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": 8.519999999999932, + "step": 1704, + "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": 3.2530384636020315e-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": 0.25210140570915796, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1606, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2877773344516754, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_2": [ + 1.265084832906723, + 0.00958329439163208, + 0.0 + ], + "carrier_3": [ + 0.2537904679775238, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + -1.3714078962802887, + 0.6514289975166321, + 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": [ + -0.5584234739139942, + 0.2943765421150579, + 2.711584628039236 + ], + "ori": [ + -1.9769923191284828, + 3.2874980901899633, + 14.018941718983072 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6397.753047305612, + "color": [ + 0.9723633449121003, + 0.8797363967570309, + 0.8149629635774877 + ], + "intensity": 11127.13855774808, + "width": 2.390348545038293, + "height": 1.2179026117684881 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.14169475055372227, + 0.3586191844079758, + 2.2415343030737476 + ], + "ori": [ + 6.717604300349571, + -20.7988057167016, + 29.010867835336427 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3588.9414864797945, + "color": [ + 0.9017129600235592, + 0.9913007537462886, + 0.966980635207721 + ], + "intensity": 8256.168590701764, + "radius": 0.18280407568906454 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1100.1798306404237, + "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 + ], + [ + 0.8458167314529419, + -1.3624640703201294, + 2.0013885498046875, + -2.209745407104492, + -1.5708048343658447, + 2.2684381008148193, + 0.007703054696321487, + 0.007007448468357325 + ], + [ + 0.8894238471984863, + -1.4975521564483643, + 2.092362642288208, + -2.1655824184417725, + -1.5708016157150269, + 2.5436511039733887, + 0.007718504406511784, + 0.007201691158115864 + ], + [ + 0.9619265794754028, + -1.5367459058761597, + 2.168869733810425, + -2.2029545307159424, + -1.5707626342773438, + 2.618374824523926, + 0.00766062643378973, + 0.006990733556449413 + ] + ], + "joint_vel": [ + [ + 2.4431411715151965e-38, + 0.0, + 0.0, + -5.575588120176031e-37, + 3.763895746655613e-37, + 1.8651843079549045e-37, + 2.7494316649131506e-38, + -1.1178709400994624e-37 + ], + [ + 0.0002679372555576265, + -0.0132111432030797, + -0.010115252807736397, + 0.02188034914433956, + 0.00013047517859376967, + 0.000202509734663181, + -0.008699851110577583, + 0.00031004342599771917 + ], + [ + 0.00016794238763395697, + -1.5376983355963603e-05, + -0.00031555109308101237, + -0.0001939137146109715, + 0.0004060596984345466, + 0.0014323790092021227, + -0.006460667122155428, + 0.0002911942428909242 + ], + [ + 0.00021197072055656463, + -0.012626947835087776, + -0.010370387695729733, + 0.02112395688891411, + 0.0004862172354478389, + 0.001989126205444336, + -0.008572926744818687, + 0.00021794121130369604 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04882785305380821, + -0.00297431624494493, + -0.027365172281861305, + -0.27219337224960327, + 0.6549549698829651, + 0.6532743573188782, + -0.2649102210998535 + ], + [ + 0.04620516672730446, + 0.0020428828429430723, + -0.03375236690044403, + -0.28829285502433777, + 0.6457664966583252, + 0.6526522040367126, + -0.27187854051589966 + ], + [ + 0.049887463450431824, + -9.978385787690058e-05, + -0.03333451226353645, + -0.29190492630004883, + 0.6363394856452942, + 0.6554000377655029, + -0.2833978831768036 + ], + [ + 0.049532730132341385, + 0.0005923844873905182, + -0.02764536254107952, + -0.2901135981082916, + 0.6527969837188721, + 0.640504002571106, + -0.2818595767021179 + ] + ], + "camera1": [ + [ + 0.05453416332602501, + 0.5892351865768433, + 1.9702764749526978, + 0.028143227100372314, + 0.007130261044949293, + 0.2828567624092102, + 0.9587226510047913 + ], + [ + 0.05162474513053894, + 0.5865690112113953, + 1.9718877077102661, + 0.04509630799293518, + 0.0038586845621466637, + 0.2860357463359833, + 0.9571493864059448 + ], + [ + 0.02673882246017456, + 0.5754377245903015, + 1.9644941091537476, + 0.056790485978126526, + 0.013017404824495316, + 0.2662488520145416, + 0.9621418714523315 + ], + [ + 0.06878474354743958, + 0.5917893052101135, + 1.934268832206726, + 0.029427025467157364, + 0.0153779536485672, + 0.259988397359848, + 0.9650407433509827 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p015_e003/wrist.mp4 b/episodes/c4_p015_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6bd218e5c590c5fccfc40cc04a42884932554a94 --- /dev/null +++ b/episodes/c4_p015_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1182d1b807c458399d425e4a61f6733d61fd5b294e611b7aca64fe337b5e2e31 +size 7185453 diff --git a/episodes/c8_p016_e008/data.npz b/episodes/c8_p016_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c53fb8517f0c3db38cac7c0a29ba724565d22e7 --- /dev/null +++ b/episodes/c8_p016_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86a7efba994230392f2fc609a984ae0579edccc9c2d7ebe9a0d6871880269c74 +size 190294 diff --git a/episodes/c8_p016_e008/device_events.jsonl b/episodes/c8_p016_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ff60bacac39ddc920b81f3a5b77409f11d4dee0 --- /dev/null +++ b/episodes/c8_p016_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 191, "t": 0.955, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "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": 1, "seq": 3, "step": 196, "t": 0.98, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5359, "t": 26.795, "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": 5968, "t": 29.84, "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": 6, "step": 5968, "t": 29.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.287504755297189}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 5968, "t": 29.84, "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": 8, "step": 5968, "t": 29.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 5968, "t": 29.84, "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": 10, "step": 6387, "t": 31.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6387, "t": 31.935, "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": 12, "step": 6387, "t": 31.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6387, "t": 31.935, "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": 14, "step": 6387, "t": 31.935, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6387, "t": 31.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6387, "t": 31.935, "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": 17, "step": 6387, "t": 31.935, "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": 6387, "t": 31.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.287504755297189}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7245, "t": 36.225, "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": 7245, "t": 36.225, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.2900000000021485}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7245, "t": 36.225, "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": 4.2900000000021485}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7245, "t": 36.225, "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": 23, "step": 7245, "t": 36.225, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7245, "t": 36.225, "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": 25, "step": 7665, "t": 38.325, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7665, "t": 38.325, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1756225992698432e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7665, "t": 38.325, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1756225992698432e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7665, "t": 38.325, "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": 29, "step": 7665, "t": 38.325, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7665, "t": 38.325, "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": 31, "step": 8247, "t": 41.235, "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": 10012, "t": 50.06, "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": 10012, "t": 50.06, "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": 10012, "t": 50.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10012, "t": 50.06, "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/c8_p016_e008/env.mp4 b/episodes/c8_p016_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8777a7777ec0109b7fdd3f78102459fa3ca2f69c --- /dev/null +++ b/episodes/c8_p016_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb8616934f62b8384e895afe89b5d80fa2fe9e5397b543fd52cc01b294f93d07 +size 1301285 diff --git a/episodes/c8_p016_e008/meta.json b/episodes/c8_p016_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..503b62396c7aa6fdb1914d2937c46065f0dcf557 --- /dev/null +++ b/episodes/c8_p016_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p016/magicsim/8", + "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": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p016_e008/scene_snapshot.json b/episodes/c8_p016_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb325366f85fdf3ec7dd4df21cc77f01a5e24f0 --- /dev/null +++ b/episodes/c8_p016_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 1, + "run_id": "c8_p016", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5213470458984375, + 0.08469390869140625, + 0.8999999761581421 + ], + "ori": [ + -0.6827499270439148, + 0.0, + 0.0, + 0.7306521534919739 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1791261382925321, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28452417327919194, + "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": 0.1791261382925321, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5684652328491211, + 1.1527462005615234, + 0.8999999761581421 + ], + "ori": [ + -0.00994001142680645, + -2.8252326700339836e-08, + -1.0254292526212794e-08, + 0.9999505877494812 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8973143056655317e-09, + 9.305440862306114e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.5566056883217243e-07, + 1.3699575163172995e-07, + 2.668186560583763e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3972539901733398, + 0.7919597625732422, + 0.8999999761581421 + ], + "ori": [ + -0.7114748358726501, + -6.873685265418317e-08, + 6.471426949872239e-09, + 0.7027116417884827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0615753548725024e-09, + -2.2239365904397346e-09, + 0.0 + ], + "angular_velocity": [ + 1.3578714685991145e-07, + -8.55807940070008e-08, + -4.547920440245434e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13411617279052734, + 0.4473152160644531, + 0.8999999761581421 + ], + "ori": [ + 0.9999454617500305, + -6.848834832595685e-10, + -5.542013514769906e-10, + 0.010449067689478397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0259015859048759e-10, + -1.8352892539041932e-09, + 0.0 + ], + "angular_velocity": [ + -1.4073265219849418e-08, + 1.7505684013485734e-08, + -2.368413376530043e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3797645568847656, + 0.4539337158203125, + 0.8999999761581421 + ], + "ori": [ + 0.9991248250007629, + 3.950682980757847e-08, + -1.608381978712714e-07, + 0.041829995810985565 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3333200260822196e-08, + -8.938516771195282e-08, + -2.9802322387695312e-08 + ], + "angular_velocity": [ + 2.1228934201644734e-06, + -9.350987966172397e-07, + 1.1657627965178108e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.558201789855957, + 1.1447877883911133, + 0.9179999828338623 + ], + "ori": [ + 0.08557115495204926, + -2.607169768964468e-08, + -1.3551941790979072e-08, + 0.996332049369812 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.054015079191231e-08, + 1.1466521243619354e-07, + 1.30385160446167e-07 + ], + "angular_velocity": [ + -2.279821046613506e-06, + 2.811403419400449e-06, + -1.5939141917442612e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.4093503952026367, + 0.8039588928222656, + 0.9180000424385071 + ], + "ori": [ + -0.6815119981765747, + -6.86908947500342e-08, + 4.28129620644313e-09, + 0.7318069338798523 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2863238413606268e-08, + 1.2895613465957467e-09, + -5.759298801422119e-06 + ], + "angular_velocity": [ + -1.3647595551447012e-06, + 2.021120053541381e-07, + -3.7786350048918393e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.1492786407470703, + 0.45621490478515625, + 0.9179999828338623 + ], + "ori": [ + 0.999546468257904, + -1.875606558954246e-09, + -2.00733471511505e-10, + 0.030114920809864998 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.984030006951798e-08, + -3.6608341247301723e-08, + -5.770474672317505e-06 + ], + "angular_velocity": [ + 1.0906273928412702e-06, + -1.72859597569186e-06, + -2.2602350213674072e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.3935441970825195, + 0.45362377166748047, + 0.9179999828338623 + ], + "ori": [ + 0.9997754096984863, + -8.329586762556573e-07, + 4.770035388901306e-08, + -0.021192217245697975 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0333573047537357e-08, + -9.957053407561034e-06, + -7.875263690948486e-06 + ], + "angular_velocity": [ + -1.2665143003687263e-05, + -5.638409493258223e-05, + -6.554658466484398e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.5799999999999883, + "step": 316, + "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": 0.1791261382925321, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 124, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.4184652268886566, + 0.7027462124824524, + 0.0 + ], + "carrier_2": [ + -1.5472539961338043, + 0.34195977449417114, + 0.0 + ], + "carrier_3": [ + -0.2841161787509918, + -0.00268477201461792, + 0.0 + ], + "carrier_4": [ + 1.2297645509243011, + 0.003933727741241455, + 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": [ + -0.26997054831195466, + 0.4993925989085556, + 3.0662704867618973 + ], + "ori": [ + -5.889921652145247, + 5.366915466590786, + 8.501464875087628 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4958.023458259972, + "color": [ + 0.8522631123466037, + 0.8422115094130994, + 0.948712569543356 + ], + "intensity": 8442.463989407654, + "width": 1.7342614834869279, + "height": 1.3437784856958492 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.24303874437197104, + -0.9995867122803491, + 1.606975864698002 + ], + "ori": [ + 35.52922957385918, + 1.637793861880219, + -26.813924064807324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5321.936331736551, + "color": [ + 0.7606484021047007, + 0.7581201467699586, + 0.7746768544281728 + ], + "intensity": 5257.677535689597, + "radius": 0.1978598487268804 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 491.9084846079861, + "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": [ + [ + 1.2261942625045776, + -1.3117154836654663, + 2.2824838161468506, + -2.5434329509735107, + -1.5702489614486694, + 2.7971038818359375, + 0.017999989911913872, + 0.01799999363720417 + ], + [ + 0.9141022562980652, + -1.7193982601165771, + 2.0904994010925293, + -1.9418998956680298, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0531303882598877, + -1.6018873453140259, + 2.2112104892730713, + -2.180095911026001, + -1.5707964897155762, + 2.77119517326355, + 0.018000025302171707, + 0.01799997314810753 + ], + [ + 0.914101243019104, + -1.7193982601165771, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -5.130805711451562e-18, + 1.7742785911246028e-16, + 2.6288376908130536e-16, + -2.2505083073395523e-15, + 9.239064811735484e-16, + 7.863934350438914e-15, + 1.2995199938359292e-07, + 7.797117262953179e-08 + ], + [ + 2.752977510547278e-38, + -2.872539658639786e-38, + -1.5454974012380052e-38, + -3.3355055778540134e-37, + 6.406119559153252e-37, + -2.1279611769711972e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -6.08979316893965e-05, + 0.007694239262491465, + 0.0065839700400829315, + -0.013602589257061481, + -7.898625881352928e-06, + 2.0233163013472222e-05, + -3.2028881378209917e-06, + 3.203531150575145e-06 + ], + [ + 0.0, + -2.46425565651595e-38, + -1.698754331424589e-38, + -3.617746594643655e-37, + 5.993514513084824e-37, + -2.7047114104498284e-36, + -2.5990374297180097e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05202649161219597, + -0.0013631830224767327, + -0.03401010483503342, + -0.2744315266609192, + 0.6431441307067871, + 0.6631500124931335, + -0.2669924795627594 + ], + [ + 0.05271003022789955, + 0.001798393321223557, + -0.03041405789554119, + -0.28171277046203613, + 0.6532917022705078, + 0.6379004716873169, + -0.29484036564826965 + ], + [ + 0.0470549575984478, + 0.001085673924535513, + -0.027510453015565872, + -0.27917805314064026, + 0.6510944366455078, + 0.6421563625335693, + -0.29286667704582214 + ], + [ + 0.051535338163375854, + -0.0030759861692786217, + -0.03166918084025383, + -0.28695783019065857, + 0.6492351293563843, + 0.6411091685295105, + -0.29176706075668335 + ] + ], + "camera1": [ + [ + 0.028694521635770798, + 0.5699654817581177, + 1.932338833808899, + 0.05452011525630951, + 0.019043631851673126, + 0.2747211158275604, + 0.9597880840301514 + ], + [ + 0.04619234800338745, + 0.5850398540496826, + 1.925070881843567, + 0.05380256474018097, + 0.01867860183119774, + 0.28691762685775757, + 0.9562608003616333 + ], + [ + 0.026456080377101898, + 0.588242769241333, + 1.9679654836654663, + 0.035318773239851, + 0.022268587723374367, + 0.2558758854866028, + 0.9658075571060181 + ], + [ + 0.03889459744095802, + 0.5896640419960022, + 1.9455897808074951, + 0.055094122886657715, + 0.017299139872193336, + 0.25488394498825073, + 0.9652458429336548 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p016_e008/wrist.mp4 b/episodes/c8_p016_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3c9869d0acd5bf490d44e15522bcaa621c8926f5 --- /dev/null +++ b/episodes/c8_p016_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06a004ac47f5244410a376a7fb08a0805381751d883766d8d2512eadbaa37ffc +size 8300362 diff --git a/episodes/c8_p016_e009/data.npz b/episodes/c8_p016_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8f0740dd4d7b0ac29dc10fd52505a80b378b18b7 --- /dev/null +++ b/episodes/c8_p016_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a57f3bb2d5285093021e2a41d1e9a74832e2421b589ead334c7814dcaccae03 +size 199245 diff --git a/episodes/c8_p016_e009/device_events.jsonl b/episodes/c8_p016_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aee4651c21e1097a68f991eb5cd556d78e5433a6 --- /dev/null +++ b/episodes/c8_p016_e009/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 70, "t": 0.35, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 70, "t": 0.35, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 75, "t": 0.375, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6103, "t": 30.515, "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": 6712, "t": 33.56, "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": 6, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.628171660198353}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6712, "t": 33.56, "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": 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": 2, "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-2-2"} +{"env_id": 2, "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": 2, "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-2-2"} +{"env_id": 2, "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-2-2"} +{"env_id": 2, "seq": 13, "step": 7131, "t": 35.655, "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": 14, "step": 7131, "t": 35.655, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7131, "t": 35.655, "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": 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": 2, "seq": 18, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.628171660198353}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8057, "t": 40.285, "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": 8057, "t": 40.285, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.630000000002369}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8057, "t": 40.285, "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": 4.630000000002369}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8057, "t": 40.285, "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": 8057, "t": 40.285, "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": 8057, "t": 40.285, "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": 8477, "t": 42.385, "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": 8477, "t": 42.385, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.947811215241018e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8477, "t": 42.385, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.947811215241018e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8477, "t": 42.385, "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": 8477, "t": 42.385, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8477, "t": 42.385, "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": 9059, "t": 45.295, "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": 11244, "t": 56.22, "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": 11244, "t": 56.22, "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": 11244, "t": 56.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11244, "t": 56.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c8_p016_e009/env.mp4 b/episodes/c8_p016_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a769645d9e9b1dcb81d7acd03d40b1685e08e6f --- /dev/null +++ b/episodes/c8_p016_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b4e08c9ebdedac6ea8eb002ee3a66f76969201f9735668cbf729ed92cc25504 +size 1401517 diff --git a/episodes/c8_p016_e009/meta.json b/episodes/c8_p016_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b644debd00bf00c926dc105f589c17ecfd72eaf2 --- /dev/null +++ b/episodes/c8_p016_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p016/magicsim/9", + "fps": 25, + "frames": 1293, + "kept_ticks": "even", + "video_frames": { + "wrist": 1293, + "env": 1293 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p016_e009/scene_snapshot.json b/episodes/c8_p016_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..883cb4c0e3f3e5a523cc53355a9db62758ca481c --- /dev/null +++ b/episodes/c8_p016_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 2, + "run_id": "c8_p016", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46161746978759766, + 0.08483600616455078, + 0.8999999761581421 + ], + "ori": [ + -0.6854670643806458, + 0.0, + 0.0, + 0.7281036376953125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.21582451076085668, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2084075615871549, + "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": 0.21582451076085668, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6646547317504883, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 7.599912350997329e-06, + 6.273811331558576e-11, + -6.541854835617755e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.876579388721439e-10, + -1.469693033939734e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.0215989593452832e-07, + -5.5561862666309025e-08, + -1.3938800336177337e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.058259010314941406, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.61008861798706e-09, + -2.147241273675604e-09, + 2.022138323809486e-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": [ + -5.839894123838008e-10, + 1.5384515883454242e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.674269587530034e-08, + -5.956517057370547e-08, + 4.361106586969754e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1807241439819336, + 1.1210870742797852, + 0.8999999761581421 + ], + "ori": [ + -0.18548069894313812, + 1.2559698348013626e-07, + 3.8322291118220164e-08, + 0.9826479554176331 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.3834491592065206e-10, + 1.046789432912476e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.9872368284268305e-07, + 1.1414520173502751e-07, + 1.1089817064657836e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6913347244262695, + 0.7292289733886719, + 0.8999999761581421 + ], + "ori": [ + 0.7781365513801575, + -2.2578703351427976e-08, + -7.298445847681023e-09, + 0.6280952095985413 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.9898751797172736e-11, + -9.736300654594743e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.5104308914715148e-08, + 1.5649972340270324e-07, + -2.7479858388801404e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.6522951126098633, + 1.147481918334961, + 0.9179999828338623 + ], + "ori": [ + -0.08741798996925354, + -8.746140478521625e-10, + -1.6011575398877653e-10, + 0.9961717128753662 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.15096784220259e-08, + 7.01340807651718e-09, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -4.9026596116164e-07, + 1.469066319259582e-06, + 1.4527232394812017e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.052700042724609375, + 0.4412832260131836, + 0.9180000424385071 + ], + "ori": [ + 0.9972599148750305, + 7.88544091134824e-11, + -1.3068494064683023e-09, + -0.07397815585136414 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.031208623520797e-08, + 3.3014810441045483e-08, + -5.19677996635437e-06 + ], + "angular_velocity": [ + -1.0088155022458523e-06, + -1.6886721141418093e-06, + 1.42876729114505e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.178940773010254, + 1.1122817993164062, + 0.9180000424385071 + ], + "ori": [ + -0.2453877180814743, + 1.282089527876451e-07, + 2.898510231830187e-08, + 0.9694250226020813 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.231141221249345e-08, + 6.257689477706663e-08, + -5.148351192474365e-06 + ], + "angular_velocity": [ + -4.331090622144984e-06, + 2.328812115592882e-06, + 9.835142122938123e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6977949142456055, + 0.7270383834838867, + 0.9179999828338623 + ], + "ori": [ + 0.7868390679359436, + -2.3027691753441104e-08, + -5.9103264504756226e-09, + 0.6171581745147705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.888943460126029e-08, + -1.99044080773092e-07, + -8.828938007354736e-07 + ], + "angular_velocity": [ + 9.615964700060431e-06, + -3.153835677949246e-06, + -9.7073893812194e-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": 4.719999999999922, + "step": 944, + "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": 0.21582451076085668, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 873, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.5146547257900238, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -0.20825901627540588, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + -1.330724149942398, + 0.6710870862007141, + 0.0 + ], + "carrier_4": [ + 1.541334718465805, + 0.27922898530960083, + 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": [ + 0.6206370704404912, + -0.16191894297567522, + 2.8847152143105275 + ], + "ori": [ + 9.022147657674076, + 7.469434537331463, + 28.598178749517196 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3869.5344182642857, + "color": [ + 0.9559949846464462, + 0.9851855803813707, + 0.9465683641895191 + ], + "intensity": 10578.26102334294, + "width": 2.018136295477931, + "height": 1.065689789178258 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.27303699413760896, + 1.5218378542758055, + 1.7172610967911628 + ], + "ori": [ + 25.33884150559379, + -8.091142431870509, + 38.62163858985765 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7052.444392061326, + "color": [ + 0.9196819468982511, + 0.9037470697897964, + 0.8099914127777252 + ], + "intensity": 10344.387104400765, + "radius": 0.11213027857526288 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 491.9084846079861, + "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": [ + [ + 1.2261919975280762, + -1.3122178316116333, + 2.282322406768799, + -2.54276180267334, + -1.5702484846115112, + 2.7971038818359375, + 0.016815587878227234, + 0.016720779240131378 + ], + [ + 0.9141006469726562, + -1.7193982601165771, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141026735305786, + -1.7193984985351562, + 2.0904996395111084, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -1.3840128303854726e-05, + 0.003812543349340558, + 0.001236451556906104, + -0.004847262520343065, + -8.684164640726522e-06, + -7.243001164169982e-06, + 0.017844628542661667, + 0.019277622923254967 + ], + [ + 5.108948244014755e-06, + -1.652808857659227e-12, + -1.6163321766085592e-12, + 3.4059767131111585e-06, + -2.2170075020602753e-13, + 6.811958428443177e-06, + -4.0717074351916127e-13, + -1.0504681705655189e-13 + ], + [ + -3.3528268600157167e-38, + 1.7484536235394115e-38, + 0.0, + 3.91511984118597e-37, + -3.388667030058674e-37, + 3.7626904057685395e-37, + -5.310630830749249e-38, + 1.3012200821841587e-37 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051827386021614075, + -0.002641705796122551, + -0.030164463445544243, + -0.280908465385437, + 0.6454183459281921, + 0.6551300287246704, + -0.27446356415748596 + ], + [ + 0.05310743302106857, + 0.0033925510942935944, + -0.030728250741958618, + -0.27704280614852905, + 0.6555436253547668, + 0.638275146484375, + -0.2934529781341553 + ], + [ + 0.04863355681300163, + 0.0006696432828903198, + -0.02780146524310112, + -0.2800386846065521, + 0.6528129577636719, + 0.639847457408905, + -0.29327258467674255 + ], + [ + 0.05167320743203163, + -0.0025450957473367453, + -0.03100118599832058, + -0.2814468443393707, + 0.6488329768180847, + 0.6457772850990295, + -0.28770673274993896 + ] + ], + "camera1": [ + [ + 0.028694521635770798, + 0.5699654817581177, + 1.932338833808899, + 0.05452011525630951, + 0.019043631851673126, + 0.2747211158275604, + 0.9597880840301514 + ], + [ + 0.04619234800338745, + 0.5850398540496826, + 1.925070881843567, + 0.05380256474018097, + 0.01867860183119774, + 0.28691762685775757, + 0.9562608003616333 + ], + [ + 0.026456080377101898, + 0.588242769241333, + 1.9679654836654663, + 0.035318773239851, + 0.022268587723374367, + 0.2558758854866028, + 0.9658075571060181 + ], + [ + 0.03889459744095802, + 0.5896640419960022, + 1.9455897808074951, + 0.055094122886657715, + 0.017299139872193336, + 0.25488394498825073, + 0.9652458429336548 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p016_e009/wrist.mp4 b/episodes/c8_p016_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a52bb67c843d48d6048201028610545fa472c40c --- /dev/null +++ b/episodes/c8_p016_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b44ee6e226b105ca2e1c588bb4d39196e34fbf486c6377e7e3106e5fefe410a +size 7734603 diff --git a/episodes/c8_p016_e010/data.npz b/episodes/c8_p016_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..03e80ebd9134d26ac356ef80dc21bf6426e77940 --- /dev/null +++ b/episodes/c8_p016_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d47455d352de79f0a8f8ad3c0796a659bce3bdc6ed6375feb495b6386ac1b4bb +size 192905 diff --git a/episodes/c8_p016_e010/device_events.jsonl b/episodes/c8_p016_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bf8483228130a9636333df7c30015a3bacdac75 --- /dev/null +++ b/episodes/c8_p016_e010/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "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": 3, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1674, "t": 8.37, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6670, "t": 33.35, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 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": 7, "step": 7284, "t": 36.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2070803118804214}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "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": 9, "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": 10, "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": 11, "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": 12, "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": 13, "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": 14, "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": 15, "step": 7703, "t": 38.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "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": 18, "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": 19, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2070803118804214}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "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": 3, "seq": 21, "step": 8345, "t": 41.725, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.210000000001642}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8345, "t": 41.725, "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": 3.210000000001642}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8345, "t": 41.725, "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": 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": 3, "seq": 25, "step": 8345, "t": 41.725, "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": 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": 3, "seq": 27, "step": 8765, "t": 43.825, "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": 8765, "t": 43.825, "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": 8765, "t": 43.825, "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": 8765, "t": 43.825, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8765, "t": 43.825, "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": 9347, "t": 46.735, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11132, "t": 55.66, "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": 34, "step": 11132, "t": 55.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11132, "t": 55.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11132, "t": 55.66, "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/c8_p016_e010/env.mp4 b/episodes/c8_p016_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4446a19adc5072112280d70604c037930854d256 --- /dev/null +++ b/episodes/c8_p016_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f8444dc9d6cd725ebf07ac7ded7f084c732da9c2f06281cf2861af8cd7d2ef8 +size 1201629 diff --git a/episodes/c8_p016_e010/meta.json b/episodes/c8_p016_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b186b19ce3877bb10d2436b6d9d6cc246a97e92a --- /dev/null +++ b/episodes/c8_p016_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p016/magicsim/10", + "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": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p016_e010/scene_snapshot.json b/episodes/c8_p016_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..55f0728b1be56421adf78cccb618e87c593d9c46 --- /dev/null +++ b/episodes/c8_p016_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 3, + "run_id": "c8_p016", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4881591796875, + 0.12302112579345703, + 0.8999999761581421 + ], + "ori": [ + 0.7281026840209961, + 0.0, + 0.0, + -0.6854680776596069 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.26354726114457455, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2656876373873113, + "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": 0.26354726114457455, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6772651672363281, + 0.9176654815673828, + 0.8999999761581421 + ], + "ori": [ + 0.5833485722541809, + -1.1906296037977881e-07, + -3.613285315395842e-08, + 0.8122220039367676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.00347454976702e-10, + 2.8641172766796785e-11, + 0.0 + ], + "angular_velocity": [ + -1.0978698838925993e-08, + 6.908445726594437e-08, + 6.089706516831939e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11585426330566406, + 0.44742393493652344, + 0.8999999761581421 + ], + "ori": [ + 0.9999580383300781, + 2.1067847466582634e-09, + -9.835562919668916e-11, + 0.0091641154140234 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4074557075360872e-09, + 3.1141977885340566e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -3.169778750589103e-08, + 1.3695874656605156e-07, + -2.3537927162919914e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3937711715698242, + 0.7486495971679688, + 0.8999999761581421 + ], + "ori": [ + -0.7510324120521545, + -9.856222504822654e-08, + -2.4878602289390983e-08, + 0.660265326499939 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2237422186700542e-09, + -2.566569456963208e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.2651537534557065e-08, + -9.001198009173095e-08, + 2.260039710932915e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.25780487060546875, + 1.1525325775146484, + 0.8999999761581421 + ], + "ori": [ + -0.009304015897214413, + -7.161094828234127e-09, + 5.304065631150934e-09, + 0.9999567270278931 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.204256777105229e-10, + -1.7870315227597189e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3987259706027544e-07, + 3.8841026395175504e-08, + -3.81569709162477e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6842021942138672, + 0.9135360717773438, + 0.9179999828338623 + ], + "ori": [ + 0.5934641361236572, + -1.2079779310170125e-07, + -4.1748680956743556e-08, + 0.804860532283783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1517220005762283e-08, + -5.668508507028491e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + 1.047506088980299e-06, + 1.2318060953475651e-06, + 6.590101975234575e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.12357139587402344, + 0.4555082321166992, + 0.9180000424385071 + ], + "ori": [ + 0.9998539686203003, + -3.0376948179089425e-10, + -2.1848321762885092e-10, + 0.017094077542424202 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.142538229639058e-09, + -3.898685818626291e-09, + -5.148351192474365e-06 + ], + "angular_velocity": [ + 1.5996974980225787e-06, + -1.8578853087092284e-06, + -6.600451740723656e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3944368362426758, + 0.7527780532836914, + 0.9180000424385071 + ], + "ori": [ + -0.7200630307197571, + -9.722675287093807e-08, + -2.9683775437661097e-08, + 0.6939086318016052 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.702329832653504e-08, + 2.2712987046702438e-08, + -5.695968866348267e-06 + ], + "angular_velocity": [ + -1.524414301457e-06, + -8.430239404333406e-07, + -2.4842162105187526e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.27152347564697266, + 1.1630992889404297, + 0.9179999828338623 + ], + "ori": [ + -0.08041989058256149, + -6.705386024208337e-09, + 7.679473945643167e-09, + 0.99676114320755 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4628974415463745e-08, + -3.819129901216911e-09, + -1.7657876014709473e-06 + ], + "angular_velocity": [ + -1.2010042382826214e-07, + 1.0978020554830437e-06, + 3.9073473345752063e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 6.119999999999892, + "step": 1224, + "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": 0.26354726114457455, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1094, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5272651612758636, + 0.46766549348831177, + 0.0 + ], + "carrier_2": [ + -0.26585426926612854, + -0.0025760531425476074, + 0.0 + ], + "carrier_3": [ + -1.5437711775302887, + 0.2986496090888977, + 0.0 + ], + "carrier_4": [ + 0.10780486464500427, + 0.7025325894355774, + 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": [ + 0.025656735739476466, + 0.36551570055565485, + 2.6450715316638305 + ], + "ori": [ + -5.725357368305058, + -1.350641671582359, + -15.532400000670055 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4380.426507672232, + "color": [ + 0.9741493612188002, + 0.9772630603408612, + 0.8269247212763228 + ], + "intensity": 14655.125343340029, + "width": 2.615488988681399, + "height": 1.2903301114807413 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7941206892031079, + -0.7649434614937647, + 2.3008137371984265 + ], + "ori": [ + -16.860570894157696, + -32.85570429239284, + -0.32301735857270586 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4136.234291156519, + "color": [ + 0.7796476978613913, + 0.9065497551086612, + 0.8110809262000241 + ], + "intensity": 6834.643044751908, + "radius": 0.1748678913819614 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1408.4834887873128, + "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": [ + [ + 0.914101243019104, + -1.7193984985351562, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.3003857135772705, + -1.5205731391906738, + 2.1183931827545166, + -2.168621301651001, + -1.5707917213439941, + 2.810978412628174, + 0.007145872339606285, + 0.006613313220441341 + ], + [ + 1.053898572921753, + -1.6083968877792358, + 2.2058210372924805, + -2.1682522296905518, + -1.57077956199646, + 2.7729241847991943, + 0.007691939827054739, + 0.007229895796626806 + ], + [ + 0.914101243019104, + -1.7193982601165771, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.684248024767539e-38, + -1.5070079363183954e-38, + -2.393032588144914e-37, + 2.3824587262447503e-37, + 3.617343469101438e-37, + -2.663794392122561e-38, + -3.3266208971746854e-38 + ], + [ + -5.541802693187492e-06, + -4.4240692659514025e-05, + -0.00022813551186118275, + 8.362778316950426e-05, + -3.120163091807626e-05, + -0.00025794372777454555, + -0.008422094397246838, + -0.00043956577428616583 + ], + [ + 0.00020368584955576807, + -7.097168236214202e-06, + -0.00014906552678439766, + 0.0007534208125434816, + -0.0004136778588872403, + -0.0023940489627420902, + -0.005766860209405422, + 0.00022906942467670888 + ], + [ + 0.0, + -2.46425565651595e-38, + -1.698754331424589e-38, + -3.617746594643655e-37, + 5.993514513084824e-37, + -2.7047114104498284e-36, + -2.5990374297180097e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049941595643758774, + -0.0013072543079033494, + -0.029618632048368454, + -0.2816213369369507, + 0.6478037238121033, + 0.6475499272346497, + -0.28586500883102417 + ], + [ + 0.05092369392514229, + 0.0033501852303743362, + -0.030743293464183807, + -0.2793938219547272, + 0.6533353924751282, + 0.6407880783081055, + -0.2906588315963745 + ], + [ + 0.04923893138766289, + 0.00027929130010306835, + -0.027460308745503426, + -0.2780590057373047, + 0.6509922742843628, + 0.6434502601623535, + -0.29131439328193665 + ], + [ + 0.04937317594885826, + -0.0010700052371248603, + -0.029078209772706032, + -0.2803591787815094, + 0.6487526893615723, + 0.645011842250824, + -0.29065170884132385 + ] + ], + "camera1": [ + [ + 0.06855405867099762, + 0.5914391279220581, + 1.9658212661743164, + 0.040374163538217545, + 0.02186034619808197, + 0.2747872471809387, + 0.9604082703590393 + ], + [ + 0.04619234800338745, + 0.5850398540496826, + 1.925070881843567, + 0.05380256474018097, + 0.01867860183119774, + 0.28691762685775757, + 0.9562608003616333 + ], + [ + 0.026456080377101898, + 0.588242769241333, + 1.9679654836654663, + 0.035318773239851, + 0.022268587723374367, + 0.2558758854866028, + 0.9658075571060181 + ], + [ + 0.03889459744095802, + 0.5896640419960022, + 1.9455897808074951, + 0.055094122886657715, + 0.017299139872193336, + 0.25488394498825073, + 0.9652458429336548 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p016_e010/wrist.mp4 b/episodes/c8_p016_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fde703fcb856b9299c8a5dc974e8757542bc457d --- /dev/null +++ b/episodes/c8_p016_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d57585681bcd332be5952dcedaf84ef56edb9c68e48d26f2d092e361b33413a +size 7203914 diff --git a/episodes/c8_p016_e011/data.npz b/episodes/c8_p016_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..41bd3af3785f077b705746eeda8f206f65af72b1 --- /dev/null +++ b/episodes/c8_p016_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:261cdc990d8e1ea06184a066d8d7a5fe45a4427e3ed1246c4aee04beb3806e1d +size 187073 diff --git a/episodes/c8_p016_e011/device_events.jsonl b/episodes/c8_p016_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7c10ec0128de55cade05881df4bb316c9014d63 --- /dev/null +++ b/episodes/c8_p016_e011/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 142, "t": 0.71, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2203, "t": 11.015, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 2270, "t": 11.35, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7018, "t": 35.09, "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": 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": 8, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6829854885964286}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "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": 10, "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": 11, "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": 12, "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": 13, "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": 14, "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": 15, "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": 16, "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": 17, "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": 18, "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": 19, "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": 20, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6829854885964286}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8388, "t": 41.94, "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": 8388, "t": 41.94, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.685000000000862}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8388, "t": 41.94, "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": 1.685000000000862}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8388, "t": 41.94, "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": 8388, "t": 41.94, "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": 8388, "t": 41.94, "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": 8808, "t": 44.04, "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": 8808, "t": 44.04, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.7568914262587896e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8808, "t": 44.04, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.7568914262587896e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8808, "t": 44.04, "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": 8808, "t": 44.04, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8808, "t": 44.04, "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": 9381, "t": 46.905, "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": 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": 35, "step": 11088, "t": 55.44, "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": 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": 37, "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/c8_p016_e011/env.mp4 b/episodes/c8_p016_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..72505a99ec6eb6a94d0570e0a5e97e3e115b6892 --- /dev/null +++ b/episodes/c8_p016_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb3c5ff4869e58073b1d4ebc55fe78cce4f7f40d3c21a717ff4f3dad14f7b520 +size 1231673 diff --git a/episodes/c8_p016_e011/meta.json b/episodes/c8_p016_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d72190562c8102df6b0d5e7ee538044fcd261050 --- /dev/null +++ b/episodes/c8_p016_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p016/magicsim/11", + "fps": 25, + "frames": 1176, + "kept_ticks": "even", + "video_frames": { + "wrist": 1176, + "env": 1176 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p016_e011/scene_snapshot.json b/episodes/c8_p016_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0506a0e48c117c81810210d0452114fde529e561 --- /dev/null +++ b/episodes/c8_p016_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 0, + "run_id": "c8_p016", + "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_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4758901596069336, + 0.08242988586425781, + 0.8999999761581421 + ], + "ori": [ + -0.7004411816596985, + 0.0, + 0.0, + 0.7137101292610168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.0185010347201215e-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": 0.16062427052438244, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12003234203736568, + "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": 0.16062427052438244, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6627979278564453, + 0.9509916305541992, + 0.8999999761581421 + ], + "ori": [ + 0.5324255228042603, + 1.0364605884660705e-07, + -5.9128822726961516e-08, + 0.8464769124984741 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.255946363050043e-08, + -4.20550350099802e-09, + -4.842877388000488e-08 + ], + "angular_velocity": [ + 4.0884901864046697e-07, + -1.688980546532548e-06, + 3.407520665632546e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.395853042602539, + 0.7632112503051758, + 0.8999999761581421 + ], + "ori": [ + -0.7429747581481934, + -5.967005023421734e-08, + -1.0026354857473052e-07, + 0.6693194508552551 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.5719267260935226e-10, + 3.874448539775699e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.611854637597389e-08, + -2.848485181061733e-08, + -2.3048869479680434e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.030059814453125, + 0.45000648498535156, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.1416988182920704e-09, + -2.4373386642295714e-10, + -5.6742221204331145e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0501864933232241e-09, + 5.666360713973972e-10, + 0.0 + ], + "angular_velocity": [ + -3.6625458221806184e-08, + 9.350466001478708e-08, + -4.691258936873055e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05531120300292969, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 3.693955295602791e-05, + 1.312183028900904e-09, + 1.5692576127435132e-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": [ + -5.943827652288292e-10, + -2.104268981284463e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.9257318228937947e-07, + -8.236085591306619e-09, + -1.0729536370490678e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6689319610595703, + 0.9582433700561523, + 0.9179999828338623 + ], + "ori": [ + 0.6041926741600037, + 4.776999276145943e-07, + 2.589226824056823e-07, + 0.7968384027481079 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6395117654610658e-06, + 5.167282324691769e-06, + -2.5033950805664062e-06 + ], + "angular_velocity": [ + -6.542208211612888e-06, + 1.072179657057859e-05, + -2.506890950826346e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3897924423217773, + 0.7597179412841797, + 0.9180000424385071 + ], + "ori": [ + -0.6891291737556458, + -5.049741957918741e-08, + -1.0537699779433751e-07, + 0.7246385812759399 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7980735123046543e-08, + 3.3945831034998264e-08, + -5.587935447692871e-06 + ], + "angular_velocity": [ + -1.8556270333647262e-06, + -9.870090025287936e-07, + -8.676257934325804e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.029893875122070312, + 0.4582529067993164, + 0.9180000424385071 + ], + "ori": [ + 0.9996672868728638, + 2.555687661498496e-09, + 1.285593159705556e-10, + 0.025796139612793922 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1164279278830236e-08, + 2.697565282261394e-09, + -5.599111318588257e-06 + ], + "angular_velocity": [ + 8.191281040126341e-07, + -1.944113591889618e-06, + 3.956456051668056e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.04707527160644531, + 1.1457691192626953, + 0.9179999828338623 + ], + "ori": [ + 0.08249690383672714, + 1.2862511056255244e-10, + 1.2264058657507348e-09, + 0.9965913891792297 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.116137202776372e-08, + 1.1931067689374686e-08, + -1.214444637298584e-06 + ], + "angular_velocity": [ + -8.363049346371554e-07, + 2.3902255179564236e-06, + 4.813696108385557e-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": 8.679999999999957, + "step": 1736, + "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": 2.0185010347201215e-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": 0.16062427052438244, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1598, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5127979218959808, + 0.5009916424751282, + 0.0 + ], + "carrier_2": [ + -1.5458530485630035, + 0.31321126222610474, + 0.0 + ], + "carrier_3": [ + -0.11994019150733948, + 6.496906280517578e-06, + 0.0 + ], + "carrier_4": [ + -0.20531120896339417, + 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": [ + 0.022070630890030585, + 0.5550121831548913, + 2.963143563088425 + ], + "ori": [ + -5.8428289412635195, + -3.8272051681611057, + 11.134516431439948 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4095.1321800284454, + "color": [ + 0.9253407404892727, + 0.9053470532316488, + 0.9389455274547025 + ], + "intensity": 6256.958799896849, + "width": 2.4528704727188937, + "height": 1.6010656098389522 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.34784512366780485, + 0.23092624401798956, + 1.9055842000853576 + ], + "ori": [ + -37.43096106336658, + -23.375569057117254, + -11.837407813336831 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4043.1094267062194, + "color": [ + 0.9100789376176825, + 0.9513230937785557, + 0.8509380379156286 + ], + "intensity": 6690.183643851499, + "radius": 0.44830100802047734 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1408.4834887873128, + "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": [ + [ + 0.9141111969947815, + -1.719395399093628, + 2.0904974937438965, + -1.9419010877609253, + -1.5707999467849731, + 2.4849042892456055, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.802358865737915, + -1.3909817934036255, + 2.220114231109619, + -2.4009335041046143, + -1.5705368518829346, + 4.369007110595703, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 2.8050780296325684, + -1.520647406578064, + 2.1383838653564453, + -2.188150405883789, + -1.5701749324798584, + 4.375911235809326, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.2420181035995483, + -1.5313868522644043, + 2.128016710281372, + -2.1679861545562744, + -1.5706236362457275, + 2.7785847187042236, + 0.007456488441675901, + 0.007407584693282843 + ] + ], + "joint_vel": [ + [ + 2.2661100918425708e-38, + -1.8961835523230053e-38, + 0.0, + -6.011956497706356e-37, + 6.123493129233983e-37, + -2.2897351431720086e-38, + 5.1980777016069624e-08, + -5.1980773463355945e-08 + ], + [ + 6.811962066421984e-06, + -3.405878032936016e-06, + -2.043580388999544e-05, + -6.81194478602265e-06, + -6.811953880969668e-06, + 1.3623915947391652e-05, + 1.819339416897492e-07, + 1.819349790821434e-07 + ], + [ + -6.8119311436021235e-06, + -3.405914867471438e-06, + -6.811926141381264e-06, + -6.811952061980264e-06, + 3.4059767131111585e-06, + 1.362391503789695e-05, + 1.8191893502716994e-07, + 1.819200150521283e-07 + ], + [ + -0.006518990267068148, + -0.0011936448281630874, + 0.002811210695654154, + -0.0021460046991705894, + -0.0005561978323385119, + -0.007275796495378017, + -0.007771479431539774, + 0.00023555709049105644 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04949991777539253, + -0.0009237463818863034, + -0.028006890788674355, + -0.27636364102363586, + 0.6482620239257812, + 0.6517615914344788, + -0.28033244609832764 + ], + [ + 0.050921730697155, + -8.364998939214274e-05, + -0.029582807794213295, + -0.2814418375492096, + 0.6509207487106323, + 0.6420847773551941, + -0.2912384271621704 + ], + [ + 0.046679358929395676, + -0.001692403806373477, + -0.028655225411057472, + -0.2774573862552643, + 0.6498346328735352, + 0.644192636013031, + -0.29282790422439575 + ], + [ + 0.04776423051953316, + -0.0029826690442860126, + -0.027718868106603622, + -0.2839867174625397, + 0.6501678228378296, + 0.6423054933547974, + -0.2899603843688965 + ] + ], + "camera1": [ + [ + 0.06855405867099762, + 0.5914391279220581, + 1.9658212661743164, + 0.040374163538217545, + 0.02186034619808197, + 0.2747872471809387, + 0.9604082703590393 + ], + [ + 0.04619234800338745, + 0.5850398540496826, + 1.925070881843567, + 0.05380256474018097, + 0.01867860183119774, + 0.28691762685775757, + 0.9562608003616333 + ], + [ + 0.026456080377101898, + 0.588242769241333, + 1.9679654836654663, + 0.035318773239851, + 0.022268587723374367, + 0.2558758854866028, + 0.9658075571060181 + ], + [ + 0.03889459744095802, + 0.5896640419960022, + 1.9455897808074951, + 0.055094122886657715, + 0.017299139872193336, + 0.25488394498825073, + 0.9652458429336548 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p016_e011/wrist.mp4 b/episodes/c8_p016_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9fcd1d10bcf9de00e7b7251e8a647bec4dab9898 --- /dev/null +++ b/episodes/c8_p016_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9521c4d44ce67786fe786fa33cafebe88a06d5235a6a7bca4085fc79752f47d +size 7769154 diff --git a/episodes/c9_p020_e016/data.npz b/episodes/c9_p020_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5efdb1c2d91510b53b1fbfbc4099942733be11aa --- /dev/null +++ b/episodes/c9_p020_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c07598880c9932b17345e3a967658855bd00ed4a9717844b0850c12700b1f32 +size 187510 diff --git a/episodes/c9_p020_e016/device_events.jsonl b/episodes/c9_p020_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ada6c2f6b30c3d189497d8f45b7a401a3218574 --- /dev/null +++ b/episodes/c9_p020_e016/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 201, "t": 1.005, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 201, "t": 1.005, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 206, "t": 1.03, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 702, "t": 3.51, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5631, "t": 28.155, "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": 6244, "t": 31.22, "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": 7, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.3380851414399793}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6244, "t": 31.22, "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": 9, "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": 0, "seq": 10, "step": 6244, "t": 31.22, "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": 11, "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": 0, "seq": 12, "step": 6663, "t": 33.315, "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": 13, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6663, "t": 33.315, "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": 15, "step": 6663, "t": 33.315, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6663, "t": 33.315, "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": 18, "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": 0, "seq": 19, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.3380851414399793}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7131, "t": 35.655, "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": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.340000000001197}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7131, "t": 35.655, "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": 2.340000000001197}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7131, "t": 35.655, "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": 7131, "t": 35.655, "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": 7131, "t": 35.655, "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": 7551, "t": 37.755, "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": 7551, "t": 37.755, "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": 7551, "t": 37.755, "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": 7551, "t": 37.755, "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": 7551, "t": 37.755, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 7551, "t": 37.755, "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": 8131, "t": 40.655, "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": 9844, "t": 49.22, "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": 34, "step": 9844, "t": 49.22, "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": 9844, "t": 49.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 9844, "t": 49.22, "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/c9_p020_e016/env.mp4 b/episodes/c9_p020_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a81fce6907d2a74a210728844d4cc7bf8f5c76a5 --- /dev/null +++ b/episodes/c9_p020_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:197acd653aa584b7e190701e2c3eed8d78938749bf2647f6edb08b242f3108e5 +size 1241883 diff --git a/episodes/c9_p020_e016/meta.json b/episodes/c9_p020_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe34202c0292dde15072775c8addfc65bca7626a --- /dev/null +++ b/episodes/c9_p020_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p020/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": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p020_e016/scene_snapshot.json b/episodes/c9_p020_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba518231c5bed7e4e8cbdf1308f3e0d8720ea4b3 --- /dev/null +++ b/episodes/c9_p020_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 0, + "run_id": "c9_p020", + "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/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46865272521972656, + 0.1265573501586914, + 0.8999999761581421 + ], + "ori": [ + 0.7168585658073425, + 0.0, + 0.0, + -0.6972185969352722 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.3641659336752783e-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": 0.183827929378229, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2670658497289193, + "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": 0.183827929378229, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.22161006927490234, + 1.1526193618774414, + 0.8999999761581421 + ], + "ori": [ + -0.01036970503628254, + 2.6751429516025382e-08, + 1.0838836494997395e-08, + 0.9999462962150574 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7759385073645717e-09, + -3.271746762401051e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.676354592447751e-08, + -1.7468482838012278e-07, + 8.556808595017174e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11749553680419922, + 0.44708251953125, + 0.8999999761581421 + ], + "ori": [ + 0.9999663233757019, + -3.1015869872419444e-09, + 4.718276325199611e-10, + 0.008216275833547115 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.890764877998663e-09, + -5.57742385609572e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.0750007934111636e-07, + -1.5420133081534004e-07, + -3.2849655440259085e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9893522262573242, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 6.354089418891817e-05, + 1.687008532869072e-09, + 5.553353332743427e-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": [ + 4.166741618405467e-09, + 3.2597952781543427e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -6.002053396514384e-07, + -4.3413109551693196e-08, + 2.2563682477994007e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4638080596923828, + 0.472259521484375, + 0.8999999761581421 + ], + "ori": [ + 0.9862478375434875, + -1.2489955736327829e-08, + 9.73881313370839e-08, + 0.16527369618415833 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.707523425575346e-10, + -1.7835901644502883e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 9.597169992048293e-08, + -9.922950994223356e-08, + -5.254662482911954e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.2226238250732422, + 1.1429929733276367, + 0.9179999828338623 + ], + "ori": [ + -0.04666764661669731, + 2.8745153812792523e-08, + 1.089746604066022e-08, + 0.9989104866981506 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1910023189898311e-08, + 2.5462338015813657e-08, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + -1.953251967279357e-06, + 1.963086106115952e-06, + -8.660083494760329e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.13231945037841797, + 0.44622802734375, + 0.9180000424385071 + ], + "ori": [ + 0.9971716403961182, + -3.1741658190753697e-09, + 4.3481757083796424e-10, + 0.0751582533121109 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.767807754684327e-08, + -5.088914889483931e-08, + -5.461275577545166e-06 + ], + "angular_velocity": [ + 1.5271035636033048e-06, + -2.013086259466945e-06, + 1.803219085161345e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.980402946472168, + 1.1400365829467773, + 0.9180000424385071 + ], + "ori": [ + 0.0737493708729744, + 1.0351200785407855e-08, + -1.5446897805304616e-07, + 0.9972768425941467 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.959950719145127e-07, + 2.731187123572454e-06, + -7.949769496917725e-06 + ], + "angular_velocity": [ + 0.00014340270718093961, + -2.0398045307956636e-05, + -2.6056506612803787e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.4577274322509766, + 0.46346473693847656, + 0.9179999828338623 + ], + "ori": [ + 0.970734715461731, + 1.5626364646692537e-09, + 1.114898395826458e-07, + 0.24015480279922485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.813995590462582e-07, + -1.24505277199205e-07, + -1.3597309589385986e-06 + ], + "angular_velocity": [ + 9.737206710269675e-06, + 1.8715494661591947e-05, + -3.0668775252706837e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.2599999999999951, + "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": 3.3641659336752783e-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": 0.183827929378229, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 50, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.07161006331443787, + 0.7026193737983704, + 0.0 + ], + "carrier_2": [ + -0.2674955427646637, + -0.002917468547821045, + 0.0 + ], + "carrier_3": [ + -1.1393522322177887, + 0.7000015377998352, + 0.0 + ], + "carrier_4": [ + 1.3138080537319183, + 0.022259533405303955, + 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": [ + 0.1140489466951039, + 0.18424420045226952, + 2.8394214442040346 + ], + "ori": [ + 3.721867054447106, + 10.421199054375435, + 21.61389419815994 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4676.846607651907, + "color": [ + 0.8415931502279245, + 0.9575760841551856, + 0.9692767748497981 + ], + "intensity": 14068.467124908175, + "width": 2.415997911766146, + "height": 0.8169180664536452 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.3286621938925633, + 0.2638885041994552, + 1.6153377433814153 + ], + "ori": [ + 5.3163902768269224, + 24.24675817732225, + 8.429277075730937 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4126.445907764207, + "color": [ + 0.8702168035144787, + 0.9530075800142388, + 0.7899409456569799 + ], + "intensity": 9623.883450823316, + "radius": 0.11781982125698809 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 684.458068129177, + "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": [ + [ + 0.914100706577301, + -1.719397783279419, + 2.090498924255371, + -1.941900372505188, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1169664859771729, + -1.3054219484329224, + 2.2621147632598877, + -2.527780532836914, + -1.5708072185516357, + 2.6729063987731934, + 0.017999984323978424, + 0.018000014126300812 + ], + [ + 1.4389463663101196, + -1.3407334089279175, + 2.2695844173431396, + -2.5005273818969727, + -1.5702649354934692, + 6.135087013244629, + 0.01800002157688141, + 0.017999978736042976 + ], + [ + 1.1902761459350586, + -1.5048576593399048, + 2.1872782707214355, + -2.253675699234009, + -1.570401906967163, + 2.7595059871673584, + 0.017999952659010887, + 0.018000047653913498 + ] + ], + "joint_vel": [ + [ + 2.8787995391396177e-38, + 0.0, + -1.2233066544250503e-38, + -6.656601323339682e-37, + 3.3486715056015465e-37, + 2.4226051425205163e-37, + -2.8698570128596824e-38, + 0.0 + ], + [ + 6.271460733842105e-05, + -0.0075968410819768906, + -0.0022735977545380592, + 0.009370317682623863, + 6.623617537115933e-06, + -1.3382595170696732e-05, + 3.5578771075961413e-06, + -3.5575428682932397e-06 + ], + [ + 0.00014626602933276445, + -0.01788000389933586, + -0.006015476770699024, + 0.022751931101083755, + -4.908132268610643e-06, + 2.644095366122201e-05, + -9.138522727880627e-06, + 9.088443221116904e-06 + ], + [ + -0.0001580365642439574, + -0.016088377684354782, + -0.010589206591248512, + 0.025241589173674583, + 0.00023964923457242548, + -0.00022440632164943963, + 6.001905148877995e-06, + -6.025157290423522e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04602821543812752, + -0.0037555338349193335, + -0.029407989233732224, + -0.27965468168258667, + 0.6450846791267395, + 0.6506132483482361, + -0.2869868278503418 + ], + [ + 0.05305447056889534, + 0.001688547432422638, + -0.032949674874544144, + -0.27546945214271545, + 0.6542510390281677, + 0.6493044495582581, + -0.2729026973247528 + ], + [ + 0.046775028109550476, + -0.00040083093335852027, + -0.03158336877822876, + -0.29412201046943665, + 0.6379040479660034, + 0.655120313167572, + -0.278187096118927 + ], + [ + 0.047582272440195084, + 0.0012572293635457754, + -0.029923491179943085, + -0.27591249346733093, + 0.6488836407661438, + 0.6539320945739746, + -0.2742173373699188 + ] + ], + "camera1": [ + [ + 0.04602740705013275, + 0.5684269666671753, + 1.9512171745300293, + 0.027630683034658432, + 0.011730900965631008, + 0.2872465252876282, + 0.9573861956596375 + ], + [ + 0.04510701820254326, + 0.5889001488685608, + 1.9262914657592773, + 0.054988253861665726, + 0.024313287809491158, + 0.25889259576797485, + 0.9640330672264099 + ], + [ + 0.07318585366010666, + 0.5574179291725159, + 1.9358190298080444, + 0.028367146849632263, + 0.024042164906859398, + 0.2717881500720978, + 0.9616384506225586 + ], + [ + 0.036414735019207, + 0.5693233609199524, + 1.934037446975708, + 0.04929754137992859, + 0.018957260996103287, + 0.255960077047348, + 0.965243399143219 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p020_e016/wrist.mp4 b/episodes/c9_p020_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21327e9691c2f76a61158d7aac2f3efa92e70387 --- /dev/null +++ b/episodes/c9_p020_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d77a6476acddee265739ec30763a6459b1d0e0dd3b5ca2f52c8a4fa8fe7e6a5b +size 6847608 diff --git a/episodes/c9_p020_e017/data.npz b/episodes/c9_p020_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d8abcd946461144f03b69b71ee09982285e4aa12 --- /dev/null +++ b/episodes/c9_p020_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b81ac7c07623598837ace09c88db134ca02ba4cb4e04344a1659f33b2f8cfe1 +size 187387 diff --git a/episodes/c9_p020_e017/device_events.jsonl b/episodes/c9_p020_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0054df5b17d06ddf9b7728d33ece09d9860dcedb --- /dev/null +++ b/episodes/c9_p020_e017/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 3, "seq": 1, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "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_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 988, "t": 4.94, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1020, "t": 5.1, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1089, "t": 5.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 5827, "t": 29.135, "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": 6440, "t": 32.2, "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": 9, "step": 6440, "t": 32.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.4266340841570093}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 6440, "t": 32.2, "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": 11, "step": 6440, "t": 32.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6440, "t": 32.2, "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": 13, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 14, "step": 6859, "t": 34.295, "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": 15, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 6859, "t": 34.295, "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": 17, "step": 6859, "t": 34.295, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 6859, "t": 34.295, "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": 20, "step": 6859, "t": 34.295, "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": 6859, "t": 34.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.4266340841570093}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7545, "t": 37.725, "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": 7545, "t": 37.725, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4300000000017548}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7545, "t": 37.725, "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": 3.4300000000017548}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 7545, "t": 37.725, "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": 7545, "t": 37.725, "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": 7545, "t": 37.725, "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": 7965, "t": 39.825, "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": 7965, "t": 39.825, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.849864788601053e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 7965, "t": 39.825, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.849864788601053e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 7965, "t": 39.825, "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": 7965, "t": 39.825, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 33, "step": 7965, "t": 39.825, "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": 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": 3, "seq": 35, "step": 10268, "t": 51.34, "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": 10268, "t": 51.34, "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": 10268, "t": 51.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 38, "step": 10268, "t": 51.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c9_p020_e017/env.mp4 b/episodes/c9_p020_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cae26837ec809644382bdd58691df1024d95aea6 --- /dev/null +++ b/episodes/c9_p020_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99f9e5b352742d01106d52a6d396277aa759b696cd4c31fb03ad1fb9926f48ab +size 1281768 diff --git a/episodes/c9_p020_e017/meta.json b/episodes/c9_p020_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc94e23fa7b4603b08bba09215dfefcebdb2317 --- /dev/null +++ b/episodes/c9_p020_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p020/magicsim/17", + "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": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p020_e017/scene_snapshot.json b/episodes/c9_p020_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..dd652cd72493d773a9714a72f50fa83a7fa55cf6 --- /dev/null +++ b/episodes/c9_p020_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 3, + "run_id": "c9_p020", + "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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4649391174316406, + 0.10002994537353516, + 0.8999999761581421 + ], + "ori": [ + -0.7064400315284729, + 0.0, + 0.0, + 0.7077729105949402 + ], + "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": [ + 1.0092505173600608e-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": 0.21521413370312248, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11008763979179942, + "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": 0.21521413370312248, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2120532989501953, + 1.1065301895141602, + 0.8999999761581421 + ], + "ori": [ + -0.23585942387580872, + -6.901674964865379e-08, + 4.465305991629975e-08, + 0.9717872738838196 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.618788681109436e-07, + -1.7842637589637889e-07, + -2.652406692504883e-06 + ], + "angular_velocity": [ + 1.2410598174028564e-05, + -8.293097926070914e-05, + -5.529185500563472e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.04015827178955078, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.121645691412823e-09, + 2.4988106028800416e-10, + 6.39970835436543e-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": [ + 9.935781086767292e-10, + 1.5849535017764538e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.1142479650061432e-07, + 9.891707719589249e-08, + -9.6559258366824e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5593652725219727, + 0.5246400833129883, + 0.8999999761581421 + ], + "ori": [ + 0.9469150900840759, + 2.994842773773598e-08, + -1.1224177143276393e-07, + 0.3214839994907379 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.547689836873701e-10, + 6.046440015339272e-10, + 0.0 + ], + "angular_velocity": [ + -9.590711158580234e-08, + -9.026820180224604e-09, + -9.880474216572566e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.39034080505371094, + 1.1500062942504883, + 0.8999999761581421 + ], + "ori": [ + 6.446633051382378e-06, + -5.521048507262094e-09, + -1.3257952513612281e-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": [ + -2.688814726425903e-10, + -7.19434734008928e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.242529337896485e-08, + -7.608813135107084e-09, + -6.189705636927556e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.2054576873779297, + 1.098271369934082, + 0.9179999828338623 + ], + "ori": [ + -0.2576843500137329, + -6.147841702386359e-08, + 4.390760821593176e-08, + 0.9662292003631592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1014839148847386e-06, + -3.580201450859022e-07, + -2.201646566390991e-06 + ], + "angular_velocity": [ + 1.2871027138317004e-05, + -8.251469989772886e-05, + -2.8107501748309005e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.0361175537109375, + 0.4418506622314453, + 0.9180000424385071 + ], + "ori": [ + 0.999556303024292, + 4.621348637101619e-09, + 3.9686726127641236e-10, + 0.029787331819534302 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.790960878546912e-09, + 2.1145003969991194e-08, + -5.330890417098999e-06 + ], + "angular_velocity": [ + 6.078689551713978e-08, + -1.7831071090768091e-06, + -5.230040400761027e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.5479612350463867, + 0.5297317504882812, + 0.9180000424385071 + ], + "ori": [ + 0.9322589039802551, + 2.4716605651065038e-08, + -1.1377747455298959e-07, + 0.3617919981479645 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8168085702541248e-08, + -2.0588355909012535e-08, + -5.718320608139038e-06 + ], + "angular_velocity": [ + 1.3928008684160886e-06, + -2.6372342176728125e-07, + 1.2076893085577467e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.3958091735839844, + 1.1424331665039062, + 0.9179999828338623 + ], + "ori": [ + 0.09031419456005096, + -3.0366456016395205e-09, + -3.505880696863528e-09, + 0.9959133267402649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.612115844793152e-08, + 7.050422468068973e-10, + -2.8870999813079834e-06 + ], + "angular_velocity": [ + -3.0528514116667793e-07, + 1.7790579249776783e-06, + 9.042475568321606e-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": 2.739999999999964, + "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": 1.0092505173600608e-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": 0.21521413370312248, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 496, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.3620533049106598, + 0.6565302014350891, + 0.0 + ], + "carrier_2": [ + -0.1098417341709137, + -3.039836883544922e-06, + 0.0 + ], + "carrier_3": [ + 1.4093652665615082, + 0.07464009523391724, + 0.0 + ], + "carrier_4": [ + 0.24034079909324646, + 0.7000063061714172, + 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": [ + 0.7875296694242656, + -0.26169289975321386, + 3.142004377212563 + ], + "ori": [ + -2.8873244407705236, + 13.893134172007866, + 21.986951803037947 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5380.966998181636, + "color": [ + 0.9418624113803477, + 0.872112809251284, + 0.8293764453901293 + ], + "intensity": 6132.416261854063, + "width": 2.5960812717139605, + "height": 0.9928693096765245 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.381639119035489, + 0.944912218211641, + 2.322036696223775 + ], + "ori": [ + -23.006332016138586, + 32.40425339141025, + -4.753679926018599 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5287.179205039141, + "color": [ + 0.8198815925846926, + 0.9664691445801906, + 0.9001515703510048 + ], + "intensity": 8675.704683126347, + "radius": 0.10435708200196317 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 684.458068129177, + "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": [ + [ + 1.2684299945831299, + -1.3480995893478394, + 2.2126519680023193, + -2.4353551864624023, + -1.5708118677139282, + 2.688704252243042, + 0.007604178972542286, + 0.007048583589494228 + ], + [ + 0.9141008257865906, + -1.7193975448608398, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141007661819458, + -1.719397783279419, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.914101243019104, + -1.7193982601165771, + 2.0904996395111084, + -1.9419009685516357, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.00021810393081977963, + -0.01892661117017269, + -0.007771552074700594, + 0.024929312989115715, + 0.0001741017767926678, + 0.000746163772419095, + -0.007170678116381168, + 0.00016285962192341685 + ], + [ + 2.8266796440575204e-38, + -1.642119452690437e-38, + 1.5539441481212623e-38, + -5.00757122714258e-37, + 4.23527730392719e-37, + -2.8844206517474717e-37, + -2.5990386731677972e-08, + 2.5990386731677972e-08 + ], + [ + 2.879135009991977e-38, + 0.0, + -1.2232707811843636e-38, + -6.656642129150963e-37, + 3.3485616438019434e-37, + 2.2379285784265344e-37, + -2.4871153186241736e-38, + -4.4909833329963766e-38 + ], + [ + 2.4470261313776906e-38, + -1.907559293256394e-38, + 1.9486086502106324e-38, + -3.6542982879948577e-37, + 6.935451646261166e-37, + -2.9765677966839287e-37, + 4.068401041861956e-38, + -5.136675881465509e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04821931570768356, + -0.00330292503349483, + -0.028273331001400948, + -0.27370715141296387, + 0.645039975643158, + 0.6512126326560974, + -0.2914274334907532 + ], + [ + 0.04797228425741196, + 0.0008706155349500477, + -0.028593232855200768, + -0.2784826159477234, + 0.6523502469062805, + 0.6444045305252075, + -0.28570860624313354 + ], + [ + 0.05296370014548302, + 0.0010777231073006988, + -0.028634890913963318, + -0.27797001600265503, + 0.6594209671020508, + 0.6474970579147339, + -0.2620003819465637 + ], + [ + 0.04591171070933342, + -0.0010374448029324412, + -0.025005612522363663, + -0.2799614369869232, + 0.6532498598098755, + 0.6424599289894104, + -0.2865857779979706 + ] + ], + "camera1": [ + [ + 0.04602740705013275, + 0.5684269666671753, + 1.9512171745300293, + 0.027630683034658432, + 0.011730900965631008, + 0.2872465252876282, + 0.9573861956596375 + ], + [ + 0.04927896335721016, + 0.5692929029464722, + 1.947108268737793, + 0.0290131326764822, + 0.010442333295941353, + 0.27505210041999817, + 0.9609346985816956 + ], + [ + 0.0703406035900116, + 0.5765119791030884, + 1.9726670980453491, + 0.05311395972967148, + -0.008500557392835617, + 0.26003265380859375, + 0.9641004204750061 + ], + [ + 0.04118609428405762, + 0.5665013194084167, + 1.9513169527053833, + 0.05032390356063843, + 0.014741308987140656, + 0.2788114845752716, + 0.9589130878448486 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p020_e017/wrist.mp4 b/episodes/c9_p020_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..056735cf280d892cdc9932a66a7421fa107e1ba4 --- /dev/null +++ b/episodes/c9_p020_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24044d18ec4b287359b212d0a028c37f0b8466be0ffd2a18b960ef7a2d7241e4 +size 6866845 diff --git a/episodes/c9_p020_e018/data.npz b/episodes/c9_p020_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f5772123d2a3825ed4890ce889f4ba11a26eeaa7 --- /dev/null +++ b/episodes/c9_p020_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96ce9ed92524ae10e3bbcb09ca79af70ca9f874d6e5acc98d8eb38ec10e3cead +size 187241 diff --git a/episodes/c9_p020_e018/device_events.jsonl b/episodes/c9_p020_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6e67e75cba1b064d2359e4b39de310e95a2d9f8 --- /dev/null +++ b/episodes/c9_p020_e018/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "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": 2, "seq": 3, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1911, "t": 9.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6566, "t": 32.83, "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": 7176, "t": 35.88, "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": 7, "step": 7176, "t": 35.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8555578029187716}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7176, "t": 35.88, "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": 9, "step": 7176, "t": 35.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7176, "t": 35.88, "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": 11, "step": 7595, "t": 37.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7595, "t": 37.975, "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": 13, "step": 7595, "t": 37.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7595, "t": 37.975, "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": 15, "step": 7595, "t": 37.975, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7595, "t": 37.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7595, "t": 37.975, "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": 18, "step": 7595, "t": 37.975, "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": 7595, "t": 37.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8555578029187716}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7967, "t": 39.835, "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": 7967, "t": 39.835, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8600000000009516}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7967, "t": 39.835, "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": 1.8600000000009516}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7967, "t": 39.835, "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": 7967, "t": 39.835, "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": 7967, "t": 39.835, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8387, "t": 41.935, "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": 8967, "t": 44.835, "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": 10684, "t": 53.42, "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": 34, "step": 10684, "t": 53.42, "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": 10684, "t": 53.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10684, "t": 53.42, "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/c9_p020_e018/env.mp4 b/episodes/c9_p020_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..64ffa971fd44ab80a0e8432168a24013782c94ea --- /dev/null +++ b/episodes/c9_p020_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3399eff92f554b354a906785b8405ba86cc44044e90856bf88edc3253e338b1 +size 1207790 diff --git a/episodes/c9_p020_e018/meta.json b/episodes/c9_p020_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..867e5641d5705d1436a1557ed7d42114651787fe --- /dev/null +++ b/episodes/c9_p020_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p020/magicsim/18", + "fps": 25, + "frames": 1152, + "kept_ticks": "even", + "video_frames": { + "wrist": 1152, + "env": 1152 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p020_e018/scene_snapshot.json b/episodes/c9_p020_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e47d80ac71643160d5e2c46d53ebed7c3f8d72ce --- /dev/null +++ b/episodes/c9_p020_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 2, + "run_id": "c9_p020", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4907093048095703, + 0.12754058837890625, + 0.8999999761581421 + ], + "ori": [ + 0.7251709699630737, + 0.0, + 0.0, + -0.6885688304901123 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.7098301821091315e-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": 0.2759007374844401, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08899930544587178, + "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": 0.2759007374844401, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5417671203613281, + 1.0905218124389648, + 0.8999999761581421 + ], + "ori": [ + 0.29490405321121216, + 1.3415564126262325e-07, + -2.6779646944419255e-08, + 0.9555268883705139 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0232198199844333e-08, + -1.7093000792556268e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3611008853331441e-06, + -8.314171395795711e-07, + -1.42099798594586e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2799949645996094, + 1.0597801208496094, + 0.8999999761581421 + ], + "ori": [ + -0.3456992208957672, + 1.2817581662716293e-08, + 1.2095971158032626e-07, + 0.9383454918861389 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.982287802908104e-07, + 5.964877800579416e-07, + -3.4086406230926514e-06 + ], + "angular_velocity": [ + -3.973060302087106e-05, + 5.309178959578276e-05, + -1.021339471662941e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06084918975830078, + 0.4500141143798828, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -6.9738903540894626e-09, + 6.382772088642241e-09, + -0.00025587520212866366 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.325356961487614e-09, + -1.1014757106408979e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.84501368241763e-07, + -2.418955773464404e-07, + -9.302692660639877e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3047828674316406, + 1.1508054733276367, + 0.8999999761581421 + ], + "ori": [ + -0.008190064691007137, + -3.369121648333362e-10, + -3.0360147729169285e-09, + 0.9999665021896362 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.435993959996722e-10, + -1.557499906823523e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.7497558246759581e-07, + -5.488901777539468e-09, + -1.786135506165465e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.5403404235839844, + 1.0959386825561523, + 0.9179999828338623 + ], + "ori": [ + 0.24580925703048706, + 2.2205435357136594e-07, + 4.4170980117996805e-07, + 0.9693182110786438 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0725115607310727e-07, + -7.65111417422304e-06, + -3.4458935260772705e-06 + ], + "angular_velocity": [ + 0.00015015025564935058, + -6.466195918619633e-05, + 4.38332135672681e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.2788887023925781, + 1.0750064849853516, + 0.9179999828338623 + ], + "ori": [ + -0.27246183156967163, + 1.0406893125036731e-09, + 1.2215977562846092e-07, + 0.9621666669845581 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3271120451463503e-06, + 1.0852610330402968e-06, + -9.190291166305542e-06 + ], + "angular_velocity": [ + -3.911149178748019e-05, + 5.374717147788033e-05, + -6.018568114996015e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.07229232788085938, + 0.46175575256347656, + 0.9180000424385071 + ], + "ori": [ + 0.9956506490707397, + -6.5213701105903965e-09, + 4.6595660663228955e-09, + -0.09316601604223251 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.403050013479515e-08, + -9.055371208432916e-08, + -5.383044481277466e-06 + ], + "angular_velocity": [ + 2.2263866412686184e-06, + -3.574939455575077e-06, + -2.7015437353838934e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.29791831970214844, + 1.143803596496582, + 0.9179999828338623 + ], + "ori": [ + 0.08992289751768112, + -9.975142933882353e-10, + -2.6410638120921703e-09, + 0.9959487318992615 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.878543956645444e-08, + 6.661963425358408e-09, + -1.2665987014770508e-06 + ], + "angular_velocity": [ + -3.8429362803071854e-07, + 2.6878080916503677e-06, + 8.129315176574892e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.499999999999862, + "step": 1500, + "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": 4.7098301821091315e-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": 0.2759007374844401, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1393, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3917671144008636, + 0.6405218243598938, + 0.0 + ], + "carrier_2": [ + -1.4299949705600739, + 0.6097801327705383, + 0.0 + ], + "carrier_3": [ + -0.0891508162021637, + 1.4126300811767578e-05, + 0.0 + ], + "carrier_4": [ + 0.15478286147117615, + 0.7008054852485657, + 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": [ + 0.1822516602975751, + 0.43078561465225296, + 2.7110296018057087 + ], + "ori": [ + -0.4375203268263341, + -13.682664320449705, + -6.2207587733929515 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4605.313772522941, + "color": [ + 0.9773206770681122, + 0.8388898825104443, + 0.9615021519488612 + ], + "intensity": 8056.745921803904, + "width": 1.6710983909885495, + "height": 1.7466942029975316 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.1255095060710691, + 1.346718870703872, + 1.6875237951894941 + ], + "ori": [ + 11.397248705496594, + 38.85654513315767, + -17.922219753000867 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2888.1855692278446, + "color": [ + 0.8407468145010745, + 0.9022942769435092, + 0.8286104383958075 + ], + "intensity": 2616.027619879795, + "radius": 0.15711282137452112 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 684.458068129177, + "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": [ + [ + 2.507070302963257, + -2.1774840354919434, + 2.567673921585083, + -1.9593905210494995, + -1.5711965560913086, + 4.074615478515625, + 0.007650893181562424, + 0.007000308483839035 + ], + [ + 0.9141108393669128, + -1.7193955183029175, + 2.0904979705810547, + -1.941900610923767, + -1.5707999467849731, + 2.484905242919922, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141111373901367, + -1.7193949222564697, + 2.0904979705810547, + -1.9419013261795044, + -1.5707999467849731, + 2.484905958175659, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9187619686126709, + -1.4775036573410034, + 2.070223808288574, + -2.1635172367095947, + -1.5708754062652588, + 2.430119276046753, + 0.0076352134346961975, + 0.007587723899632692 + ] + ], + "joint_vel": [ + [ + 0.023819928988814354, + 0.0415632538497448, + -0.014067395590245724, + -0.027678262442350388, + -0.000237701678997837, + 0.02477986365556717, + -0.008296347223222256, + 0.00023059319937601686 + ], + [ + -2.5615920899254947e-38, + 0.0, + 0.0, + 7.175425689834948e-37, + -5.972291455479055e-37, + 2.866461610628685e-37, + 5.19807805687833e-08, + -5.198076280521491e-08 + ], + [ + 5.10895097249886e-06, + 1.79929476266244e-12, + 1.758349433937656e-12, + -3.4059771678585093e-06, + -3.4059787594742374e-06, + 2.043587483058218e-05, + 7.797181211799398e-08, + -7.797074630389034e-08 + ], + [ + 0.0024571288377046585, + 0.0006971074035391212, + 0.0014753565192222595, + 0.0020632983651012182, + 0.0006096468423493207, + 0.002309470670297742, + -0.003256751224398613, + 6.558882887475193e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04678819701075554, + -0.002326133893802762, + -0.03014935925602913, + -0.2753121256828308, + 0.6476504802703857, + 0.6493770480155945, + -0.28820404410362244 + ], + [ + 0.04698164388537407, + -0.0006453889072872698, + -0.030310656875371933, + -0.2786546051502228, + 0.6483801007270813, + 0.6453772187232971, + -0.29230639338493347 + ], + [ + 0.050261687487363815, + 0.0008648733492009342, + -0.03046625666320324, + -0.2693420946598053, + 0.6600990295410156, + 0.6475169062614441, + -0.2691577970981598 + ], + [ + 0.04769008979201317, + -0.004146384075284004, + -0.027727138251066208, + -0.28738075494766235, + 0.6523823142051697, + 0.6421488523483276, + -0.28187671303749084 + ] + ], + "camera1": [ + [ + 0.04602740705013275, + 0.5684269666671753, + 1.9512171745300293, + 0.027630683034658432, + 0.011730900965631008, + 0.2872465252876282, + 0.9573861956596375 + ], + [ + 0.04927896335721016, + 0.5692929029464722, + 1.947108268737793, + 0.0290131326764822, + 0.010442333295941353, + 0.27505210041999817, + 0.9609346985816956 + ], + [ + 0.0703406035900116, + 0.5765119791030884, + 1.9726670980453491, + 0.05311395972967148, + -0.008500557392835617, + 0.26003265380859375, + 0.9641004204750061 + ], + [ + 0.04118609428405762, + 0.5665013194084167, + 1.9513169527053833, + 0.05032390356063843, + 0.014741308987140656, + 0.2788114845752716, + 0.9589130878448486 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p020_e018/wrist.mp4 b/episodes/c9_p020_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a99115afe72cd4a2c4009a2b548b8b464f1e5ef9 --- /dev/null +++ b/episodes/c9_p020_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0790b06a0a952b7c4755f4c213f9def80292e07d32c8c7ecee2c4b75ed6dd04 +size 6220261 diff --git a/index/episodes.csv b/index/episodes.csv index c9cc8190688e5d0a72b85142842d169a69a70def..012a14946a718e223c5809a3ad83455543e4e063 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -4349,3 +4349,15 @@ c5_p014_e001,1,True,-0.0976400375366211,0.4500007629394531,-0.007797301111250931 c5_p014_e002,2,True,-0.11782550811767578,0.45000267028808594,0.012778321877234513,-0.010049769452900573,7.845523921771331,plate_24_clear,0.5078878402709961,0.12023067474365234,-88.80530587959586,0.2610933217014848,547.4881089878747,rect,0.02723211526999736,-0.13251512726766218,2.7785008041930714,4547.338104436681,5314.600308451197,sphere,-0.014246071194931709,0.4745281888710602,2.375251450066026,6756.55317917855,5367.285726809365,0.047713857144117355,0.001245932187885046,-0.029178239405155182,-0.2687385678291321,0.6542367935180664,0.6483491659164429,-0.2817750573158264,0.06809855252504349,0.5772126913070679,1.962312936782837,0.04070259630680084,-0.005817987024784088,0.27142810821533203,0.9615800976753235,1212,1,,2.1299548149108887,0.27501055242682726,0.0,0.007289913482964039,0.523102310231023,12,release,0.042195796966552734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c5_p014_e003,0,True,0.016218185424804688,0.4500007629394531,-0.005494075169154833,0.004095134624485031,-6.863830775263466,pcr_96_blue,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.2537850320139536,547.4881089878747,rect,0.520057779532371,-0.395715371130878,2.926600648228406,5059.724155928287,6560.137448421269,disk,0.16479870460543466,1.2570842477050974,1.862286276650128,10083.423911734084,6021.963163036347,0.05083822086453438,0.0015416441019624472,-0.02873978391289711,-0.2908739745616913,0.6505380272865295,0.6442622542381287,-0.27770254015922546,0.02790239453315735,0.5946293473243713,1.9525864124298096,0.030958915129303932,0.025311684235930443,0.2562650144100189,0.9657790064811707,1240,1,,2.1156961917877197,0.3243218967723635,0.0,0.006839174311608076,0.510483870967742,12,release,0.04226064682006836,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c6_p014_e019,2,True,0.007015228271484375,0.4474306106567383,-0.0016894630376597028,0.009743833912432382,10.00054996102898,plate_24_clear,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.24910244761889339,1407.1517769702548,rect,0.5719314570897157,0.28036130961027206,3.1875971398859844,10200.9405758401,3983.221698807304,disk,-0.7409726229088182,-0.35183241599130766,2.5234074824265695,3615.0465615798694,3427.099543611374,0.05222158133983612,0.003229947993531823,-0.031697727739810944,-0.2747043967247009,0.6518632173538208,0.6504381895065308,-0.2766621708869934,0.05597766488790512,0.5958079695701599,1.9701244831085205,0.036896344274282455,0.025010451674461365,0.2866762578487396,0.9569900035858154,1209,1,,2.044772148132324,0.32011540523219284,0.0,0.007336625829339027,0.5351530190239868,12,release,0.04250526428222656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p017_e027,3,True,-0.11315536499023438,0.45000171661376953,-0.01518894869895063,-0.011647224179033988,4.443580279762614,plate_384_white,0.5008344650268555,0.05531501770019531,-90.924806798238,0.22684727236336255,923.0304078652454,rect,0.6075449755138042,0.22274563364848532,2.9940043092864896,12667.813188894715,5653.054650006854,sphere,-0.49591547946284265,-0.7623389461724048,1.683369618415382,2353.154937773726,7272.339678668016,0.050600167363882065,-0.0011828052811324596,-0.031033026054501534,-0.2726399600505829,0.6593852043151855,0.6384662389755249,-0.2885124385356903,0.03913158178329468,0.5807902812957764,1.9281389713287354,0.040158480405807495,0.029172243550419807,0.2675740122795105,0.962257981300354,1163,1,,2.0696098804473877,0.2826461508033064,0.0,0.0074065555818378925,0.5468615649183147,12,release,0.04206770658493042,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p015_e000,2,True,0.0585479736328125,0.4499969482421875,-0.01460742233980465,-0.0004665711039215725,-4.77924113130976,plate_384_black,0.4776611328125,0.0931386947631836,-85.46218884951735,0.2452546246612542,1100.1798306404237,rect,0.10393554801689142,-0.3177575866256698,2.8485238322851822,7820.23504188014,4099.078907758183,sphere,-1.193160957077988,-0.5724729786379622,2.681945910990974,2436.0512825858013,7227.5253625050855,0.05119007080793381,-0.004503393545746803,-0.03182486817240715,-0.29331132769584656,0.6383795142173767,0.6538002490997314,-0.2810432016849518,0.02673882246017456,0.5754377245903015,1.9644941091537476,0.056790485978126526,0.013017404824495316,0.2662488520145416,0.9621418714523315,1153,1,,2.067535400390625,0.2510786144588839,0.0,0.007427292410284281,0.5446660884648742,12,release,0.04227769374847412,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p015_e001,3,True,-0.011491775512695312,0.44728565216064453,0.0086096369296808,-0.006258831079291645,-6.06122745525704,plate_96_clear,0.515411376953125,0.0921182632446289,-86.90927809631044,0.25158855116235845,1100.1798306404237,rect,0.5643988504509235,-0.4128115862920677,2.6135554741785523,4806.947499685225,7102.034881477722,disk,-1.3504451339589285,-0.9485437250156032,2.4541838159327036,10050.769458376519,4782.99675126253,0.04908480867743492,-0.002137020928785205,-0.024787964299321175,-0.28370651602745056,0.6542806029319763,0.6398564577102661,-0.28637605905532837,0.06878474354743958,0.5917893052101135,1.934268832206726,0.029427025467157364,0.0153779536485672,0.259988397359848,0.9650407433509827,1246,1,,2.0811731815338135,0.292357591190378,0.0,0.007256016600877047,0.5626003210272873,12,release,0.04266047477722168,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p015_e002,1,True,0.10151481628417969,0.4499998092651367,-0.00674067930414902,-0.006370428850985758,8.487735827928077,plate_96_white,0.4817361831665039,0.11155509948730469,-85.32433135693418,0.206540758052472,1100.1798306404237,rect,0.8606225382735636,-0.28859309343571726,3.1090734813998715,15039.956454872836,6105.183698314027,sphere,-1.5963788554826988,0.5140085139536632,2.2969186895341656,5628.338384032358,3241.463076161883,0.04842107370495796,0.00048231417895294726,-0.03238191828131676,-0.2884849011898041,0.640754759311676,0.6553735136985779,-0.2769392132759094,0.05162474513053894,0.5865690112113953,1.9718877077102661,0.04509630799293518,0.0038586845621466637,0.2860357463359833,0.9571493864059448,1267,1,,2.0718774795532227,0.30458598913249113,0.0,0.007287886925041676,0.5130228887134964,12,release,0.042372941970825195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p015_e003,0,True,-0.13777732849121094,0.4499988555908203,-0.013416325312802395,0.00351415612287086,-9.907932740085698,plate_6_clear,0.47370147705078125,0.12525367736816406,-87.22483591707285,0.25210140570915796,1100.1798306404237,rect,-0.5584234739139942,0.2943765421150579,2.711584628039236,11127.13855774808,6397.753047305612,sphere,-0.14169475055372227,0.3586191844079758,2.2415343030737476,8256.168590701764,3588.9414864797945,0.04882785305380821,-0.00297431624494493,-0.027365172281861305,-0.27219337224960327,0.6549549698829651,0.6532743573188782,-0.2649102210998535,0.05453416332602501,0.5892351865768433,1.9702764749526978,0.028143227100372314,0.007130261044949293,0.2828567624092102,0.9587226510047913,1182,1,,2.1061007976531982,0.30480089607447486,0.0,0.007342533208429813,0.5355329949238579,12,release,0.042493581771850586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p016_e008,1,True,-0.13411617279052734,0.4473152160644531,-0.014973180231918935,0.009214595357424804,2.2540408242602723,pcr_384_red,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.1791261382925321,491.9084846079861,rect,-0.26997054831195466,0.4993925989085556,3.0662704867618973,8442.463989407654,4958.023458259972,disk,0.24303874437197104,-0.9995867122803491,1.606975864698002,5257.677535689597,5321.936331736551,0.05271003022789955,0.001798393321223557,-0.03041405789554119,-0.28171277046203613,0.6532917022705078,0.6379004716873169,-0.29484036564826965,0.04619234800338745,0.5850398540496826,1.925070881843567,0.05380256474018097,0.01867860183119774,0.28691762685775757,0.9562608003616333,1218,1,,2.100992441177368,0.2957253447287906,0.0,0.006828411482274532,0.5188834154351396,12,release,0.042020320892333984,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p016_e009,2,True,-0.058259010314941406,0.4499998092651367,0.00555861506304493,-0.008716808064852732,-8.487341317422306,plate_384_black,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.21582451076085668,491.9084846079861,rect,0.6206370704404912,-0.16191894297567522,2.8847152143105275,10578.26102334294,3869.5344182642857,disk,0.27303699413760896,1.5218378542758055,1.7172610967911628,10344.387104400765,7052.444392061326,0.04863355681300163,0.0006696432828903198,-0.02780146524310112,-0.2800386846065521,0.6528129577636719,0.639847457408905,-0.29327258467674255,0.026456080377101898,0.588242769241333,1.9679654836654663,0.035318773239851,0.022268587723374367,0.2558758854866028,0.9658075571060181,1293,1,,2.105449676513672,0.302212799555148,0.0,0.007421881891787052,0.539829853054911,12,release,0.042194366455078125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p016_e010,3,True,-0.11585426330566406,0.44742393493652344,-0.007567671735784776,0.008224374777114385,0.908787565970357,plate_384_white,0.4881591796875,0.12302112579345703,-86.54485987223711,0.26354726114457455,1408.4834887873128,rect,0.025656735739476466,0.36551570055565485,2.6450715316638305,14655.125343340029,4380.426507672232,sphere,1.7941206892031079,-0.7649434614937647,2.3008137371984265,6834.643044751908,4136.234291156519,0.04937317594885826,-0.0010700052371248603,-0.029078209772706032,-0.2803591787815094,0.6487526893615723,0.645011842250824,-0.29065170884132385,0.03889459744095802,0.5896640419960022,1.9455897808074951,0.055094122886657715,0.017299139872193336,0.25488394498825073,0.9652458429336548,1243,1,,2.093245267868042,0.31508632241364815,0.0,0.00737944757565856,0.5108608205953339,12,release,0.042248666286468506,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p016_e011,0,True,0.030059814453125,0.45000648498535156,-0.00016687517056756894,0.008246402929330711,2.9628501605687063,pcr_96_blue,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.16062427052438244,1408.4834887873128,rect,0.022070630890030585,0.5550121831548913,2.963143563088425,6256.958799896849,4095.1321800284454,disk,-0.34784512366780485,0.23092624401798956,1.9055842000853576,6690.183643851499,4043.1094267062194,0.04949991777539253,-0.0009237463818863034,-0.028006890788674355,-0.27636364102363586,0.6482620239257812,0.6517615914344788,-0.28033244609832764,0.06855405867099762,0.5914391279220581,1.9658212661743164,0.040374163538217545,0.02186034619808197,0.2747872471809387,0.9604082703590393,1176,1,,2.1045074462890625,0.3150191019158132,0.0,0.006877390667796135,0.5382653061224489,12,release,0.04219937324523926,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p020_e016,0,True,-0.11749553680419922,0.44708251953125,-0.014835953146600378,-0.0006107902964879102,7.679104093024392,plate_96_black,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.183827929378229,684.458068129177,rect,0.1140489466951039,0.18424420045226952,2.8394214442040346,14068.467124908175,4676.846607651907,sphere,-1.3286621938925633,0.2638885041994552,1.6153377433814153,9623.883450823316,4126.445907764207,0.04602821543812752,-0.0037555338349193335,-0.029407989233732224,-0.27965468168258667,0.6450846791267395,0.6506132483482361,-0.2869868278503418,0.04602740705013275,0.5684269666671753,1.9512171745300293,0.027630683034658432,0.011730900965631008,0.2872465252876282,0.9573861956596375,1205,1,,2.1455976963043213,0.2673197427515185,0.0,0.007316126488149166,0.5286307053941909,12,release,0.042633771896362305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p020_e017,3,True,0.04015827178955078,0.4499969482421875,-0.0040407285053809,-0.008146280838852065,3.413808581986359,plate_384_white,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,684.458068129177,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.04591171070933342,-0.0010374448029324412,-0.025005612522363663,-0.2799614369869232,0.6532498598098755,0.6424599289894104,-0.2865857779979706,0.04118609428405762,0.5665013194084167,1.9513169527053833,0.05032390356063843,0.014741308987140656,0.2788114845752716,0.9589130878448486,1220,1,,2.0797030925750732,0.30312748070415274,0.0,0.007380586117506027,0.5229508196721312,12,release,0.042285919189453125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p020_e018,2,True,0.06084918975830078,0.4500141143798828,0.011437127836058394,0.011747492676653978,-10.662223669850988,plate_1536_black,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2759007374844401,684.458068129177,rect,0.1822516602975751,0.43078561465225296,2.7110296018057087,8056.745921803904,4605.313772522941,disk,-1.1255095060710691,1.346718870703872,1.6875237951894941,2616.027619879795,2888.1855692278446,0.050261687487363815,0.0008648733492009342,-0.03046625666320324,-0.2693420946598053,0.6600990295410156,0.6475169062614441,-0.2691577970981598,0.0703406035900116,0.5765119791030884,1.9726670980453491,0.05311395972967148,-0.008500557392835617,0.26003265380859375,0.9641004204750061,1152,1,,2.084203004837036,0.2813495201122168,0.0,0.007379234302788973,0.5546875,12,release,0.042164772748947144,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False