add 1 episodes (c9_p022_e019 .. c9_p022_e019); total 4733 {'v1': 1088, 'v2': 3645}
Browse files
episodes/c9_p022_e019/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:d505317a61bff7e0a259b13217fc504089fbb9be33e951c61906705f396f2b33
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size 188564
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episodes/c9_p022_e019/device_events.jsonl
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| 1 |
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{"env_id": 2, "seq": 1, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 2 |
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{"env_id": 2, "seq": 2, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 2, "seq": 3, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 4 |
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{"env_id": 2, "seq": 4, "step": 7178, "t": 35.89, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 5 |
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{"env_id": 2, "seq": 5, "step": 7792, "t": 38.96, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 6 |
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{"env_id": 2, "seq": 6, "step": 7792, "t": 38.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2036364411522085}, "cause": "task-2-1"}
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| 7 |
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{"env_id": 2, "seq": 7, "step": 7792, "t": 38.96, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
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| 8 |
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{"env_id": 2, "seq": 8, "step": 7792, "t": 38.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
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{"env_id": 2, "seq": 9, "step": 7792, "t": 38.96, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
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| 10 |
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{"env_id": 2, "seq": 10, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
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{"env_id": 2, "seq": 11, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
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| 12 |
+
{"env_id": 2, "seq": 12, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
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| 13 |
+
{"env_id": 2, "seq": 13, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
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| 14 |
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{"env_id": 2, "seq": 14, "step": 8211, "t": 41.055, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
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| 15 |
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{"env_id": 2, "seq": 15, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
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| 16 |
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{"env_id": 2, "seq": 16, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
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| 17 |
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{"env_id": 2, "seq": 17, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
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{"env_id": 2, "seq": 18, "step": 8211, "t": 41.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2036364411522085}, "cause": "program-2-3"}
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| 19 |
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{"env_id": 2, "seq": 19, "step": 8652, "t": 43.26, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
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{"env_id": 2, "seq": 20, "step": 8652, "t": 43.26, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.205000000001128}, "cause": "program-2-3"}
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| 21 |
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{"env_id": 2, "seq": 21, "step": 8652, "t": 43.26, "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": 2.205000000001128}}, "cause": "program-2-3"}
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| 22 |
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{"env_id": 2, "seq": 22, "step": 8652, "t": 43.26, "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"}
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| 23 |
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{"env_id": 2, "seq": 23, "step": 8652, "t": 43.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
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{"env_id": 2, "seq": 24, "step": 8652, "t": 43.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
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| 25 |
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{"env_id": 2, "seq": 25, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 2, "seq": 26, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1459921900325298e-09}, "cause": "program-2-4"}
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| 27 |
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{"env_id": 2, "seq": 27, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1459921900325298e-09}, "cause": "program-2-4"}
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| 28 |
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{"env_id": 2, "seq": 28, "step": 9072, "t": 45.36, "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"}
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| 29 |
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{"env_id": 2, "seq": 29, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
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| 30 |
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{"env_id": 2, "seq": 30, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 31 |
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{"env_id": 2, "seq": 31, "step": 9650, "t": 48.25, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 32 |
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{"env_id": 2, "seq": 32, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
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| 33 |
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{"env_id": 2, "seq": 33, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
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| 34 |
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{"env_id": 2, "seq": 34, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 2, "seq": 35, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
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episodes/c9_p022_e019/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:f890bae933660f1657804c85d1821a64b00a2b67c581397e5c08aad1f0ed7d5d
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size 1311273
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episodes/c9_p022_e019/meta.json
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{
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| 2 |
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"source": "raw/c9_p022/magicsim/19",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1215,
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| 5 |
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"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1215,
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| 8 |
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"env": 1215
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| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
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"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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| 20 |
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"joint_order": [
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| 21 |
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"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
+
"wrist_1",
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| 25 |
+
"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c9_p022_e019/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
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| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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},
|
| 12 |
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"restore_interface": {
|
| 13 |
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"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
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"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
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},
|
| 16 |
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|
| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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{},
|
| 21 |
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{},
|
| 22 |
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{
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| 23 |
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|
| 24 |
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{
|
| 25 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
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|
| 27 |
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|
| 28 |
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0.0,
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| 29 |
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| 30 |
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| 31 |
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],
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 40 |
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| 41 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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},
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| 58 |
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|
| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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}
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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|
| 68 |
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|
| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 78 |
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| 80 |
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| 82 |
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| 83 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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],
|
| 94 |
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|
| 95 |
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},
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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},
|
| 101 |
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|
| 102 |
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|
| 103 |
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| 104 |
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| 105 |
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| 106 |
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]
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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|
| 110 |
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}
|
| 111 |
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],
|
| 112 |
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|
| 113 |
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{
|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 123 |
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| 132 |
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| 133 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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|
| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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},
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| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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},
|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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| 155 |
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{
|
| 156 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 157 |
+
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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],
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| 163 |
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| 164 |
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1.0,
|
| 165 |
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| 166 |
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| 167 |
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0.0
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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1.0
|
| 173 |
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]
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| 174 |
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},
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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},
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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},
|
| 186 |
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|
| 187 |
+
},
|
| 188 |
+
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|
| 189 |
+
},
|
| 190 |
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{
|
| 191 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 192 |
+
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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| 210 |
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},
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| 216 |
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| 217 |
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| 218 |
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|
| 219 |
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|
| 220 |
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},
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| 221 |
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|
| 222 |
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},
|
| 223 |
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"type_specific": {}
|
| 224 |
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},
|
| 225 |
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{
|
| 226 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 227 |
+
"pose": {
|
| 228 |
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"pos": [
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| 229 |
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| 230 |
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0.02,
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],
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| 234 |
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1.0,
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0.0,
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0.0,
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0.0
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],
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1.0,
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1.0
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},
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},
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},
|
| 258 |
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|
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},
|
| 260 |
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{
|
| 261 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 262 |
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| 263 |
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|
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{
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episodes/c9_p022_e019/wrist.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:24771f627c1a3f31fdd18d9d9d2ee5753ffabdbd41f473f7c4746f8aec9281e5
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| 3 |
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size 6795204
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index/episodes.csv
CHANGED
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@@ -4731,3 +4731,4 @@ c7_p017_e011,3,True,0.055995941162109375,0.44728660583496094,-0.0081603197676723
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| 4731 |
c9_p022_e016,1,True,0.040119171142578125,0.447479248046875,-0.00043310353198177233,-0.01286345034373339,11.525769235421876,deep_well_96_1ml,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,610.619660942696,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.05115027353167534,-0.002868625335395336,-0.02982167899608612,-0.2832815945148468,0.6407174468040466,0.653171718120575,-0.28740108013153076,0.05499199032783508,0.5999197363853455,1.9292263984680176,0.04200049489736557,0.021999020129442215,0.2800644040107727,0.9588096737861633,1224,1,,2.125641107559204,0.291215594707858,0.0,0.007493919692933559,0.5228758169934641,12,release,0.042135536670684814,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4732 |
c9_p022_e017,0,True,0.06086158752441406,0.4499979019165039,-0.009087561474903203,4.314472568067044e-05,-5.505014368402868,plate_96_black,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2759007374844401,910.8524335437402,rect,0.1822516602975751,0.43078561465225296,2.7110296018057087,8056.745921803904,4605.313772522941,disk,-1.1255095060710691,1.346718870703872,1.6875237951894941,2616.027619879795,2888.1855692278446,0.04535578936338425,-0.00223754090256989,-0.03250277414917946,-0.26476481556892395,0.6606540679931641,0.6417093873023987,-0.2857356071472168,0.0463653989136219,0.5904326438903809,1.9700078964233398,0.050322286784648895,0.014159122481942177,0.2735332250595093,0.9604409337043762,1282,1,,2.1467576026916504,0.3085163134302622,0.0,0.007271775975823402,0.4968798751950078,12,release,0.042329490184783936,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4733 |
c9_p022_e018,3,True,-0.023847579956054688,0.45000267028808594,0.014259635838196531,0.008320025846400122,-7.708948443151172,plate_48_clear,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.18583927002083808,910.8524335437402,rect,-0.3258247740852721,-0.3858416065234789,3.0041538784714112,10876.763701970847,7104.290315163498,sphere,1.1178516578536986,0.3135769718414432,1.8732018390351228,2494.8111158305082,7210.104156063498,0.05223787948489189,-0.0009883333696052432,-0.02676396444439888,-0.2725430727005005,0.6518455743789673,0.6535474061965942,-0.2714652717113495,0.04105493053793907,0.5742040276527405,1.9662683010101318,0.05704812705516815,0.005095221102237701,0.2587241530418396,0.964251697063446,1296,1,,2.1109158992767334,0.2432622834482134,0.0,0.007289527449756861,0.5408950617283951,12,release,0.04285550117492676,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4731 |
c9_p022_e016,1,True,0.040119171142578125,0.447479248046875,-0.00043310353198177233,-0.01286345034373339,11.525769235421876,deep_well_96_1ml,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,610.619660942696,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.05115027353167534,-0.002868625335395336,-0.02982167899608612,-0.2832815945148468,0.6407174468040466,0.653171718120575,-0.28740108013153076,0.05499199032783508,0.5999197363853455,1.9292263984680176,0.04200049489736557,0.021999020129442215,0.2800644040107727,0.9588096737861633,1224,1,,2.125641107559204,0.291215594707858,0.0,0.007493919692933559,0.5228758169934641,12,release,0.042135536670684814,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4732 |
c9_p022_e017,0,True,0.06086158752441406,0.4499979019165039,-0.009087561474903203,4.314472568067044e-05,-5.505014368402868,plate_96_black,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2759007374844401,910.8524335437402,rect,0.1822516602975751,0.43078561465225296,2.7110296018057087,8056.745921803904,4605.313772522941,disk,-1.1255095060710691,1.346718870703872,1.6875237951894941,2616.027619879795,2888.1855692278446,0.04535578936338425,-0.00223754090256989,-0.03250277414917946,-0.26476481556892395,0.6606540679931641,0.6417093873023987,-0.2857356071472168,0.0463653989136219,0.5904326438903809,1.9700078964233398,0.050322286784648895,0.014159122481942177,0.2735332250595093,0.9604409337043762,1282,1,,2.1467576026916504,0.3085163134302622,0.0,0.007271775975823402,0.4968798751950078,12,release,0.042329490184783936,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4733 |
c9_p022_e018,3,True,-0.023847579956054688,0.45000267028808594,0.014259635838196531,0.008320025846400122,-7.708948443151172,plate_48_clear,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.18583927002083808,910.8524335437402,rect,-0.3258247740852721,-0.3858416065234789,3.0041538784714112,10876.763701970847,7104.290315163498,sphere,1.1178516578536986,0.3135769718414432,1.8732018390351228,2494.8111158305082,7210.104156063498,0.05223787948489189,-0.0009883333696052432,-0.02676396444439888,-0.2725430727005005,0.6518455743789673,0.6535474061965942,-0.2714652717113495,0.04105493053793907,0.5742040276527405,1.9662683010101318,0.05704812705516815,0.005095221102237701,0.2587241530418396,0.964251697063446,1296,1,,2.1109158992767334,0.2432622834482134,0.0,0.007289527449756861,0.5408950617283951,12,release,0.04285550117492676,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4734 |
+
c9_p022_e019,2,True,0.08370399475097656,0.45000267028808594,-0.001996240057200484,0.0024288443557891354,-6.675080145035565,plate_24_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.2801364142408956,910.8524335437402,rect,-0.35973068509787776,0.4829194825895833,3.0218573285392667,9858.9117990401,6710.735160691339,disk,-1.0346088605000365,0.7342525696942803,1.8209140457246624,9030.036133875097,3352.9791433685805,0.05221815034747124,-0.0011318373726680875,-0.030547378584742546,-0.27848103642463684,0.6471981406211853,0.6459237933158875,-0.29387980699539185,0.03205288201570511,0.5666149854660034,1.9265598058700562,0.04450828954577446,0.021600501611828804,0.26685455441474915,0.9624661207199097,1215,1,,2.0860207080841064,0.27500018875998,0.0,0.007335368078202009,0.5218106995884774,12,release,0.042150020599365234,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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