diff --git a/episodes/c2_p015_e012/data.npz b/episodes/c2_p015_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..867889c42b21367bc084c21ed8b822451bae2bde --- /dev/null +++ b/episodes/c2_p015_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8388d9995adc7664f9c6a7dd9d5bf045e00dc09233358352fb659e74f2f09467 +size 186098 diff --git a/episodes/c2_p015_e012/device_events.jsonl b/episodes/c2_p015_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0378da9efcd49269b58184e1a6b56b15a8e49ec --- /dev/null +++ b/episodes/c2_p015_e012/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6063, "t": 30.315, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4836305904808524}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7091, "t": 35.455, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4836305904808524}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7588, "t": 37.94, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7588, "t": 37.94, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4850000000012713}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7588, "t": 37.94, "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": 2.4850000000012713}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7588, "t": 37.94, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7588, "t": 37.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7588, "t": 37.94, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8008, "t": 40.04, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8587, "t": 42.935, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10236, "t": 51.18, "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": 33, "step": 10236, "t": 51.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10236, "t": 51.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10236, "t": 51.18, "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/c2_p015_e012/env.mp4 b/episodes/c2_p015_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b3ffa85c14188ebef3beff751a63bef4b3a3be9f --- /dev/null +++ b/episodes/c2_p015_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c243efa642521f622de3ed0d428be4d24cfe84dfe6fa2d7d35f659e0234241b +size 1298632 diff --git a/episodes/c2_p015_e012/meta.json b/episodes/c2_p015_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e5a5e7369414e6e159e716271377a67e05ebc7 --- /dev/null +++ b/episodes/c2_p015_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p015/magicsim/12", + "fps": 25, + "frames": 1157, + "kept_ticks": "even", + "video_frames": { + "wrist": 1157, + "env": 1157 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p015_e012/scene_snapshot.json b/episodes/c2_p015_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..57a9983758f5514d5abe880399b3ac28dace6de7 --- /dev/null +++ b/episodes/c2_p015_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 3, + "run_id": "c2_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5080299377441406, + 0.10838794708251953, + 0.8999999761581421 + ], + "ori": [ + -0.676828145980835, + 0.0, + 0.0, + 0.7361410856246948 + ], + "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": [ + 1.6820828584174219e-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": 0.1874633356015498, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.012001998093375488, + "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": 0.1874633356015498, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1378469467163086, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.78021711103338e-09, + -4.0818759483585154e-10, + -2.8867953005828895e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2566954143977682e-09, + 1.5669715525135075e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -9.132758549412756e-08, + 1.205187061259494e-07, + -1.5448975432263978e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3912773132324219, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + -5.7121080317301676e-05, + -2.394583642484349e-09, + -2.5111042134540185e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.703695566377064e-08, + 2.2905163632458425e-07, + 7.82310962677002e-08 + ], + "angular_velocity": [ + -4.334658115112688e-06, + 6.406618808796338e-07, + -2.8771803499694215e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.398280143737793, + 0.777277946472168, + 0.8999999761581421 + ], + "ori": [ + -0.7294432520866394, + 1.966759555216413e-08, + -1.8147883906749485e-07, + 0.6840413808822632 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.146045284869615e-09, + -2.9967850423417985e-10, + 0.0 + ], + "angular_velocity": [ + -1.84372765943408e-08, + -2.3396569304168224e-07, + 2.9376678867265582e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5254459381103516, + 0.5013351440429688, + 0.8999999761581421 + ], + "ori": [ + 0.967796802520752, + -9.26482641716575e-08, + 2.4429795075775473e-08, + 0.251732736825943 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.786908481766659e-08, + -7.277928659732424e-08, + -1.5273690223693848e-07 + ], + "angular_velocity": [ + 3.357882178534055e-06, + -4.723126949102152e-06, + 5.789379429188557e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.1477518081665039, + 0.4449014663696289, + 0.9179999828338623 + ], + "ori": [ + 0.9953474402427673, + 3.1655673637942527e-09, + 1.1815430855932618e-09, + -0.09635087847709656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5684660681358764e-08, + 1.864262522133231e-08, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + -4.941970814797969e-07, + -1.6832544815770234e-06, + 1.599543075769816e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.4001169204711914, + 1.1514368057250977, + 0.9180000424385071 + ], + "ori": [ + 0.0866817831993103, + 5.5060155546016176e-08, + -3.47214040630206e-07, + 0.9962360858917236 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.650491867621895e-06, + 1.5914351934043225e-06, + -5.2675604820251465e-06 + ], + "angular_velocity": [ + 0.0001075676700565964, + 6.792734893679153e-06, + -3.03555243590381e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.4088859558105469, + 0.7908487319946289, + 0.9180000424385071 + ], + "ori": [ + -0.714868426322937, + 3.1943425682356974e-08, + -1.8979514493366878e-07, + 0.6992590427398682 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1135292627150193e-08, + 1.7176716937683523e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -1.8032806110568345e-06, + -4.953326424583793e-07, + -6.892855708429124e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5278539657592773, + 0.5003290176391602, + 0.9179999828338623 + ], + "ori": [ + 0.958685040473938, + -6.369273819473165e-07, + -5.010198265154031e-07, + 0.2844697833061218 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3367867722990923e-05, + -9.426760243513854e-07, + -9.98377799987793e-06 + ], + "angular_velocity": [ + 0.0002716890594456345, + 0.0002686828374862671, + -4.6790377382421866e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.139999999999913, + "step": 1028, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.6820828584174219e-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": 0.1874633356015498, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 982, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.012153059244155884, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_2": [ + 0.2412773072719574, + 0.6999958157539368, + 0.0 + ], + "carrier_3": [ + -1.5482801496982574, + 0.3272779583930969, + 0.0 + ], + "carrier_4": [ + 1.375445932149887, + 0.051335155963897705, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5887133500155952, + -0.2240985561135253, + 2.7874513170194155 + ], + "ori": [ + 11.445399597245729, + 0.6226036806860673, + 19.113930805074546 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3310.378236811354, + "color": [ + 0.9752917723047361, + 0.8438346479710763, + 0.9793553171611311 + ], + "intensity": 10696.5047417639, + "width": 2.2061488263756486, + "height": 1.704099387472091 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.490081489027781, + -0.7078064645888275, + 2.672490886037701 + ], + "ori": [ + -10.910859640268463, + -29.268582716917564, + 33.69276159978409 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7015.804376406407, + "color": [ + 0.8195678799899664, + 0.962860812513413, + 0.9129904549154799 + ], + "intensity": 4372.710399764499, + "radius": 0.39376231498157666 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 513.4769117981787, + "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": [ + [ + 0.9141016602516174, + -1.7193992137908936, + 2.0905001163482666, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.7895384430885315, + -1.340299129486084, + 2.014968156814575, + -2.2454185485839844, + -1.5707963705062866, + 2.4280872344970703, + 0.01800004579126835, + 0.017999952659010887 + ], + [ + 1.0894562005996704, + -1.6513183116912842, + 2.136545419692993, + -2.055986166000366, + -1.5707952976226807, + 2.656895637512207, + 0.018001241609454155, + 0.01799876056611538 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.828050394215323e-38, + 1.6429151099584807e-38, + -1.554704212408312e-38, + 5.009988635149356e-37, + -4.2373005547019205e-37, + 2.76082702402504e-37, + -2.5990376073536936e-08, + 2.5990388508034812e-08 + ], + [ + -0.0001571697066538036, + 0.01324461866170168, + 0.008862698450684547, + -0.02080056257545948, + -1.0610741810523905e-05, + -2.0829587811022066e-05, + -6.1857558648625854e-06, + 6.1872374317317735e-06 + ], + [ + 0.04871196299791336, + 0.019010275602340698, + 0.013188990764319897, + -0.030977975577116013, + 9.3908078270033e-05, + 0.04686255380511284, + 2.9524384444812313e-05, + -2.9571761842817068e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.046696778386831284, + 0.0023698778823018074, + -0.03475623205304146, + -0.281395822763443, + 0.6493210792541504, + 0.6521797180175781, + -0.2717721462249756 + ], + [ + 0.04995902627706528, + -1.1089375220763031e-05, + -0.02991962805390358, + -0.2834106683731079, + 0.6522685289382935, + 0.639832615852356, + -0.29127025604248047 + ], + [ + 0.04798096418380737, + -0.0009152210550382733, + -0.02942892536520958, + -0.27839404344558716, + 0.6444088816642761, + 0.6554465293884277, + -0.2786105275154114 + ], + [ + 0.052771616727113724, + -0.004094898700714111, + -0.027883121743798256, + -0.2820618450641632, + 0.6425362229347229, + 0.6581330299377441, + -0.27285391092300415 + ] + ], + "camera1": [ + [ + 0.03543298318982124, + 0.5702260732650757, + 1.9500106573104858, + 0.034640196710824966, + 0.010602401569485664, + 0.26643049716949463, + 0.9631730914115906 + ], + [ + 0.045272041112184525, + 0.5917916893959045, + 1.9428541660308838, + 0.03775448724627495, + -0.004303470253944397, + 0.26471757888793945, + 0.9635770320892334 + ], + [ + 0.07073767483234406, + 0.5943475961685181, + 1.9286177158355713, + 0.04228080436587334, + 0.026426026597619057, + 0.27454838156700134, + 0.9602797627449036 + ], + [ + 0.040033742785453796, + 0.5868625044822693, + 1.9484621286392212, + 0.03315163031220436, + 0.0075879888609051704, + 0.25426197052001953, + 0.9665372371673584 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p015_e012/wrist.mp4 b/episodes/c2_p015_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d600b5f75d526f2e71ec0a27ff9a965ad73f206b --- /dev/null +++ b/episodes/c2_p015_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2efda91c4b3c87a8b55f86b6d01b750302c629098cb7b400e52132a86beef7ed +size 6818254 diff --git a/episodes/c2_p015_e013/data.npz b/episodes/c2_p015_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..605ef900b56ed334ceb4653d63f22b6407f2cae2 --- /dev/null +++ b/episodes/c2_p015_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d83a1697c63e9088ba6bfad5f269761bdf92980055cc935c0937c0befac557e8 +size 187544 diff --git a/episodes/c2_p015_e013/device_events.jsonl b/episodes/c2_p015_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7bdbdc5abba00ad171819f3813bad71d25086e3 --- /dev/null +++ b/episodes/c2_p015_e013/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 41, "t": 0.205, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5574, "t": 27.87, "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": 6188, "t": 30.94, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6188, "t": 30.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.628628706596084}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6188, "t": 30.94, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6188, "t": 30.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6188, "t": 30.94, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6607, "t": 33.035, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6607, "t": 33.035, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6607, "t": 33.035, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6607, "t": 33.035, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6607, "t": 33.035, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6607, "t": 33.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6607, "t": 33.035, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6607, "t": 33.035, "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": 6607, "t": 33.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.628628706596084}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7533, "t": 37.665, "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": 7533, "t": 37.665, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.630000000002369}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7533, "t": 37.665, "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": 4.630000000002369}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7533, "t": 37.665, "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": 7533, "t": 37.665, "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": 7533, "t": 37.665, "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": 7953, "t": 39.765, "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": 7953, "t": 39.765, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.215145814143398e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7953, "t": 39.765, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.215145814143398e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7953, "t": 39.765, "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": 7953, "t": 39.765, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7953, "t": 39.765, "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": 8529, "t": 42.645, "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": 10184, "t": 50.92, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10184, "t": 50.92, "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": 10184, "t": 50.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10184, "t": 50.92, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c2_p015_e013/env.mp4 b/episodes/c2_p015_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..80b47919bf597ef6741bb44ea08a5cabefe94a70 --- /dev/null +++ b/episodes/c2_p015_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b47f25fb257dceed2efaf04a0eb2a9ed62f3aa71482a4224b0ffccf2bc01b009 +size 1268898 diff --git a/episodes/c2_p015_e013/meta.json b/episodes/c2_p015_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9831beee8cb0eb7861ec693029542eac36245043 --- /dev/null +++ b/episodes/c2_p015_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p015/magicsim/13", + "fps": 25, + "frames": 1225, + "kept_ticks": "even", + "video_frames": { + "wrist": 1225, + "env": 1225 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p015_e013/scene_snapshot.json b/episodes/c2_p015_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2d8e3d5f03d11a091468beeeab87f727e5fb8321 --- /dev/null +++ b/episodes/c2_p015_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 1, + "run_id": "c2_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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5050563812255859, + 0.11005401611328125, + 0.8999999761581421 + ], + "ori": [ + -0.6925987601280212, + 0.0, + 0.0, + 0.7213230729103088 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018500384198818e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2532987296799928, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0417364534246194, + "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": 0.2532987296799928, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.378763198852539, + 0.9172735214233398, + 0.8999999761581421 + ], + "ori": [ + -0.5736611485481262, + 3.196858244791656e-08, + 2.6727393631631458e-08, + 0.8190928101539612 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1624707862978312e-09, + -8.255390815392616e-11, + 0.0 + ], + "angular_velocity": [ + -1.2570836815939401e-08, + -2.8976911536915395e-08, + 1.3365278661581215e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10821723937988281, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.0637225262021275e-09, + -5.153996118778537e-10, + -2.365008185734041e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.910779643514275e-10, + 7.377356503468491e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -6.093330995327051e-08, + -6.277819153410746e-08, + -3.1158395863428723e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.029747962951660156, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 1.4806394574407022e-05, + -6.279118891505675e-11, + 4.637776829241602e-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": [ + -5.501162858578823e-10, + 1.287903950153435e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.5917164353804765e-08, + -4.625017524517716e-08, + -8.31145907653763e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.69427490234375, + 0.8576698303222656, + 0.8999999761581421 + ], + "ori": [ + 0.6474316120147705, + 8.237027060431501e-09, + -1.2127368442804709e-08, + 0.7621236443519592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3098215845275263e-09, + -1.044039521502782e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0835819352905673e-07, + 1.154009510173637e-08, + 1.7743076341503183e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3727703094482422, + 0.9106683731079102, + 0.9179999828338623 + ], + "ori": [ + -0.6111978888511658, + 3.536183612595778e-08, + 2.4294248390788198e-08, + 0.7914777994155884 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.8610052993371937e-08, + 3.286266547775085e-08, + 7.450580596923828e-08 + ], + "angular_velocity": [ + -1.8711896245804382e-06, + -1.071090537152486e-06, + -7.309196803362283e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.12018680572509766, + 0.4605541229248047, + 0.9180000424385071 + ], + "ori": [ + 0.9994227290153503, + -2.9275664115147038e-09, + 1.9253808269947825e-10, + -0.03397401422262192 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7831510490395885e-08, + 4.354673510675866e-09, + -5.610287189483643e-06 + ], + "angular_velocity": [ + 3.0906744541425724e-07, + -1.3042993032286176e-06, + 1.0689819873732631e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.01858043670654297, + 1.1527233123779297, + 0.9179999828338623 + ], + "ori": [ + 0.06752743571996689, + -6.477494651768723e-10, + 4.511707896170947e-09, + 0.9977174997329712 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.09142025709275e-09, + -1.3729236414405932e-08, + -5.5283308029174805e-06 + ], + "angular_velocity": [ + -1.5843149014926894e-07, + 1.7613823501960724e-06, + 1.1622534046296096e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6831045150756836, + 0.8648996353149414, + 0.9179999828338623 + ], + "ori": [ + 0.5921844840049744, + 9.977364712199233e-09, + -1.1691536627722598e-08, + 0.8058025240898132 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.154238090834042e-08, + -8.188891342797433e-08, + 1.9371509552001953e-07 + ], + "angular_velocity": [ + 2.4206688067351934e-06, + 3.821166501438711e-06, + 1.0070539957496294e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.0999999999999774, + "step": 420, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.018500384198818e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2532987296799928, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 383, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5287632048130035, + 0.4672735333442688, + 0.0 + ], + "carrier_2": [ + -0.041782766580581665, + -3.993511199951172e-06, + 0.0 + ], + "carrier_3": [ + -0.17974796891212463, + 0.700003445148468, + 0.0 + ], + "carrier_4": [ + 1.5442748963832855, + 0.4076698422431946, + 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": [ + -0.5615480074794588, + -0.38311852129940865, + 2.6272137117311463 + ], + "ori": [ + -10.86431136663763, + 14.133020861523725, + -17.600592414545915 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5141.091971004351, + "color": [ + 0.8465717076262324, + 0.8441663526837152, + 0.8886212797046597 + ], + "intensity": 11141.064917403086, + "width": 2.666458653636159, + "height": 0.8053391109749175 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.2223242425976864, + 1.3396531146582744, + 2.5000788648410714 + ], + "ori": [ + 28.05071068632907, + 15.74294557780658, + 19.299441402224218 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3718.987040421965, + "color": [ + 0.874960049193755, + 0.8843590653453638, + 0.7996867576501898 + ], + "intensity": 1773.512575892507, + "radius": 0.15024855676815224 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 513.4769117981787, + "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": [ + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193976640701294, + 2.090498924255371, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 3.4059648896800354e-06, + -3.405958068469772e-06, + 6.811945695517352e-06, + 3.4059751214954304e-06, + 5.079533256686919e-13, + 7.542726209244788e-13, + -2.5990084751015274e-08, + 2.5990942731368705e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -2.965327477234132e-38, + -2.8238008164924115e-38, + -4.377205744964602e-37, + 6.909535471942557e-37, + 1.2180737575437528e-37, + -2.5990372520823257e-08, + 2.599039738981901e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04873156547546387, + 0.002369827125221491, + -0.033631663769483566, + -0.2829592823982239, + 0.6476361751556396, + 0.6515251398086548, + -0.27571067214012146 + ], + [ + 0.05122021958231926, + -0.0031384762842208147, + -0.0303533673286438, + -0.2779805064201355, + 0.6538347005844116, + 0.6400485038757324, + -0.29251477122306824 + ], + [ + 0.04888191446661949, + -0.000132046639919281, + -0.030728444457054138, + -0.2812334895133972, + 0.6433665156364441, + 0.6545671820640564, + -0.280230313539505 + ], + [ + 0.05108742415904999, + -0.0017258510924875736, + -0.025402644649147987, + -0.293411523103714, + 0.6369556784629822, + 0.6601095795631409, + -0.26917001605033875 + ] + ], + "camera1": [ + [ + 0.03543298318982124, + 0.5702260732650757, + 1.9500106573104858, + 0.034640196710824966, + 0.010602401569485664, + 0.26643049716949463, + 0.9631730914115906 + ], + [ + 0.045272041112184525, + 0.5917916893959045, + 1.9428541660308838, + 0.03775448724627495, + -0.004303470253944397, + 0.26471757888793945, + 0.9635770320892334 + ], + [ + 0.07073767483234406, + 0.5943475961685181, + 1.9286177158355713, + 0.04228080436587334, + 0.026426026597619057, + 0.27454838156700134, + 0.9602797627449036 + ], + [ + 0.040033742785453796, + 0.5868625044822693, + 1.9484621286392212, + 0.03315163031220436, + 0.0075879888609051704, + 0.25426197052001953, + 0.9665372371673584 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p015_e013/wrist.mp4 b/episodes/c2_p015_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..395db4d3502ffad79ac3cc46621e3d1dcfdc7910 --- /dev/null +++ b/episodes/c2_p015_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a251759a2525a943c11ae1f02f4c72514dbb978ecb6a38255828ad3b6976d593 +size 6811192 diff --git a/episodes/c2_p015_e014/data.npz b/episodes/c2_p015_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9bf924590123c1bf7f4203852c8c4e38744d2aa0 --- /dev/null +++ b/episodes/c2_p015_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fee2eb27b88fd5f2ff1b0e8800f02c720a6ecf0cd097bdc0fdd7bae93d53115 +size 188190 diff --git a/episodes/c2_p015_e014/device_events.jsonl b/episodes/c2_p015_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8478fa1b8ffa2ac6e6497cc82bdcc8884bfd253f --- /dev/null +++ b/episodes/c2_p015_e014/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 56, "t": 0.28, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 56, "t": 0.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 61, "t": 0.305, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1446, "t": 7.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1476, "t": 7.38, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6335, "t": 31.675, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6948, "t": 34.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6948, "t": 34.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7643602332491044}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6948, "t": 34.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6948, "t": 34.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6948, "t": 34.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7367, "t": 36.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7367, "t": 36.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7367, "t": 36.835, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7367, "t": 36.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7367, "t": 36.835, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7367, "t": 36.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7367, "t": 36.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7367, "t": 36.835, "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": 7367, "t": 36.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7643602332491044}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7920, "t": 39.6, "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": 7920, "t": 39.6, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7650000000014145}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7920, "t": 39.6, "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": 2.7650000000014145}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7920, "t": 39.6, "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": 7920, "t": 39.6, "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": 7920, "t": 39.6, "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": 8340, "t": 41.7, "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": 8340, "t": 41.7, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.5020142341579685e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8340, "t": 41.7, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.5020142341579685e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8340, "t": 41.7, "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": 8340, "t": 41.7, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8340, "t": 41.7, "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": 8918, "t": 44.59, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 10628, "t": 53.14, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10628, "t": 53.14, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10628, "t": 53.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10628, "t": 53.14, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c2_p015_e014/env.mp4 b/episodes/c2_p015_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bf0e88e9ef1076a1b2fda94c0d19c5af9ae26ad9 --- /dev/null +++ b/episodes/c2_p015_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4a50fd4f9d416cf982d845868419b1f4ef35ab2bc21aedf97e352e43a6c3e51 +size 1293070 diff --git a/episodes/c2_p015_e014/meta.json b/episodes/c2_p015_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c813c8d0012d0c072ed86da5098c226d61a5cc2c --- /dev/null +++ b/episodes/c2_p015_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p015/magicsim/14", + "fps": 25, + "frames": 1207, + "kept_ticks": "even", + "video_frames": { + "wrist": 1207, + "env": 1207 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p015_e014/scene_snapshot.json b/episodes/c2_p015_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..55de0abf147e139e87e81ffcc17b98ebfa0c145d --- /dev/null +++ b/episodes/c2_p015_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 2, + "run_id": "c2_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4701118469238281, + 0.05037117004394531, + 0.8999999761581421 + ], + "ori": [ + 0.7287750244140625, + 0.0, + 0.0, + -0.6847532391548157 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.046248141571397e-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": 0.2739735745057915, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.279037804575595, + "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": 0.2739735745057915, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12877845764160156, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.1088932195852976e-08, + 3.4878951282735215e-08, + -4.2530660721240565e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.079805352030235e-09, + 1.7142524200153275e-07, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -4.411634563439293e-06, + -2.7522438017513196e-07, + 6.237862066882371e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.326517105102539, + 1.0096416473388672, + 0.8999999761581421 + ], + "ori": [ + -0.4294862747192383, + 6.933707652478915e-08, + 2.0113120058340428e-08, + 0.9030734300613403 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.509136826731265e-07, + 9.205087962982361e-07, + -2.4847686290740967e-06 + ], + "angular_velocity": [ + -8.136733958963305e-05, + 5.3355994168668985e-05, + 1.0419493037261418e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.24989032745361328, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + 3.801457933150232e-05, + 5.745061315565181e-09, + 3.680975080300186e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4690439975595382e-09, + 3.459872388589247e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -5.547603620925656e-08, + -1.4148795912660717e-07, + -1.0922063253815395e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5285015106201172, + 0.5027608871459961, + 0.8999999761581421 + ], + "ori": [ + 0.9660916924476624, + -3.763648237509187e-08, + -1.0075057588210257e-07, + 0.25819912552833557 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.886737224931494e-08, + -1.0076169587591721e-07, + 5.21540641784668e-08 + ], + "angular_velocity": [ + 2.971873982460238e-06, + 2.207141051258077e-06, + 1.2004309155599913e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.14034652709960938, + 0.4380302429199219, + 0.9180000424385071 + ], + "ori": [ + 0.9999945759773254, + 4.065093150984467e-07, + 9.400233835776817e-08, + 0.0033059953711926937 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.059131020359928e-06, + 2.8115755412727594e-06, + -1.1485069990158081e-05 + ], + "angular_velocity": [ + -0.0002992181689478457, + -4.1766110371099785e-05, + 1.6942400179686956e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3095684051513672, + 1.011587142944336, + 0.9179999828338623 + ], + "ori": [ + -0.35502415895462036, + 6.579780631454923e-08, + 2.269079857342149e-08, + 0.934857189655304 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1050703960790997e-06, + 1.905291242110252e-06, + -8.534640073776245e-06 + ], + "angular_velocity": [ + -8.253695705207065e-05, + 5.152628727955744e-05, + 6.15186991126393e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.2471303939819336, + 1.1491765975952148, + 0.9180000424385071 + ], + "ori": [ + -0.015178417786955833, + 5.9592335510672e-09, + 1.716786712790963e-09, + 0.999884843826294 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2603140753242315e-09, + -2.826368472597096e-09, + -5.4426491260528564e-06 + ], + "angular_velocity": [ + -7.465576459253498e-07, + 1.8093465996571467e-06, + -8.965433551111346e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.5219192504882812, + 0.49182796478271484, + 0.9179999828338623 + ], + "ori": [ + 0.9355791807174683, + -2.4117362045217305e-06, + -8.146469099301612e-07, + 0.35311707854270935 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0384579582023434e-05, + -3.78957111024647e-07, + -2.8856098651885986e-05 + ], + "angular_velocity": [ + -9.346746082883328e-05, + -0.00018537866708356887, + -3.740184911293909e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.999999999999916, + "step": 1000, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.046248141571397e-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": 0.2739735745057915, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 943, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.27877846360206604, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + -1.4765171110630035, + 0.5596416592597961, + 0.0 + ], + "carrier_3": [ + 0.0998903214931488, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + 1.3785015046596527, + 0.05276089906692505, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5873596422160209, + -0.4098862040268607, + 3.1410208240356763 + ], + "ori": [ + 6.985129253973245, + 1.4647519787788568, + 20.05050692832735 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7022.721304797515, + "color": [ + 0.9318913929268859, + 0.9057408009649816, + 0.9780611207972069 + ], + "intensity": 6705.3013438290745, + "width": 1.6135820342053204, + "height": 1.0777707354709682 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.19854827040691636, + 0.09948703864378405, + 2.22495331147534 + ], + "ori": [ + 17.124396569676307, + 22.369113299194353, + -15.230529652465918 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5194.28603129349, + "color": [ + 0.8957776664752225, + 0.9972912458572213, + 0.7937280253140204 + ], + "intensity": 2322.389427241939, + "radius": 0.35771364096811287 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 513.4769117981787, + "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": [ + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.795979917049408, + -1.411295771598816, + 1.977867841720581, + -2.1373417377471924, + -1.5707978010177612, + 2.431028127670288, + 0.018000591546297073, + 0.01799940876662731 + ], + [ + 0.9141035676002502, + -1.7193965911865234, + 2.090498208999634, + -1.9419004917144775, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 3.4059648896800354e-06, + -3.405958068469772e-06, + 6.811946150264703e-06, + 3.4059751214954304e-06, + 5.765464061030512e-13, + 2.2934659813650393e-13, + -2.59900048149575e-08, + 2.5990757990257407e-08 + ], + [ + -0.00666965264827013, + 0.017136001959443092, + -0.005828757304698229, + -0.010291360318660736, + -2.422485704300925e-05, + -0.0028380188159644604, + 1.2299029549467377e-05, + -1.2310825695749372e-05 + ], + [ + 0.0, + 0.0, + 0.0, + -6.47515312669975e-37, + 3.4110635910504075e-37, + 2.261971721165788e-37, + -6.396503736987178e-38, + 6.647948249270537e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04836805537343025, + 0.004186664707958698, + -0.033541664481163025, + -0.2778581380844116, + 0.6512176990509033, + 0.6499788761138916, + -0.2761119306087494 + ], + [ + 0.05169251933693886, + -0.0008230957901105285, + -0.029730483889579773, + -0.28110748529434204, + 0.6568655371665955, + 0.6366217136383057, + -0.29020509123802185 + ], + [ + 0.04973655194044113, + -0.0010126462439075112, + -0.03306060656905174, + -0.28127434849739075, + 0.6451427340507507, + 0.6515993475914001, + -0.28300872445106506 + ], + [ + 0.05268719792366028, + -0.0029284453485161066, + -0.02741832658648491, + -0.28731387853622437, + 0.6433082222938538, + 0.6549933552742004, + -0.2731098532676697 + ] + ], + "camera1": [ + [ + 0.03543298318982124, + 0.5702260732650757, + 1.9500106573104858, + 0.034640196710824966, + 0.010602401569485664, + 0.26643049716949463, + 0.9631730914115906 + ], + [ + 0.045272041112184525, + 0.5917916893959045, + 1.9428541660308838, + 0.03775448724627495, + -0.004303470253944397, + 0.26471757888793945, + 0.9635770320892334 + ], + [ + 0.07073767483234406, + 0.5943475961685181, + 1.9286177158355713, + 0.04228080436587334, + 0.026426026597619057, + 0.27454838156700134, + 0.9602797627449036 + ], + [ + 0.040033742785453796, + 0.5868625044822693, + 1.9484621286392212, + 0.03315163031220436, + 0.0075879888609051704, + 0.25426197052001953, + 0.9665372371673584 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p015_e014/wrist.mp4 b/episodes/c2_p015_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..65f9e2f972ea7ab9ca5b9c61622652227861bd3b --- /dev/null +++ b/episodes/c2_p015_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:729d263210fdf94e860833a3edcac04fffa0d4618bde506cd2008e63ebdf75be +size 6815117 diff --git a/episodes/c2_p015_e015/data.npz b/episodes/c2_p015_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a5316526953e712d129c9b9a454370c7fe19bb50 --- /dev/null +++ b/episodes/c2_p015_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b170a7e5188795e976906b4ae10eb80906e48edf64f291179c34a4ecca69f134 +size 188518 diff --git a/episodes/c2_p015_e015/device_events.jsonl b/episodes/c2_p015_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d5a4011baa33c0b2ef81742962fee0af2ce1afe --- /dev/null +++ b/episodes/c2_p015_e015/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 60, "t": 0.3, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2046, "t": 10.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 2225, "t": 11.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 7520, "t": 37.6, "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": 7520, "t": 37.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.681206673829229}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 7520, "t": 37.6, "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": 7520, "t": 37.6, "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": 7520, "t": 37.6, "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": 7939, "t": 39.695, "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": 7939, "t": 39.695, "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": 7939, "t": 39.695, "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": 7939, "t": 39.695, "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": 7939, "t": 39.695, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 7939, "t": 39.695, "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": 7939, "t": 39.695, "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": 7939, "t": 39.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.681206673829229}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8676, "t": 43.38, "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": 8676, "t": 43.38, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.685000000001885}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.685000000001885}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8676, "t": 43.38, "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": 8676, "t": 43.38, "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": 8676, "t": 43.38, "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": 9096, "t": 45.48, "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": 9096, "t": 45.48, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.327679192783762e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9096, "t": 45.48, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.327679192783762e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 9096, "t": 45.48, "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": 9096, "t": 45.48, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9096, "t": 45.48, "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": 9675, "t": 48.375, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 11380, "t": 56.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c2_p015_e015/env.mp4 b/episodes/c2_p015_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bca818373523d163e36dd442b1dcea5f8dc062ab --- /dev/null +++ b/episodes/c2_p015_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3ada507d53ca289394d52aef8cee3189fb1ac743d25073276e439c3491a429c +size 1250582 diff --git a/episodes/c2_p015_e015/meta.json b/episodes/c2_p015_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2bc3b7af1db64352e6cb7a49d77988f9524e1c9e --- /dev/null +++ b/episodes/c2_p015_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p015/magicsim/15", + "fps": 25, + "frames": 1224, + "kept_ticks": "even", + "video_frames": { + "wrist": 1224, + "env": 1224 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p015_e015/scene_snapshot.json b/episodes/c2_p015_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba777cb6de285bc21400692f95a93f4cb1317321 --- /dev/null +++ b/episodes/c2_p015_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 0, + "run_id": "c2_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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.46442604064941406, + 0.05261802673339844, + 0.8999999761581421 + ], + "ori": [ + -0.7059735655784607, + 0.0, + 0.0, + 0.7082381844520569 + ], + "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": [ + 2.3549148742141313e-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": 0.2592163876348917, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.051608523036479115, + "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": 0.2592163876348917, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5534849166870117, + 1.0820341110229492, + 0.9000011682510376 + ], + "ori": [ + 0.31779417395591736, + -2.80957010545535e-05, + -0.0001703900779830292, + 0.9481598138809204 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0002151414519175887, + 0.0001717441191431135, + -0.00040051713585853577 + ], + "angular_velocity": [ + -0.03882961720228195, + 0.028076643124222755, + -0.0030354035552591085 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09888458251953125, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.855444409226692e-10, + -4.892790617105902e-09, + -8.755462204135256e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1890282092252846e-09, + 1.0705335506955294e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -9.14466653512136e-08, + 1.1855505022140278e-07, + -3.323334496485586e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2794103622436523, + 1.0601806640625, + 0.8999999761581421 + ], + "ori": [ + -0.34495800733566284, + 1.3988097791184373e-08, + 5.1337700313069945e-08, + 0.9386181235313416 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.680543952417793e-09, + 1.5226646610244643e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.1412415662780404e-07, + -2.5631015887483954e-07, + 2.7732312446460128e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.011586189270019531, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 5.1856313803000376e-05, + 3.008499838141887e-10, + 5.481083587000057e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1507785835362938e-09, + -9.6463137477798e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 5.464114138931109e-08, + -1.1064341265409894e-07, + -1.0414956896909189e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.5650262832641602, + 1.0775957107543945, + 0.9180010557174683 + ], + "ori": [ + 0.391707181930542, + -2.3760432668495923e-05, + -8.995798998512328e-05, + 0.9200900197029114 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0004748052451759577, + 0.0004251859209034592, + -0.0011659562587738037 + ], + "angular_velocity": [ + -0.015290644951164722, + 0.0161744337528944, + -0.0029438070487231016 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.10732841491699219, + 0.4513416290283203, + 0.9180000424385071 + ], + "ori": [ + 0.9997124075889587, + -3.2560379392698735e-10, + -5.628518540135019e-09, + -0.02398175373673439 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.259653405673362e-09, + 9.432802983155852e-09, + -5.6587159633636475e-06 + ], + "angular_velocity": [ + 3.347596759795124e-07, + -1.5393518424389185e-06, + -1.3815030897035285e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.283320426940918, + 1.058389663696289, + 0.9180000424385071 + ], + "ori": [ + -0.4217570722103119, + 2.823912552685215e-07, + -2.849740496913e-07, + 0.9067089557647705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.203673471347429e-06, + -6.654472599620931e-07, + 7.711350917816162e-07 + ], + "angular_velocity": [ + -3.7404155591502786e-05, + -6.602379289688542e-05, + -6.255593325477093e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.0021638870239257812, + 1.1445627212524414, + 0.9179999828338623 + ], + "ori": [ + -0.05269164219498634, + 6.160619930861699e-11, + 6.993315704306724e-09, + 0.9986109137535095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.851467393431676e-09, + 4.591540658793747e-08, + -9.57399606704712e-07 + ], + "angular_velocity": [ + -2.9886966785852564e-06, + 1.5265641195583157e-06, + -1.203501653890271e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.099999999999866, + "step": 1620, + "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": 2.3549148742141313e-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": 0.2592163876348917, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1564, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4034849107265472, + 0.6320341229438782, + 1.1920928955078125e-06 + ], + "carrier_2": [ + -0.05111542344093323, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_3": [ + -1.4294103682041168, + 0.610180675983429, + 0.0 + ], + "carrier_4": [ + -0.161586195230484, + 0.6999996304512024, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6140627946865217, + 0.2190862679098533, + 3.1927757775284733 + ], + "ori": [ + 1.623812135739854, + 12.058255100409884, + 7.618623930981386 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5319.349539435007, + "color": [ + 0.9847820106768934, + 0.9442861720571192, + 0.8646794174148815 + ], + "intensity": 6789.26826872839, + "width": 1.8857239671019936, + "height": 1.3416508709496568 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.200228343069309, + 0.6863092824789525, + 1.9795696009455415 + ], + "ori": [ + 17.20431542987572, + 13.238614308357128, + 34.40829917401594 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6185.614872720964, + "color": [ + 0.8142980340257642, + 0.9581446168581479, + 0.7614765217098124 + ], + "intensity": 3877.181503258624, + "radius": 0.36571582913188083 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 513.4769117981787, + "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": [ + [ + 0.9141016602516174, + -1.7193992137908936, + 2.0905001163482666, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.7891474962234497, + -1.3911645412445068, + 1.9732608795166016, + -2.1528890132904053, + -1.5708081722259521, + 2.427881956100464, + 0.007626543287187815, + 0.006890891119837761 + ], + [ + 1.2630400657653809, + -1.3610453605651855, + 2.3044183254241943, + -2.5141749382019043, + -1.5708011388778687, + 2.8272056579589844, + 0.00766074750572443, + 0.007046466693282127 + ], + [ + 0.7056171298027039, + -1.2052875757217407, + 2.128617286682129, + -2.4941234588623047, + -1.5708011388778687, + 2.469404458999634, + 0.007645609322935343, + 0.007089831400662661 + ] + ], + "joint_vel": [ + [ + -2.828050394215323e-38, + 1.6429151099584807e-38, + -1.554704212408312e-38, + 5.009988635149356e-37, + -4.2373005547019205e-37, + 2.76082702402504e-37, + -2.5990376073536936e-08, + 2.5990388508034812e-08 + ], + [ + 0.00018254309543408453, + -0.004846170078963041, + -0.0043350327759981155, + 0.008013160899281502, + 0.0007262332364916801, + 0.0021163381170481443, + -0.009486211463809013, + 0.0002445282880216837 + ], + [ + 0.0001569585729157552, + -0.019529277458786964, + -0.00677870586514473, + 0.024178816005587578, + 0.0002808457938954234, + 0.0017695974092930555, + -0.007836783304810524, + 0.0002141186996595934 + ], + [ + 8.927107046474703e-06, + 2.7178328309673816e-05, + -0.00022271586931310594, + -0.0005952230421826243, + 0.0007608971791341901, + 0.0025595577899366617, + -0.007153457961976528, + 0.00016808162035886198 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050472382456064224, + 0.0021200545597821474, + -0.03305179998278618, + -0.27785438299179077, + 0.6485276818275452, + 0.6546907424926758, + -0.2712726294994354 + ], + [ + 0.04895064979791641, + -8.575093670515344e-05, + -0.029120374470949173, + -0.28754347562789917, + 0.6536747813224792, + 0.6358931660652161, + -0.29269078373908997 + ], + [ + 0.0495067797601223, + -0.0031983174849301577, + -0.029585830867290497, + -0.2837008833885193, + 0.6415899991989136, + 0.6567083597183228, + -0.2767855226993561 + ], + [ + 0.05112922936677933, + -0.0015971938846632838, + -0.02867720276117325, + -0.2887572944164276, + 0.6379885077476501, + 0.6610089540481567, + -0.269549697637558 + ] + ], + "camera1": [ + [ + 0.03543298318982124, + 0.5702260732650757, + 1.9500106573104858, + 0.034640196710824966, + 0.010602401569485664, + 0.26643049716949463, + 0.9631730914115906 + ], + [ + 0.045272041112184525, + 0.5917916893959045, + 1.9428541660308838, + 0.03775448724627495, + -0.004303470253944397, + 0.26471757888793945, + 0.9635770320892334 + ], + [ + 0.07073767483234406, + 0.5943475961685181, + 1.9286177158355713, + 0.04228080436587334, + 0.026426026597619057, + 0.27454838156700134, + 0.9602797627449036 + ], + [ + 0.040033742785453796, + 0.5868625044822693, + 1.9484621286392212, + 0.03315163031220436, + 0.0075879888609051704, + 0.25426197052001953, + 0.9665372371673584 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p015_e015/wrist.mp4 b/episodes/c2_p015_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0da1ffbf283c387d862f33faf9878024ea013401 --- /dev/null +++ b/episodes/c2_p015_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88d1806855f0a17948c11e838ad833652758a5c513a006585c83f87390ef5b8f +size 6613467 diff --git a/episodes/c3_p012_e005/data.npz b/episodes/c3_p012_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..caf59139e63d8b4d8530a33795489c1c509f5886 --- /dev/null +++ b/episodes/c3_p012_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa223ef168172fee04bd59ba54f6f0c0011313174098219bce0b4cf213ab9af2 +size 188430 diff --git a/episodes/c3_p012_e005/device_events.jsonl b/episodes/c3_p012_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3f9d5441b8435094506acac9a2b28f258584cac --- /dev/null +++ b/episodes/c3_p012_e005/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 3, "seq": 1, "step": 33, "t": 0.165, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 33, "t": 0.165, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1445, "t": 7.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1518, "t": 7.59, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1575, "t": 7.875, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6423, "t": 32.115, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.720591331431941}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7032, "t": 35.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 14, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 7451, "t": 37.255, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7451, "t": 37.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.720591331431941}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7996, "t": 39.98, "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": 7996, "t": 39.98, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.725000000001394}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7996, "t": 39.98, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.725000000001394}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 7996, "t": 39.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 7996, "t": 39.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 7996, "t": 39.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8416, "t": 42.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 29, "step": 8416, "t": 42.08, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.851867104107896e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8416, "t": 42.08, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.851867104107896e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8416, "t": 42.08, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 8416, "t": 42.08, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 33, "step": 8416, "t": 42.08, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 8995, "t": 44.975, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10776, "t": 53.88, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10776, "t": 53.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 10776, "t": 53.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 38, "step": 10776, "t": 53.88, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c3_p012_e005/env.mp4 b/episodes/c3_p012_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d9ce78dabb271f8108d7f209b554dcd93e238f4 --- /dev/null +++ b/episodes/c3_p012_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7afebc98054b9a29929837d051543d5643eb0e0a94128da8423c96f2d656ce6e +size 1300359 diff --git a/episodes/c3_p012_e005/meta.json b/episodes/c3_p012_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..909212feb36dde9de5c05214ba3979175ebd6469 --- /dev/null +++ b/episodes/c3_p012_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p012/magicsim/5", + "fps": 25, + "frames": 1222, + "kept_ticks": "even", + "video_frames": { + "wrist": 1222, + "env": 1222 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p012_e005/scene_snapshot.json b/episodes/c3_p012_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0ac1e5d180923477cce365785539269c138f76 --- /dev/null +++ b/episodes/c3_p012_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 3, + "run_id": "c3_p012", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49452781677246094, + 0.09826087951660156, + 0.8999999761581421 + ], + "ori": [ + 0.7352195978164673, + 0.0, + 0.0, + -0.6778289675712585 + ], + "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": 0.28810111546475886, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20301009158048983, + "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": 0.28810111546475886, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.051194190979003906, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 1.902036092360504e-05, + 6.815078723576562e-09, + 2.0234738329349966e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6181207485033156e-09, + -1.8403385482201884e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.1565932567236814e-07, + -1.4852905394491245e-07, + -1.4667945080759637e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6868619918823242, + 0.8870706558227539, + 0.9000001549720764 + ], + "ori": [ + 0.6192004680633545, + 1.8323999029234983e-06, + 7.796129608550473e-08, + 0.7852329015731812 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.4485768739832565e-06, + 4.771837211592356e-06, + -1.3679265975952148e-05 + ], + "angular_velocity": [ + -0.0004672164504881948, + -0.00030128718935884535, + 3.379115878487937e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2058467864990234, + 1.1098318099975586, + 0.8999999761581421 + ], + "ori": [ + -0.22202228009700775, + 1.4062731423791774e-08, + -3.5388714181294745e-09, + 0.9750416278839111 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.1055187027794204e-10, + 1.224479129202649e-10, + 0.0 + ], + "angular_velocity": [ + 1.3577786006635506e-08, + 4.271999287652761e-08, + -5.1441539916652346e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0531158447265625, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.7456953660399677e-09, + -8.466685685881714e-10, + 2.5946152163669467e-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": [ + 1.5622465543430053e-09, + 2.557973166616989e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.7116811079631589e-07, + 1.4771239875699393e-07, + -1.6873539010475724e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.060024261474609375, + 1.152261734008789, + 0.9179999828338623 + ], + "ori": [ + 0.0823226198554039, + 5.4825579631767596e-09, + 3.165563144946759e-09, + 0.9966057538986206 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3499055206978028e-08, + -1.3800229403670983e-08, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + 1.1738538319150393e-07, + 1.6979189467747346e-06, + -1.8818546720922313e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6903772354125977, + 0.8874940872192383, + 0.9180001616477966 + ], + "ori": [ + 0.5593239068984985, + -3.88107110893543e-07, + -2.5758411084098043e-06, + 0.8289492726325989 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.254497303511016e-06, + 1.2474792129069101e-05, + -3.7629157304763794e-05 + ], + "angular_velocity": [ + -0.0006493301480077207, + 0.0004673268413171172, + 2.3949945898493752e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.2103338241577148, + 1.1096067428588867, + 0.9180000424385071 + ], + "ori": [ + -0.14824005961418152, + 1.2913302427364215e-08, + -1.2408394312046767e-09, + 0.9889514446258545 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.3842547370331886e-08, + 5.7921585749909354e-08, + -5.532056093215942e-06 + ], + "angular_velocity": [ + -1.9977710508101154e-06, + 1.6295354043904808e-06, + 1.0906634884122468e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.05097484588623047, + 0.4401702880859375, + 0.9179999828338623 + ], + "ori": [ + 0.9957050681114197, + 3.899294664932995e-09, + -6.223189963350251e-09, + 0.09258222579956055 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.994449760900352e-08, + 1.961396023375528e-08, + -2.074986696243286e-06 + ], + "angular_velocity": [ + 1.714215613901615e-08, + -1.3455862699629506e-06, + -4.297818634313444e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.139999999999913, + "step": 1028, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 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": 0.28810111546475886, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 994, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09880581498146057, + 0.6999958157539368, + 0.0 + ], + "carrier_2": [ + 1.5368619859218597, + 0.43707066774368286, + 1.7881393432617188e-07 + ], + "carrier_3": [ + -1.355846792459488, + 0.6598318219184875, + 0.0 + ], + "carrier_4": [ + -0.20311585068702698, + -1.1324882507324219e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.23674679492258555, + -0.2742149676547434, + 3.0585889636720944 + ], + "ori": [ + -0.05420476222053949, + 7.800511039376907, + -17.363739700098787 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4446.4455121495785, + "color": [ + 0.944234545374292, + 0.9114947317667038, + 0.8772104524091622 + ], + "intensity": 7285.093847792512, + "width": 2.1954505480507542, + "height": 1.2010934362823988 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.5595914051964117, + -0.7515820851347784, + 2.1781896726089767 + ], + "ori": [ + -13.790381679545014, + -18.20390509179509, + -21.036949206173475 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3690.2429774602388, + "color": [ + 0.8028016629148319, + 0.7796280328494923, + 0.8721236048725137 + ], + "intensity": 4060.9898540303116, + "radius": 0.16833141296358672 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1343.2728065042575, + "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": [ + [ + 0.8790799379348755, + -1.1829545497894287, + 2.0916683673858643, + -2.479462146759033, + -1.5708752870559692, + 2.248126983642578, + 0.007294707465916872, + 0.006627130322158337 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.566941499710083, + -1.441859245300293, + 2.178642511367798, + -2.3072173595428467, + -1.5709573030471802, + 6.260247707366943, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 0.9141026735305786, + -1.7193986177444458, + 2.0905003547668457, + -1.9419018030166626, + -1.5707999467849731, + 2.484901189804077, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + -1.6463558495161124e-05, + 5.158065687282942e-05, + -0.00034716285881586373, + -0.0013790434459224343, + 0.002654252341017127, + 0.007140688132494688, + -0.009338640607893467, + 0.00025449437089264393 + ], + [ + 0.0, + 2.456590834175786e-38, + 1.693424352585683e-38, + 3.606386884564698e-37, + -5.973794544263828e-37, + 2.6964591301622564e-36, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.00018990799435414374, + -0.016544563695788383, + -0.009727478958666325, + 0.024998966604471207, + -5.996585969114676e-06, + 4.020223786938004e-05, + -7.795565579726826e-06, + 7.798068509146105e-06 + ], + [ + -2.6542896648987385e-38, + 1.6461868616129863e-38, + 2.8174857248330853e-38, + 5.2243312482524804e-37, + -3.980284031308897e-38, + 4.376277076446324e-37, + 5.1980798332351696e-08, + -5.1980777016069624e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047679055482149124, + -0.0020548729225993156, + -0.027215708047151566, + -0.26907455921173096, + 0.655512809753418, + 0.6517258286476135, + -0.2704724073410034 + ], + [ + 0.051597557961940765, + 0.00225917249917984, + -0.030008750036358833, + -0.2788994312286377, + 0.6465667486190796, + 0.6577832698822021, + -0.26737192273139954 + ], + [ + 0.050741881132125854, + 0.0024055950343608856, + -0.027784554287791252, + -0.29280397295951843, + 0.6345996856689453, + 0.662717878818512, + -0.26898708939552307 + ], + [ + 0.05294596031308174, + -0.0010303237941116095, + -0.03193310648202896, + -0.2883051931858063, + 0.6569867730140686, + 0.6396939158439636, + -0.27575376629829407 + ] + ], + "camera1": [ + [ + 0.06381741911172867, + 0.5833461284637451, + 1.950411319732666, + 0.039546720683574677, + 0.00435392651706934, + 0.27110806107521057, + 0.9617263078689575 + ], + [ + 0.031091736629605293, + 0.5799543261528015, + 1.9703311920166016, + 0.04098974168300629, + 0.0157494954764843, + 0.2735796272754669, + 0.960846483707428 + ], + [ + 0.06585945188999176, + 0.5889586806297302, + 1.9691188335418701, + 0.03716776892542839, + 0.005364605691283941, + 0.2627471387386322, + 0.9641336798667908 + ], + [ + 0.07350141555070877, + 0.5867345333099365, + 1.951549768447876, + 0.05168040096759796, + -0.0018210264388471842, + 0.25974854826927185, + 0.9642906785011292 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p012_e005/wrist.mp4 b/episodes/c3_p012_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a76e8a8603c5fd547a3c66fe4db094d6c8a7a94 --- /dev/null +++ b/episodes/c3_p012_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d86fb09f80108609471bbf8aea4335aa0169b244a0360734286e7a51e9b7e97 +size 6851405 diff --git a/episodes/c3_p012_e006/data.npz b/episodes/c3_p012_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..fec57a106fa3a18bf10d4b7eaa92f6e13421387a --- /dev/null +++ b/episodes/c3_p012_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec056b2335b8a418660449845aeb4b3e9afb335d5147df3bf18d95728ecc7433 +size 189387 diff --git a/episodes/c3_p012_e006/device_events.jsonl b/episodes/c3_p012_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8c1fb783144d108e45719b6b279ff7d7b5b7b69 --- /dev/null +++ b/episodes/c3_p012_e006/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 2, "seq": 1, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1304, "t": 6.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1365, "t": 6.825, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 1487, "t": 7.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6131, "t": 30.655, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0215447547093612}, "cause": "task-2-1"} +{"env_id": 2, "seq": 10, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 14, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 7163, "t": 35.815, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0215447547093612}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 23, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.025000000001036}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.025000000001036}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7988, "t": 39.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 29, "step": 7988, "t": 39.94, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7988, "t": 39.94, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7988, "t": 39.94, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 7988, "t": 39.94, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 7988, "t": 39.94, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 8566, "t": 42.83, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 37, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 38, "step": 10304, "t": 51.52, "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/c3_p012_e006/env.mp4 b/episodes/c3_p012_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6dc500ba45d689a027f42a697b94a214a155d861 --- /dev/null +++ b/episodes/c3_p012_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a3626c5a17b271502f6a689184f4742e7bd83b87519484c781a94125ad32376 +size 1329560 diff --git a/episodes/c3_p012_e006/meta.json b/episodes/c3_p012_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77118c902a7f7b5f4d73a30c1d523a0984d51238 --- /dev/null +++ b/episodes/c3_p012_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p012/magicsim/6", + "fps": 25, + "frames": 1187, + "kept_ticks": "even", + "video_frames": { + "wrist": 1187, + "env": 1187 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p012_e006/scene_snapshot.json b/episodes/c3_p012_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..49d563050ad385dd65113bc38eafa8f9adf22b0a --- /dev/null +++ b/episodes/c3_p012_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 2, + "run_id": "c3_p012", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.4839763641357422, + 0.11509037017822266, + 0.8999999761581421 + ], + "ori": [ + -0.6903645396232605, + 0.0, + 0.0, + 0.7234616875648499 + ], + "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": [ + 1.3456669589392845e-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": 0.24405866909938664, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28021762083814616, + "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": 0.24405866909938664, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6020698547363281, + 1.152517318725586, + 0.8999999761581421 + ], + "ori": [ + -0.010801371186971664, + -8.456574884796453e-10, + 6.685748621393373e-10, + 0.9999416470527649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0372014358495107e-10, + -1.0287334317737873e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 9.54734247216038e-08, + 2.084104266941722e-08, + -5.444066975002215e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1306142807006836, + 0.44741249084472656, + 0.8999999761581421 + ], + "ori": [ + 0.9999475479125977, + -5.82170922580616e-10, + -1.6103529620892232e-10, + 0.010246982797980309 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.600116174761752e-10, + 2.077111815879107e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.2420356060592894e-07, + 5.68190046124073e-08, + -1.4432536943331797e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3964357376098633, + 0.8251323699951172, + 0.8999999761581421 + ], + "ori": [ + -0.6743031144142151, + -3.983691954090318e-08, + -3.5261088271454355e-08, + 0.7384546995162964 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.271796332806389e-10, + 1.0540058825725396e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.216640878799808e-08, + 7.782149680224393e-08, + -8.506269466579397e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5410480499267578, + 0.5106296539306641, + 0.8999999761581421 + ], + "ori": [ + 0.9595120549201965, + 1.694555074038817e-08, + 2.1479626965970056e-08, + 0.28166747093200684 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.521754554647316e-10, + -8.190772504690358e-10, + 0.0 + ], + "angular_velocity": [ + 6.035961064299045e-08, + 2.0461349947709095e-08, + -2.818905109336356e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.6074504852294922, + 1.1450223922729492, + 0.9179999828338623 + ], + "ori": [ + 0.09363652765750885, + -3.2573543862213228e-09, + 1.5557455324000102e-09, + 0.9956064820289612 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9761348113433996e-08, + -1.52996326718835e-09, + 7.82310962677002e-08 + ], + "angular_velocity": [ + -5.077191644886625e-08, + 1.4551715139532462e-06, + 3.42907142680815e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.1412353515625, + 0.44420719146728516, + 0.9180000424385071 + ], + "ori": [ + 0.9990925192832947, + -1.86777548982775e-09, + -4.906454686981476e-10, + 0.04259304329752922 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.892032639565059e-09, + 2.2523915177430354e-08, + -5.476176738739014e-06 + ], + "angular_velocity": [ + -4.822279464633539e-09, + -1.2689089317063917e-06, + 3.343554411117111e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.403651237487793, + 0.8135957717895508, + 0.9180000424385071 + ], + "ori": [ + -0.7018179297447205, + -4.143960197211527e-08, + -3.3744218086440014e-08, + 0.712356448173523 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.931568373782284e-09, + 7.792183254196061e-08, + -5.822628736495972e-06 + ], + "angular_velocity": [ + -2.9968630315124756e-06, + -3.589935886338935e-07, + 2.004728401061584e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.5246028900146484, + 0.5081806182861328, + 0.9179999828338623 + ], + "ori": [ + 0.9577495455741882, + 1.3241532315078075e-07, + -8.237661219823167e-09, + 0.28760355710983276 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.212014914628526e-08, + 9.234162234861287e-08, + -1.5273690223693848e-06 + ], + "angular_velocity": [ + -1.6767055058153346e-05, + 2.709203045014874e-06, + 9.133009370998479e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.219999999999932, + "step": 844, + "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": 1.3456669589392845e-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": 0.24405866909938664, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 696, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.45206984877586365, + 0.7025173306465149, + 0.0 + ], + "carrier_2": [ + -0.28061428666114807, + -0.0025874972343444824, + 0.0 + ], + "carrier_3": [ + -1.5464357435703278, + 0.37513238191604614, + 0.0 + ], + "carrier_4": [ + 1.3910480439662933, + 0.06062966585159302, + 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": [ + 0.8839634584130446, + -0.3912848957933148, + 2.824044775302999 + ], + "ori": [ + -10.319343080382993, + 14.345790823748487, + -10.29339507231678 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4140.110376387119, + "color": [ + 0.9266356656775483, + 0.984610804744668, + 0.8187749515917584 + ], + "intensity": 6802.847023308627, + "width": 1.7440247237633393, + "height": 1.435012292795658 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.4480356106717731, + -0.7704875825342152, + 2.791614710974386 + ], + "ori": [ + -3.795583581201143, + -18.274754689156936, + -24.8154659101884 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5383.528320249718, + "color": [ + 0.8351023219641545, + 0.9263703240937494, + 0.8983554453193352 + ], + "intensity": 4676.658703697765, + "radius": 0.07476764745554286 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1343.2728065042575, + "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": [ + [ + 1.7710081338882446, + -2.041982650756836, + 2.057471513748169, + -1.5866806507110596, + -1.5717071294784546, + 3.261992931365967, + 0.00709262490272522, + 0.007538498379290104 + ], + [ + 1.1095784902572632, + -1.5983929634094238, + 2.1341240406036377, + -2.1064891815185547, + -1.570794701576233, + 2.6867988109588623, + 0.018001163378357887, + 0.01799883507192135 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1018997430801392, + -1.4993699789047241, + 2.0943539142608643, + -2.1657631397247314, + -1.5707930326461792, + 2.4873046875, + 0.007760211359709501, + 0.007133157923817635 + ] + ], + "joint_vel": [ + [ + 0.06349664181470871, + -0.048104919493198395, + 0.00871373526751995, + 0.04068790376186371, + 0.00019529106793925166, + 0.07329689711332321, + -0.0028083904180675745, + -5.808573041576892e-05 + ], + [ + 0.031815268099308014, + 0.019984401762485504, + 0.007395769003778696, + -0.026197660714387894, + 5.858997246832587e-05, + 0.03229198232293129, + 2.6030635126517154e-05, + -2.6028679712908342e-05 + ], + [ + 0.0, + 2.6849088771233144e-38, + 1.8091245221105116e-38, + 2.3835501695926436e-37, + -3.048832197969774e-37, + -8.566883227408382e-37, + -3.746548568498289e-38, + 8.199525324025862e-38 + ], + [ + 0.00019753785454668105, + 4.05888058594428e-05, + -0.00023132344358600676, + -5.24570386915002e-05, + 0.0002807527198456228, + 0.0008212982793338597, + -0.007681944873183966, + 0.0003638589405454695 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047398682683706284, + -0.0022485340014100075, + -0.027389880269765854, + -0.26937389373779297, + 0.6565974950790405, + 0.6499244570732117, + -0.27187418937683105 + ], + [ + 0.04985774680972099, + 0.0032748959492892027, + -0.03171101212501526, + -0.2798286974430084, + 0.6480068564414978, + 0.6559453010559082, + -0.267429918050766 + ], + [ + 0.049224045127630234, + 0.0014432270545512438, + -0.03095019981265068, + -0.26866471767425537, + 0.6561450958251953, + 0.6429473757743835, + -0.2896750271320343 + ], + [ + 0.05319035053253174, + -0.001787691144272685, + -0.03220456838607788, + -0.2839776277542114, + 0.6595669984817505, + 0.6383606791496277, + -0.27717092633247375 + ] + ], + "camera1": [ + [ + 0.06381741911172867, + 0.5833461284637451, + 1.950411319732666, + 0.039546720683574677, + 0.00435392651706934, + 0.27110806107521057, + 0.9617263078689575 + ], + [ + 0.031091736629605293, + 0.5799543261528015, + 1.9703311920166016, + 0.04098974168300629, + 0.0157494954764843, + 0.2735796272754669, + 0.960846483707428 + ], + [ + 0.05859118327498436, + 0.5915531516075134, + 1.9385613203048706, + 0.027152802795171738, + -0.001989903626963496, + 0.2586081922054291, + 0.9655985832214355 + ], + [ + 0.07350141555070877, + 0.5867345333099365, + 1.951549768447876, + 0.05168040096759796, + -0.0018210264388471842, + 0.25974854826927185, + 0.9642906785011292 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p012_e006/wrist.mp4 b/episodes/c3_p012_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..76fd2b0c868914b1ace5d08251f438e6cfc20e18 --- /dev/null +++ b/episodes/c3_p012_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e1339f2d0ddc0eb089a640bd199c0c27b6591fe8d6261d73b123a72bcc38a37 +size 6740184 diff --git a/episodes/c3_p012_e007/data.npz b/episodes/c3_p012_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1aa2fc1bb64ecdaaf86107ead7117d1655f41172 --- /dev/null +++ b/episodes/c3_p012_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3322bac254ddad317aeacd1a52c2926ce31c134ba320bfc95400c08b5231304 +size 187341 diff --git a/episodes/c3_p012_e007/device_events.jsonl b/episodes/c3_p012_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62c37b7c4f7564ed7be0a7f3d5ad73341ff3be37 --- /dev/null +++ b/episodes/c3_p012_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7183, "t": 35.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7796, "t": 38.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7796, "t": 38.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.303228660194633}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7796, "t": 38.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7796, "t": 38.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7796, "t": 38.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 8215, "t": 41.075, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 8215, "t": 41.075, "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": 8215, "t": 41.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.303228660194633}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8676, "t": 43.38, "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": 8676, "t": 43.38, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.305000000001179}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8676, "t": 43.38, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.305000000001179}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8676, "t": 43.38, "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": 8676, "t": 43.38, "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": 8676, "t": 43.38, "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": 9096, "t": 45.48, "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": 9096, "t": 45.48, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.7025664433845122e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9096, "t": 45.48, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.7025664433845122e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9096, "t": 45.48, "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": 9096, "t": 45.48, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9096, "t": 45.48, "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": 9673, "t": 48.365, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11424, "t": 57.12, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11424, "t": 57.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11424, "t": 57.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11424, "t": 57.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c3_p012_e007/env.mp4 b/episodes/c3_p012_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..65169822ff52a8eb0db4f4c2d9ce679e9cc49fad --- /dev/null +++ b/episodes/c3_p012_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3c7c15cd5af04542db8757da13cebc0a3d112fd763851127740567c0b845ce2 +size 1230931 diff --git a/episodes/c3_p012_e007/meta.json b/episodes/c3_p012_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ece3c2ad01eace340f3330ba9cae51e86462496 --- /dev/null +++ b/episodes/c3_p012_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p012/magicsim/7", + "fps": 25, + "frames": 1209, + "kept_ticks": "even", + "video_frames": { + "wrist": 1209, + "env": 1209 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p012_e007/scene_snapshot.json b/episodes/c3_p012_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d33add77f9b3766a63ceb36dd8ef21b3879616fd --- /dev/null +++ b/episodes/c3_p012_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 1, + "run_id": "c3_p012", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47369861602783203, + 0.11455345153808594, + 0.8999999761581421 + ], + "ori": [ + 0.73280268907547, + 0.0, + 0.0, + -0.6804412007331848 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.34566674209885e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2029588755303286, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.253183176204061, + "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": 0.2029588755303286, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.8280725479125977, + 1.1524982452392578, + 0.8999999761581421 + ], + "ori": [ + -0.010680746287107468, + 8.858372924080982e-10, + 1.4751155852366082e-10, + 0.9999430179595947 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.433076459368749e-11, + 2.2072048633248187e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -2.4336438286809425e-07, + 1.5565747446544265e-07, + 2.7790132861582606e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.588486671447754, + 0.5481863021850586, + 0.8999999761581421 + ], + "ori": [ + 0.9313413500785828, + -2.711497515406336e-08, + -6.262977692017557e-09, + 0.3641473352909088 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2006565458809746e-09, + -1.2676559801860776e-09, + 0.0 + ], + "angular_velocity": [ + 7.392864631583507e-08, + 7.136121382700367e-08, + 2.1081270062950352e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1362171173095703, + 1.1358270645141602, + 0.8999999761581421 + ], + "ori": [ + -0.11945812404155731, + 1.65739351132288e-07, + 2.6650218032386874e-08, + 0.9928393363952637 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.172212215130088e-10, + -5.469845021366382e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.1018335044354899e-07, + -9.484028851147741e-08, + -3.9113125183121156e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10326576232910156, + 0.44731807708740234, + 0.8999999761581421 + ], + "ori": [ + 0.9999424815177917, + -2.5888822197117634e-09, + 2.9448926630593064e-10, + 0.010729230009019375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.180485178144181e-10, + 1.0210576828484363e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.3086670946904633e-07, + 4.242612305915827e-08, + -1.4381901891624693e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.8181066513061523, + 1.1521196365356445, + 0.9179999828338623 + ], + "ori": [ + 0.058894265443086624, + 1.3603308479659404e-09, + 5.101211009161943e-09, + 0.9982643127441406 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.535763764579315e-08, + 4.717802326581477e-08, + 2.0116567611694336e-07 + ], + "angular_velocity": [ + -1.3520566426450387e-06, + 3.3334999898215756e-06, + 8.80582007312114e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.5856075286865234, + 0.5394487380981445, + 0.9180000424385071 + ], + "ori": [ + 0.9439926743507385, + -1.0760248869701172e-07, + -4.918916829410591e-08, + 0.3299665153026581 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.32424200073001e-07, + 2.6448333301232196e-07, + -5.252659320831299e-06 + ], + "angular_velocity": [ + -4.96534448757302e-06, + -3.0089289793977514e-05, + -7.01531462254934e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.1490192413330078, + 1.1365432739257812, + 0.9179999828338623 + ], + "ori": [ + -0.2061222642660141, + 1.682748234088649e-07, + 6.569986332749522e-09, + 0.9785262942314148 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.505057850044068e-08, + 4.182643920103146e-08, + -4.995614290237427e-06 + ], + "angular_velocity": [ + -2.619425686134491e-06, + 6.678510544588789e-07, + 4.0229704012517686e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.10052013397216797, + 0.4512596130371094, + 0.9179999828338623 + ], + "ori": [ + 0.9999901056289673, + -5.965246629990872e-10, + 1.1528343835109922e-09, + -0.004444137215614319 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.067041624646663e-08, + -2.001397803041982e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + 7.721434940322069e-07, + -2.6958125545206713e-06, + 1.2205072152937646e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.980000000000004, + "step": 1796, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.34566674209885e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2029588755303286, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1637, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.6780725419521332, + 0.7024982571601868, + 0.0 + ], + "carrier_2": [ + 1.4384866654872894, + 0.09818631410598755, + 0.0 + ], + "carrier_3": [ + -1.2862171232700348, + 0.6858270764350891, + 0.0 + ], + "carrier_4": [ + -0.25326576828956604, + -0.002681910991668701, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.18061633906632635, + 0.2060417294974044, + 2.729113113414925 + ], + "ori": [ + 9.344673891978339, + -5.22313224139374, + -25.34411414031277 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4397.625606036207, + "color": [ + 0.8370021110963632, + 0.9942676908408195, + 0.9998545167894266 + ], + "intensity": 4872.578371834919, + "width": 2.457607125963399, + "height": 0.968621363079832 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.026546004112433907, + -0.724467182364412, + 2.2500744001008877 + ], + "ori": [ + 21.5325648678784, + -23.937754644185006, + -21.94135080466272 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4672.685569800746, + "color": [ + 0.9923882792953752, + 0.750175517026138, + 0.8391676735204708 + ], + "intensity": 10678.13381334927, + "radius": 0.4039971073613634 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1343.2728065042575, + "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": [ + [ + 1.2538644075393677, + -1.6679095029830933, + 2.0100934505462646, + -1.9130635261535645, + -1.5711193084716797, + 2.6741111278533936, + 0.006978411227464676, + 0.007142385467886925 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1019669771194458, + -1.4993231296539307, + 2.0945749282836914, + -2.165649890899658, + -1.5708684921264648, + 2.487121105194092, + 0.0071883974596858025, + 0.007935645058751106 + ] + ], + "joint_vel": [ + [ + 0.06316136568784714, + -0.04933134838938713, + 0.005002645310014486, + 0.03859219327569008, + -0.00015732459723949432, + 0.07001503556966782, + -0.005808779504150152, + 2.73343212029431e-05 + ], + [ + 0.0, + 2.456590834175786e-38, + 1.693424352585683e-38, + 3.606386884564698e-37, + -5.973794544263828e-37, + 2.6964591301622564e-36, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.0, + 2.6849088771233144e-38, + 1.8091245221105116e-38, + 2.3835501695926436e-37, + -3.048832197969774e-37, + -8.566883227408382e-37, + -3.746548568498289e-38, + 8.199525324025862e-38 + ], + [ + -0.00021621299674734473, + -0.00019861431792378426, + -0.0010114103788509965, + -0.0009624238009564579, + 0.0010454130824655294, + 0.0034127740655094385, + -0.004834455903619528, + 0.00024655929883010685 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04938579350709915, + 0.000708721752744168, + -0.02665053866803646, + -0.2651002109050751, + 0.6595145463943481, + 0.6466739177703857, + -0.2767223119735718 + ], + [ + 0.05062798038125038, + 0.002406087936833501, + -0.029395686462521553, + -0.27530166506767273, + 0.6469253897666931, + 0.6602849364280701, + -0.2640460431575775 + ], + [ + 0.05039650574326515, + 0.0008514518267475069, + -0.032147716730833054, + -0.27136677503585815, + 0.6560376286506653, + 0.6408961415290833, + -0.29193630814552307 + ], + [ + 0.05525731295347214, + -0.0013801846653223038, + -0.032107412815093994, + -0.2842971384525299, + 0.6542466878890991, + 0.6421526074409485, + -0.2806713581085205 + ] + ], + "camera1": [ + [ + 0.06381741911172867, + 0.5833461284637451, + 1.950411319732666, + 0.039546720683574677, + 0.00435392651706934, + 0.27110806107521057, + 0.9617263078689575 + ], + [ + 0.031091736629605293, + 0.5799543261528015, + 1.9703311920166016, + 0.04098974168300629, + 0.0157494954764843, + 0.2735796272754669, + 0.960846483707428 + ], + [ + 0.05859118327498436, + 0.5915531516075134, + 1.9385613203048706, + 0.027152802795171738, + -0.001989903626963496, + 0.2586081922054291, + 0.9655985832214355 + ], + [ + 0.07350141555070877, + 0.5867345333099365, + 1.951549768447876, + 0.05168040096759796, + -0.0018210264388471842, + 0.25974854826927185, + 0.9642906785011292 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p012_e007/wrist.mp4 b/episodes/c3_p012_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2b50aae8623101787eb8ade2325aeda7591d54d --- /dev/null +++ b/episodes/c3_p012_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a03c13d892692d29ee8c20ebec7856dba2188b79602df7056d2d398496de50c6 +size 7308201 diff --git a/episodes/c4_p012_e020/data.npz b/episodes/c4_p012_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6d96071ed7ffb731a4600d4aad33ccf651523694 --- /dev/null +++ b/episodes/c4_p012_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0eb07208e174ec09b913b4294c2cc1785ea6fa68b998a913505a295de04f82a4 +size 190389 diff --git a/episodes/c4_p012_e020/device_events.jsonl b/episodes/c4_p012_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99812f4c501dffdce6eef680fbb72cd21685068a --- /dev/null +++ b/episodes/c4_p012_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6123, "t": 30.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6736, "t": 33.68, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6736, "t": 33.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6336924925978185}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6736, "t": 33.68, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6736, "t": 33.68, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6736, "t": 33.68, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7155, "t": 35.775, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7155, "t": 35.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6336924925978185}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7882, "t": 39.41, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7882, "t": 39.41, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.6350000000018596}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7882, "t": 39.41, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.6350000000018596}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7882, "t": 39.41, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 7882, "t": 39.41, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7882, "t": 39.41, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8302, "t": 41.51, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8302, "t": 41.51, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.4935677401269913e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8302, "t": 41.51, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.4935677401269913e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8302, "t": 41.51, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8302, "t": 41.51, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8302, "t": 41.51, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8883, "t": 44.415, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c4_p012_e020/env.mp4 b/episodes/c4_p012_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b405bfc410a0457ae93fefb0281de43768ec1cba --- /dev/null +++ b/episodes/c4_p012_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50db0e713c70b3240a11fa433c328f77ff1afc95a0dfcb9542811e0c5a586c3b +size 1259215 diff --git a/episodes/c4_p012_e020/meta.json b/episodes/c4_p012_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4cca688540bc95229a16fa35f7313f7a70ee65de --- /dev/null +++ b/episodes/c4_p012_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p012/magicsim/20", + "fps": 25, + "frames": 1244, + "kept_ticks": "even", + "video_frames": { + "wrist": 1244, + "env": 1244 + }, + "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_p012_e020/scene_snapshot.json b/episodes/c4_p012_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..942cdc32f923aab6713223352d71d6bc72c0e898 --- /dev/null +++ b/episodes/c4_p012_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 0, + "run_id": "c4_p012", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5234966278076172, + 0.1207571029663086, + 0.8999999761581421 + ], + "ori": [ + -0.6758458018302917, + 0.0, + 0.0, + 0.737043023109436 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.3641663673561473e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17610512108198667, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13413439642246286, + "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": 0.17610512108198667, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.016336441040039062, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.0854612764177318e-09, + -7.530183698811754e-10, + 5.204121771384962e-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": [ + -1.98969862807985e-09, + -3.93929378006419e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 8.449502075791315e-08, + -1.6731181062823453e-07, + -1.8022168646325554e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3611249923706055, + 0.9541244506835938, + 0.8999999761581421 + ], + "ori": [ + -0.5240119695663452, + 1.0571021391569957e-08, + -1.0917828063838897e-07, + 0.8517109751701355 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.239116693926519e-10, + -2.215029548668923e-10, + 0.0 + ], + "angular_velocity": [ + 1.6962358628802576e-08, + 5.489326682095452e-08, + -5.48225997931695e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.007236480712890625, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -5.927347228862345e-05, + -6.727053580846132e-09, + -4.6154404742537736e-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": [ + -1.0041294462581618e-09, + -1.2294760765030333e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.403172404934594e-07, + -1.0095025260170587e-07, + 8.531312545301262e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4732322692871094, + 0.47559452056884766, + 0.8999999761581421 + ], + "ori": [ + 0.9837824702262878, + 1.6622910825603299e-09, + 1.8324161743521472e-08, + 0.17936600744724274 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.578722621166435e-09, + 6.739356628315818e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + 1.5149874244002604e-08, + -5.879723516954982e-07, + 5.478339204501026e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.023642539978027344, + 0.4588470458984375, + 0.9179999828338623 + ], + "ori": [ + 0.9966959357261658, + 3.6462013408566918e-09, + -9.421032842737986e-10, + -0.08122433722019196 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.040671962637134e-08, + -7.645360255992273e-08, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + 1.5397141623907373e-06, + -3.2491536785528297e-06, + -6.538316910109643e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3561248779296875, + 0.9528255462646484, + 0.9180000424385071 + ], + "ori": [ + -0.4392571449279785, + 2.2303426661096637e-08, + -1.0917720061343061e-07, + 0.8983614444732666 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.358338318548704e-08, + 1.5924147334089866e-08, + -5.513429641723633e-06 + ], + "angular_velocity": [ + -1.3960191154183121e-06, + 1.7966893892662483e-06, + 1.9171957887920144e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.00033473968505859375, + 1.1610240936279297, + 0.9180000424385071 + ], + "ori": [ + -0.00953986868262291, + -6.6783325536334814e-09, + -5.5142055366275144e-09, + 0.9999545216560364 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9972864251371902e-08, + -1.775190838770868e-08, + -5.822628736495972e-06 + ], + "angular_velocity": [ + -2.1880768485971203e-07, + 2.185952098443522e-06, + 7.083048103595502e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.4699668884277344, + 0.4710693359375, + 0.9179999828338623 + ], + "ori": [ + 0.9900938272476196, + -1.001694505120554e-09, + 1.7447689515392995e-08, + 0.14040760695934296 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5013682741482626e-07, + 7.237726862285854e-09, + -1.5757977962493896e-06 + ], + "angular_velocity": [ + -3.876330083585344e-07, + -4.18664603785146e-06, + 2.5082334786930005e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.6799999999999438, + "step": 736, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641663673561473e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.17610512108198667, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 644, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.13366356492042542, + 4.589557647705078e-06, + 0.0 + ], + "carrier_2": [ + -1.51112499833107, + 0.5041244626045227, + 0.0 + ], + "carrier_3": [ + -0.14276352524757385, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + 1.323232263326645, + 0.02559453248977661, + 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": [ + 0.8965523126349192, + 0.44897636621245396, + 2.8679527701580474 + ], + "ori": [ + 8.306931059045478, + -1.2349287729735536, + -8.391536970236253 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4477.056752031177, + "color": [ + 0.8824432595304161, + 0.8593979980022275, + 0.9646452452555332 + ], + "intensity": 11786.13295943098, + "width": 1.7397810852606423, + "height": 1.3356064915252979 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.5675206236767338, + 0.10661846794824448, + 2.181618805657935 + ], + "ori": [ + -28.458706889548182, + 23.440431288111412, + 36.6801184398836 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5713.179712417654, + "color": [ + 0.8259699719028197, + 0.8301511487408905, + 0.9897304713714169 + ], + "intensity": 7490.05981395808, + "radius": 0.33207316219800737 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1374.0406356040976, + "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, + -1.719399333000183, + 2.0904998779296875, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1775991916656494, + -1.5899395942687988, + 2.11367130279541, + -2.094550371170044, + -1.5704519748687744, + 2.7329442501068115, + 0.017999950796365738, + 0.018000047653913498 + ], + [ + -0.21810750663280487, + -2.244385242462158, + 2.4337234497070312, + -1.7610843181610107, + -1.5702660083770752, + 4.414584159851074, + 0.007345523219555616, + 0.007886930368840694 + ], + [ + 1.4982028007507324, + -1.2931329011917114, + 2.253221035003662, + -2.5308024883270264, + -1.5703116655349731, + 6.213133335113525, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "joint_vel": [ + [ + 2.700383696324546e-38, + -1.9055397419096092e-38, + 1.9445807579047772e-38, + -3.6483247207972568e-37, + 3.4064516375446217e-37, + 6.8353809992880305e-37, + 8.863285654374613e-38, + -1.259862159308076e-37 + ], + [ + 9.194303129334003e-05, + -0.009484843350946903, + -0.010169425047934055, + 0.018710900098085403, + 9.839798622124363e-06, + 1.3828030205331743e-05, + 3.60710805580311e-06, + -3.6059329886484193e-06 + ], + [ + -0.0010475234594196081, + 0.000995933311060071, + 0.008221512660384178, + 0.00044811598490923643, + -0.012004075571894646, + 0.02846694551408291, + -0.006749612279236317, + 0.0006369415787048638 + ], + [ + 1.0217895578534808e-05, + 3.58940546556219e-12, + 3.4773451479397366e-12, + -6.811952516727615e-06, + 3.405978532100562e-06, + -1.3623910490423441e-05, + 1.8193107109709672e-07, + 1.8193270534538897e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05063716694712639, + -0.0002342144143767655, + -0.031612828373909, + -0.27689188718795776, + 0.6457818150520325, + 0.6550540328025818, + -0.2778506278991699 + ], + [ + 0.04709035903215408, + -0.0014456672361120582, + -0.029266513884067535, + -0.2756846845149994, + 0.6538055539131165, + 0.6465327739715576, + -0.2802348732948303 + ], + [ + 0.04955466091632843, + -0.0006654152530245483, + -0.026304922997951508, + -0.2692089378833771, + 0.6538392305374146, + 0.6512969136238098, + -0.27537816762924194 + ], + [ + 0.04712039604783058, + -0.003446230897679925, + -0.03040446527302265, + -0.2751382887363434, + 0.6582226753234863, + 0.6450656056404114, + -0.27373751997947693 + ] + ], + "camera1": [ + [ + 0.0548383891582489, + 0.5663204789161682, + 1.956372618675232, + 0.044378507882356644, + 0.010385306552052498, + 0.2737955152988434, + 0.960707426071167 + ], + [ + 0.07120361179113388, + 0.5943247079849243, + 1.9708542823791504, + 0.034472838044166565, + 0.031179500743746758, + 0.27654826641082764, + 0.9598752856254578 + ], + [ + 0.026765869930386543, + 0.5717747211456299, + 1.9338210821151733, + 0.05768686532974243, + 0.01218658871948719, + 0.27160510420799255, + 0.9606010317802429 + ], + [ + 0.07498002052307129, + 0.5632044076919556, + 1.9540404081344604, + 0.030250726267695427, + 0.02574213780462742, + 0.26483073830604553, + 0.9634764790534973 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p012_e020/wrist.mp4 b/episodes/c4_p012_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..233c3f1a696644d72d19d9d6bda7139a66ef5622 --- /dev/null +++ b/episodes/c4_p012_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d5743d07decd7e1b336dff72e2e25f5e0a0bc10a44d5e6617a62dad42ab9c17 +size 7424389 diff --git a/episodes/c4_p012_e021/data.npz b/episodes/c4_p012_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c1907295195b555c4105ea8e9b5faf41e0a07923 --- /dev/null +++ b/episodes/c4_p012_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:667b2b5f11cd7645bd48e8b51731694013d8e84939b42af142a6e5157c63d89b +size 189979 diff --git a/episodes/c4_p012_e021/device_events.jsonl b/episodes/c4_p012_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9445536afe8074ad19fbb0ec7c5802e9aaef07ed --- /dev/null +++ b/episodes/c4_p012_e021/device_events.jsonl @@ -0,0 +1,42 @@ +{"env_id": 3, "seq": 1, "step": 108, "t": 0.54, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 108, "t": 0.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 113, "t": 0.565, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 641, "t": 3.205, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 653, "t": 3.265, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 689, "t": 3.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 729, "t": 3.645, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 771, "t": 3.855, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 803, "t": 4.015, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 814, "t": 4.07, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 5566, "t": 27.83, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 13, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.552063791217041}, "cause": "task-3-1"} +{"env_id": 3, "seq": 14, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 16, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 19, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 20, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 21, "step": 6595, "t": 32.975, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 22, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 23, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.552063791217041}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 7506, "t": 37.53, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 7506, "t": 37.53, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.55500000000233}, "cause": "program-3-3"} +{"env_id": 3, "seq": 28, "step": 7506, "t": 37.53, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.55500000000233}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 29, "step": 7506, "t": 37.53, "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": 30, "step": 7506, "t": 37.53, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 31, "step": 7506, "t": 37.53, "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": 32, "step": 7926, "t": 39.63, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 7926, "t": 39.63, "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": 34, "step": 7926, "t": 39.63, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 35, "step": 7926, "t": 39.63, "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": 36, "step": 7926, "t": 39.63, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 37, "step": 7926, "t": 39.63, "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": 38, "step": 8507, "t": 42.535, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 39, "step": 10204, "t": 51.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 40, "step": 10204, "t": 51.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 41, "step": 10204, "t": 51.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 42, "step": 10204, "t": 51.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p012_e021/env.mp4 b/episodes/c4_p012_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62bc29349625236b6147f8e686bfa030c8e0c197 --- /dev/null +++ b/episodes/c4_p012_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1110e5a439eca0245c838b463f573936ee5b254fa9bb148bec63a4fd8a769e6b +size 1293577 diff --git a/episodes/c4_p012_e021/meta.json b/episodes/c4_p012_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cd9a31626d1df5f49ed0e3038f9e87bdbb92447 --- /dev/null +++ b/episodes/c4_p012_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p012/magicsim/21", + "fps": 25, + "frames": 1254, + "kept_ticks": "even", + "video_frames": { + "wrist": 1254, + "env": 1254 + }, + "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_p012_e021/scene_snapshot.json b/episodes/c4_p012_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a3723c4323dd872830c9b23b360f7f685a17ad16 --- /dev/null +++ b/episodes/c4_p012_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 3, + "run_id": "c4_p012", + "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/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": [ + 2.3549153078950003e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.20731890875600906, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04446603310270797, + "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": 0.20731890875600906, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.050026893615722656, + 1.1500043869018555, + 0.8999999761581421 + ], + "ori": [ + -1.3322911399882287e-05, + -1.725844178679381e-08, + -3.72294977069032e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.496568533658319e-08, + 2.8088760473110597e-07, + 7.078051567077637e-08 + ], + "angular_velocity": [ + -5.6425424190820195e-06, + 5.857866653968813e-07, + -3.433596475588274e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10547161102294922, + 0.45000553131103516, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.067011533630648e-09, + -3.1141624834418735e-09, + -4.680858182837255e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1813399975201264e-09, + 1.8726131756352515e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -9.148793367330654e-08, + 1.9431713838002906e-07, + -2.372068408362793e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3967552185058594, + 0.7805643081665039, + 0.8999999761581421 + ], + "ori": [ + -0.7219259738922119, + -1.1542907429884508e-07, + -1.411197843026457e-07, + 0.6919702887535095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.475397937156231e-07, + -1.2019336281809956e-06, + -3.203749656677246e-06 + ], + "angular_velocity": [ + 0.00010763110185507685, + 6.7044643401459325e-06, + -1.4100121461524395e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.642242431640625, + 0.9880189895629883, + 0.8999999761581421 + ], + "ori": [ + 0.49153846502304077, + -3.7302680055972814e-08, + 4.9098435539463026e-08, + 0.8708558082580566 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.783906544820638e-07, + 7.970133424350934e-07, + -2.9280781745910645e-06 + ], + "angular_velocity": [ + -6.599558400921524e-05, + -5.21659676451236e-05, + 6.657251105934847e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.060825347900390625, + 1.1563453674316406, + 0.9179999828338623 + ], + "ori": [ + 0.02269865944981575, + 8.562233233533334e-08, + -6.01451461079705e-07, + 0.9997424483299255 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5792151063797064e-06, + 4.338425696914783e-06, + -8.64267349243164e-06 + ], + "angular_velocity": [ + -0.0002775253960862756, + 2.4990629754029214e-05, + -4.227759927744046e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.09259033203125, + 0.4395780563354492, + 0.9180000424385071 + ], + "ori": [ + 0.999890923500061, + 3.511209545337124e-09, + -2.0938535350012444e-09, + -0.014774628914892673 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.239644469881341e-09, + 2.97149878036862e-08, + -4.94346022605896e-06 + ], + "angular_velocity": [ + -3.739135649993841e-07, + -1.7064530766219832e-06, + -4.746728166082903e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.4061212539672852, + 0.7795381546020508, + 0.9179999828338623 + ], + "ori": [ + -0.776757538318634, + -1.2095856050109433e-07, + -1.2988166986360739e-07, + 0.6297997832298279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1447755216286168e-07, + -2.4912922071962385e-06, + -8.814036846160889e-06 + ], + "angular_velocity": [ + 0.0001073385210474953, + 6.5286426433885936e-06, + -1.5960275732140872e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6363353729248047, + 0.99908447265625, + 0.9179999232292175 + ], + "ori": [ + 0.4103511869907379, + 1.5579458079173492e-07, + 3.06632983892996e-07, + 0.9119275212287903 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9483685466402676e-06, + 5.899482857785188e-07, + -5.11854887008667e-06 + ], + "angular_velocity": [ + -4.661843559006229e-05, + -8.961784624261782e-05, + 9.830739145400003e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 1.0599999999999994, + "step": 212, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.3549153078950003e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.20731890875600906, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 103, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09997311234474182, + 0.7000043988227844, + 0.0 + ], + "carrier_2": [ + -0.04452839493751526, + 5.543231964111328e-06, + 0.0 + ], + "carrier_3": [ + -1.5467552244663239, + 0.33056432008743286, + 0.0 + ], + "carrier_4": [ + 1.4922424256801605, + 0.5380190014839172, + 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": [ + 0.20626426876244408, + -0.48464515470506314, + 3.0033868593230926 + ], + "ori": [ + 4.985100300578985, + 2.054600090538063, + -0.23301178094919095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6431.5878317191355, + "color": [ + 0.9193438038239796, + 0.8028641206094133, + 0.8197119573644365 + ], + "intensity": 9683.840485939765, + "width": 2.4118257254559685, + "height": 1.8127249573444368 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6620448084098468, + 1.4418459290905548, + 2.2203737388838296 + ], + "ori": [ + -3.6831190449651885, + 4.442208052567615, + -23.035347126741634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3600.456512223719, + "color": [ + 0.9622516019726943, + 0.8510172292977266, + 0.9770854385026199 + ], + "intensity": 4104.945998714846, + "radius": 0.21725439052635742 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1374.0406356040976, + "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": [ + [ + 0.924984872341156, + -1.2778611183166504, + 2.2429752349853516, + -2.5358872413635254, + -1.5708110332489014, + 2.65838360786438, + 0.00769133260473609, + 0.007109289523214102 + ], + [ + 0.9141025543212891, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.4280989170074463, + -1.489588975906372, + 2.182743787765503, + -2.262995719909668, + -1.570806860923767, + 6.139692783355713, + 0.007759962696582079, + 0.007343959994614124 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.00014243902114685625, + -0.002986988751217723, + -0.0011285284999758005, + 0.003340761177241802, + 0.0004246207536198199, + 0.0013762552989646792, + -0.007321495562791824, + 0.00026810637791641057 + ], + [ + -2.2839978068695235e-38, + 2.881015832790794e-38, + 2.7399510400229146e-38, + 4.183444058458955e-37, + -6.1734210572062445e-37, + -1.025657541771612e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + -0.0005370120634324849, + 0.014926075004041195, + 0.009897343814373016, + -0.023391440510749817, + -4.1102644900092855e-05, + 0.0022680656984448433, + -0.005127448122948408, + 0.0002062505518551916 + ], + [ + -2.5548849149558504e-38, + 2.9536232719407056e-38, + 2.9447031664361996e-38, + 6.970803828126907e-37, + -7.238009248705974e-37, + 2.5911396451364935e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05208415538072586, + -0.0003581907949410379, + -0.02932688035070896, + -0.2770113945007324, + 0.6450362205505371, + 0.6532676219940186, + -0.2836095690727234 + ], + [ + 0.04965271055698395, + -0.0002771792933344841, + -0.026801422238349915, + -0.28786447644233704, + 0.6472763419151306, + 0.6469643115997314, + -0.2821428179740906 + ], + [ + 0.0506819523870945, + 0.0010327365016564727, + -0.02656576596200466, + -0.26979559659957886, + 0.6524033546447754, + 0.6489353775978088, + -0.2836601138114929 + ], + [ + 0.051942378282547, + -0.002260158071294427, + -0.028599590063095093, + -0.28116434812545776, + 0.654274046421051, + 0.6388435363769531, + -0.2911202609539032 + ] + ], + "camera1": [ + [ + 0.0548383891582489, + 0.5663204789161682, + 1.956372618675232, + 0.044378507882356644, + 0.010385306552052498, + 0.2737955152988434, + 0.960707426071167 + ], + [ + 0.042834263294935226, + 0.591355562210083, + 1.9570602178573608, + 0.04052809253334999, + 0.01111157052218914, + 0.2808702290058136, + 0.9588252902030945 + ], + [ + 0.026765869930386543, + 0.5717747211456299, + 1.9338210821151733, + 0.05768686532974243, + 0.01218658871948719, + 0.27160510420799255, + 0.9606010317802429 + ], + [ + 0.04455624520778656, + 0.6002740859985352, + 1.9332726001739502, + 0.04362688213586807, + -0.006374990101903677, + 0.26520076394081116, + 0.9631845951080322 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p012_e021/wrist.mp4 b/episodes/c4_p012_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5af96b63a6cd0aa09be145bf417123e407fbd4c7 --- /dev/null +++ b/episodes/c4_p012_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74f3feca260b3c828567db6a8b060d66e0b401be9acdc610944921eeef631ae2 +size 6660909 diff --git a/episodes/c4_p012_e022/data.npz b/episodes/c4_p012_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce6ad86b33e7332bc05f6bc2f60f8c5463e40424 --- /dev/null +++ b/episodes/c4_p012_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6acd6ce4a3394b030a7a12e68f318252ca8713157ffb8275f03afd30076bfa92 +size 189192 diff --git a/episodes/c4_p012_e022/device_events.jsonl b/episodes/c4_p012_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46ae508b5ffbb4544e8f9938cee4ae04d3a51e14 --- /dev/null +++ b/episodes/c4_p012_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6183, "t": 30.915, "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": 6796, "t": 33.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6796, "t": 33.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6341630250824126}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6796, "t": 33.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6796, "t": 33.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6796, "t": 33.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7215, "t": 36.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7215, "t": 36.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7215, "t": 36.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7215, "t": 36.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7215, "t": 36.075, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7215, "t": 36.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7215, "t": 36.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7215, "t": 36.075, "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": 7215, "t": 36.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6341630250824126}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7942, "t": 39.71, "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": 7942, "t": 39.71, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.6350000000018596}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7942, "t": 39.71, "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": 3.6350000000018596}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7942, "t": 39.71, "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": 7942, "t": 39.71, "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": 7942, "t": 39.71, "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": 8362, "t": 41.81, "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": 8362, "t": 41.81, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8362, "t": 41.81, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8362, "t": 41.81, "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": 8362, "t": 41.81, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8362, "t": 41.81, "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": 8942, "t": 44.71, "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": 10716, "t": 53.58, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10716, "t": 53.58, "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": 10716, "t": 53.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10716, "t": 53.58, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p012_e022/env.mp4 b/episodes/c4_p012_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..992d62e8aa1623786ee86c13bd880c476b23b85e --- /dev/null +++ b/episodes/c4_p012_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bc465c81d536315744e9c83256a797381dba8511c51d90af37d35e2dc6091bb +size 1174834 diff --git a/episodes/c4_p012_e022/meta.json b/episodes/c4_p012_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae503712f58fe898acb78790e2e3895bf5b6aa1d --- /dev/null +++ b/episodes/c4_p012_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p012/magicsim/22", + "fps": 25, + "frames": 1224, + "kept_ticks": "even", + "video_frames": { + "wrist": 1224, + "env": 1224 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p012_e022/scene_snapshot.json b/episodes/c4_p012_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d45235dd5465c95109c42af150ec1c346a57e1fa --- /dev/null +++ b/episodes/c4_p012_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 1, + "run_id": "c4_p012", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4789886474609375, + 0.10606861114501953, + 0.8999999761581421 + ], + "ori": [ + -0.690825879573822, + 0.0, + 0.0, + 0.7230211496353149 + ], + "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": [ + 3.3641657710449524e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19118097534957731, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2636226795992636, + "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": 0.19118097534957731, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2329092025756836, + 1.0946674346923828, + 0.8999999761581421 + ], + "ori": [ + -0.2688010632991791, + 1.2666133386574074e-07, + -7.084376107968637e-08, + 0.9631956815719604 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8420742264879664e-08, + 8.402148310437951e-09, + -3.725290298461914e-08 + ], + "angular_velocity": [ + -1.1081201591878198e-06, + -2.0492859675869113e-06, + -1.1136132371802887e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1132040023803711, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.09971215362026e-10, + -5.309309103473936e-10, + -4.8203783080680296e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6531137569941734e-10, + 1.3372701834768463e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.0131788741318815e-07, + 6.774550698196435e-09, + -2.2636879037918334e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3572921752929688, + 0.4518709182739258, + 0.8999999761581421 + ], + "ori": [ + 0.9998613595962524, + -1.1139789535263844e-08, + 8.809747953364422e-08, + 0.016655419021844864 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8313817129467225e-09, + 8.467456735772316e-10, + 0.0 + ], + "angular_velocity": [ + 6.800219054525769e-09, + 1.7455124634579988e-07, + -3.5614942106576564e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5006685256958008, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -7.4373692768858746e-06, + 2.7990670892208414e-10, + 6.910440553120623e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.418110239294947e-09, + -3.3006100075283484e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.3097454970866238e-07, + -3.380284852028126e-07, + -2.1413843143136546e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.2431459426879883, + 1.102158546447754, + 0.9180000424385071 + ], + "ori": [ + -0.24327756464481354, + 1.2555807415992604e-07, + -6.864862456268384e-08, + 0.9699567556381226 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.8588709944397124e-08, + -1.0132148453578793e-08, + -9.335577487945557e-06 + ], + "angular_velocity": [ + -5.527429038920673e-07, + -1.5745572454761714e-06, + -7.465521889571392e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.1113748550415039, + 0.44780540466308594, + 0.9180000424385071 + ], + "ori": [ + 0.99579918384552, + -1.796162940603807e-10, + -1.9025720998655515e-09, + 0.09156470000743866 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.622046674754074e-08, + 1.033646412906819e-08, + -5.140900611877441e-06 + ], + "angular_velocity": [ + 1.9266983031229756e-07, + -1.1514282505231677e-06, + 1.0565000962969862e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.360276222229004, + 0.44178295135498047, + 0.9179999828338623 + ], + "ori": [ + 0.999518871307373, + -1.1487888862404816e-08, + 8.80649722034832e-08, + 0.031016100198030472 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.087068461444687e-09, + 1.3307410284824073e-08, + -5.934387445449829e-06 + ], + "angular_velocity": [ + 3.015973391029547e-07, + -1.0717927807490923e-06, + -6.252557938069003e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.49083518981933594, + 1.1525068283081055, + 0.9179999828338623 + ], + "ori": [ + 0.055728886276483536, + -9.298624648046427e-10, + -7.78449038563167e-09, + 0.998445987701416 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.903035405983246e-08, + -1.7043424449525446e-08, + 2.3096799850463867e-07 + ], + "angular_velocity": [ + 5.444975386126316e-07, + 2.4892249257391086e-06, + 1.2479741684501278e-09 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 4.839999999999919, + "step": 968, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641657710449524e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19118097534957731, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 849, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.382909208536148, + 0.6446674466133118, + 0.0 + ], + "carrier_2": [ + -0.26320400834083557, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + 1.2072921693325043, + 0.0018709301948547363, + 0.0 + ], + "carrier_4": [ + 0.3506685197353363, + 0.7000005841255188, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.29195691633324655, + -0.2215714769972032, + 2.74906762652256 + ], + "ori": [ + -5.843833170706269, + -9.168570966344786, + 20.953540064697386 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6419.26163768625, + "color": [ + 0.9277425810840442, + 0.9302327170811794, + 0.9438954834857083 + ], + "intensity": 5256.261419510904, + "width": 2.2554340930726218, + "height": 1.1869223984153552 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.3363023855486096, + 1.3041946452231008, + 2.4162696846033325 + ], + "ori": [ + 1.342020315584243, + 32.844506113864554, + 30.064961065137155 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5786.77891304771, + "color": [ + 0.7657106451448761, + 0.9667894508509951, + 0.760793168010514 + ], + "intensity": 6206.871187638415, + "radius": 0.0534342551271042 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1374.0406356040976, + "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": [ + [ + 0.9249841570854187, + -1.5200170278549194, + 2.1166462898254395, + -2.1674067974090576, + -1.5707982778549194, + 2.6584224700927734, + 0.007677309215068817, + 0.00711853476241231 + ], + [ + 0.9141025543212891, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.429396390914917, + -1.3239967823028564, + 2.2605977058410645, + -2.5066988468170166, + -1.5708249807357788, + 6.1410813331604, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 0.8068913817405701, + -1.2268717288970947, + 2.1637632846832275, + -2.5076775550842285, + -1.5708222389221191, + 2.4071316719055176, + 0.00773113127797842, + 0.007118543144315481 + ] + ], + "joint_vel": [ + [ + 0.00010199296229984611, + -4.56088764622109e-06, + -0.0002874359779525548, + -0.00016077022883109748, + 0.00022535209427587688, + 0.0009159810724668205, + -0.00704381475225091, + 0.0002479822433087975 + ], + [ + -2.2839978068695235e-38, + 2.881015832790794e-38, + 2.7399510400229146e-38, + 4.183444058458955e-37, + -6.1734210572062445e-37, + -1.025657541771612e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 8.085959416348487e-05, + -0.015259597450494766, + -0.004639695398509502, + 0.018920930102467537, + -4.309933501644991e-06, + -4.148010702920146e-05, + -7.051698503346415e-06, + 7.053222361719236e-06 + ], + [ + -0.00014030441525392234, + 1.820984653022606e-05, + -0.00015670404536649585, + -0.0013717638794332743, + 0.001578882453031838, + 0.005101748742163181, + -0.007849915884435177, + 0.0002235653082607314 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05225688964128494, + 0.000980827142484486, + -0.03135792538523674, + -0.27725809812545776, + 0.6465138792991638, + 0.6534285545349121, + -0.27960485219955444 + ], + [ + 0.04982464388012886, + -0.0023315483704209328, + -0.027712346985936165, + -0.2825942039489746, + 0.6540274620056152, + 0.6447485685348511, + -0.27692583203315735 + ], + [ + 0.04967346414923668, + 0.0002480462135281414, + -0.02582591585814953, + -0.2728959023952484, + 0.6518439650535583, + 0.6465761661529541, + -0.28734394907951355 + ], + [ + 0.05340494215488434, + -0.0018866161117330194, + -0.026095382869243622, + -0.27974164485931396, + 0.6547943949699402, + 0.6401624083518982, + -0.2884112596511841 + ] + ], + "camera1": [ + [ + 0.0548383891582489, + 0.5663204789161682, + 1.956372618675232, + 0.044378507882356644, + 0.010385306552052498, + 0.2737955152988434, + 0.960707426071167 + ], + [ + 0.042834263294935226, + 0.591355562210083, + 1.9570602178573608, + 0.04052809253334999, + 0.01111157052218914, + 0.2808702290058136, + 0.9588252902030945 + ], + [ + 0.026765869930386543, + 0.5717747211456299, + 1.9338210821151733, + 0.05768686532974243, + 0.01218658871948719, + 0.27160510420799255, + 0.9606010317802429 + ], + [ + 0.04455624520778656, + 0.6002740859985352, + 1.9332726001739502, + 0.04362688213586807, + -0.006374990101903677, + 0.26520076394081116, + 0.9631845951080322 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p012_e022/wrist.mp4 b/episodes/c4_p012_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c2c9b74e93b54e1e1b84843c1a091fcc0eaad440 --- /dev/null +++ b/episodes/c4_p012_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6787677e4af6ddb74da0eb9cc881e9d0b11a90d7aefe062aad0334e4116cfdc +size 6970456 diff --git a/episodes/c4_p012_e023/data.npz b/episodes/c4_p012_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1d208a5fa4c55259cea3fb44174bda595907bd89 --- /dev/null +++ b/episodes/c4_p012_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e8f5bb10734718ed3d97b117070d79aa21c4b37acaded01ab3ea44e7d0da282 +size 183023 diff --git a/episodes/c4_p012_e023/device_events.jsonl b/episodes/c4_p012_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fe71399deeff9d940bd4c303688c31bcb8f1c34 --- /dev/null +++ b/episodes/c4_p012_e023/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1738, "t": 8.69, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1940, "t": 9.7, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6506, "t": 32.53, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6343858774822275}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7535, "t": 37.675, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7535, "t": 37.675, "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": 7535, "t": 37.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6343858774822275}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7862, "t": 39.31, "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": 7862, "t": 39.31, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6350000000008365}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7862, "t": 39.31, "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": 1.6350000000008365}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7862, "t": 39.31, "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": 7862, "t": 39.31, "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": 7862, "t": 39.31, "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": 8281, "t": 41.405, "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": 8281, "t": 41.405, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.0619666802067513e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8281, "t": 41.405, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.0619666802067513e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8281, "t": 41.405, "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": 8281, "t": 41.405, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8281, "t": 41.405, "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": 8863, "t": 44.315, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 10576, "t": 52.88, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10576, "t": 52.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10576, "t": 52.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10576, "t": 52.88, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c4_p012_e023/env.mp4 b/episodes/c4_p012_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..156db088c064656a8e1ddcad85ebbdf8b806d4d7 --- /dev/null +++ b/episodes/c4_p012_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac4104d7d737a0a0adefb383eb186887f0dbb30f92d4ed57ee28db7b545d47ec +size 1223628 diff --git a/episodes/c4_p012_e023/meta.json b/episodes/c4_p012_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1aafe07dfc368b78d2a0d2f6a1a79491b748c95 --- /dev/null +++ b/episodes/c4_p012_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p012/magicsim/23", + "fps": 25, + "frames": 1161, + "kept_ticks": "even", + "video_frames": { + "wrist": 1161, + "env": 1161 + }, + "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_p012_e023/scene_snapshot.json b/episodes/c4_p012_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..06243a298d1819f79bd89857cc0320c95cb00295 --- /dev/null +++ b/episodes/c4_p012_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 2, + "run_id": "c4_p012", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4986705780029297, + 0.0822305679321289, + 0.8999999761581421 + ], + "ori": [ + -0.7055243253707886, + 0.0, + 0.0, + 0.7086856961250305 + ], + "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": [ + 3.3641676683987543e-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": 0.21579291761167269, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22626132744793875, + "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": 0.21579291761167269, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6338701248168945, + 0.6005668640136719, + 0.8999999761581421 + ], + "ori": [ + 0.8911027908325195, + 1.0575146092151044e-08, + 9.315652249597406e-09, + 0.45380163192749023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.378975905159564e-10, + 1.1417244927258707e-10, + 0.0 + ], + "angular_velocity": [ + -1.225451828901214e-08, + 1.3637363238672151e-08, + -9.050881155658885e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5906143188476562, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 7.379277667496353e-05, + 2.971537504947719e-08, + 2.4572322843141592e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5867278602144097e-09, + -5.94568283496244e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 5.006538117413584e-08, + -1.5351209015079803e-07, + -3.3720226610967075e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3863162994384766, + 0.8861303329467773, + 0.8999999761581421 + ], + "ori": [ + -0.6076551675796509, + -8.820133956533027e-08, + -7.925826395194235e-08, + 0.7942010760307312 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.03766095505398e-09, + 1.573516872355185e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 8.882953750344313e-08, + -2.3853613129176665e-07, + -4.9827814763148126e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07665538787841797, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.222966477560817e-09, + 3.266148018710169e-09, + -3.144404900012887e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.659415489693401e-10, + 2.8949849184556342e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.397036666934582e-07, + 4.912628526199114e-08, + -9.646569765209279e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.630777359008789, + 0.5862054824829102, + 0.9179999828338623 + ], + "ori": [ + 0.9144325256347656, + 9.323233740587966e-09, + 7.209063568325291e-09, + 0.4047384262084961 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.174082069927863e-08, + -1.3424910960679881e-08, + 6.332993507385254e-08 + ], + "angular_velocity": [ + 9.95720483842888e-07, + -7.18441299341066e-07, + 7.640392851726574e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.601740837097168, + 1.1545753479003906, + 0.9180000424385071 + ], + "ori": [ + -0.060501158237457275, + 3.178714180762654e-08, + 2.1195823762809596e-08, + 0.9981681704521179 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.557177136708333e-09, + -1.4894223632211379e-09, + -5.044043064117432e-06 + ], + "angular_velocity": [ + -9.899782753564068e-07, + 2.0373897768877214e-06, + -6.123779172639843e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.3847742080688477, + 0.8805398941040039, + 0.9180000424385071 + ], + "ori": [ + -0.660945475101471, + -9.41052462621883e-08, + -7.282887537485294e-08, + 0.7504338622093201 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.348761871777242e-08, + 3.330389475308948e-08, + -5.193054676055908e-06 + ], + "angular_velocity": [ + -1.8624252788868034e-06, + -2.7027140276913997e-06, + -3.486544528641389e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.06430530548095703, + 0.45194530487060547, + 0.9179999828338623 + ], + "ori": [ + 0.9996093511581421, + -8.446569832454287e-11, + 2.801989529288562e-09, + 0.02795015648007393 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.428447273445272e-08, + 1.4416219329405067e-09, + -1.1026859283447266e-06 + ], + "angular_velocity": [ + 5.773351858806564e-07, + -3.2337147786165588e-06, + 1.4921621982466604e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.65999999999988, + "step": 1332, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641676683987543e-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": 0.21579291761167269, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1233, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.48387011885643, + 0.15056687593460083, + 0.0 + ], + "carrier_2": [ + 0.4406143128871918, + 0.6999967694282532, + 0.0 + ], + "carrier_3": [ + -1.536316305398941, + 0.4361303448677063, + 0.0 + ], + "carrier_4": [ + -0.22665539383888245, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6182417110958355, + -0.1435130329225242, + 2.9748880546207808 + ], + "ori": [ + 2.5151667470058285, + 3.181999034203681, + -25.067475037879298 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6312.790831763505, + "color": [ + 0.9452686267949115, + 0.8155665613066828, + 0.9369702672070115 + ], + "intensity": 4988.232167370305, + "width": 2.4565872404476305, + "height": 1.1400341076495013 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.609371745038013, + 0.17793794753930836, + 1.739948043352478 + ], + "ori": [ + -10.200839223714535, + 39.02735078338688, + 29.421289690758798 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5953.435109689543, + "color": [ + 0.8578241910797038, + 0.9577632478023972, + 0.8354972868258506 + ], + "intensity": 2681.8567899899567, + "radius": 0.3129715543470565 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1374.0406356040976, + "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": [ + [ + 2.5943105220794678, + -2.117692232131958, + 2.368778705596924, + -1.8221749067306519, + -1.5703142881393433, + 4.163182735443115, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 2.29707670211792, + -2.4635777473449707, + 2.634002208709717, + -1.7409379482269287, + -1.5713348388671875, + 3.865946054458618, + 0.00798147264868021, + 0.006801215466111898 + ], + [ + 0.9141123294830322, + -1.7193934917449951, + 2.090496063232422, + -1.9419002532958984, + -1.5707999467849731, + 2.484905958175659, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.773113250732422, + -1.7882124185562134, + 1.8226704597473145, + -1.6049517393112183, + -1.5704950094223022, + 4.345208644866943, + 0.007777250837534666, + 0.007093793246895075 + ] + ], + "joint_vel": [ + [ + -0.01563895307481289, + -0.029073074460029602, + 0.011964976787567139, + 0.016594940796494484, + -1.3193299309932627e-05, + -0.01570853963494301, + -1.9957972199335927e-06, + 1.9958663415309275e-06 + ], + [ + 0.017998376861214638, + -0.016988003626465797, + 0.0008746068924665451, + 0.005904603283852339, + 0.0031968283001333475, + 0.008397161960601807, + -0.006190200336277485, + 0.00018457167607266456 + ], + [ + 2.6844018873389217e-38, + -2.8412509060089556e-38, + -1.7359526399391698e-38, + -3.319705657409058e-37, + 3.362663414715891e-37, + -2.286689056622198e-37, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + 0.00689566507935524, + 0.021681657060980797, + -0.016405411064624786, + -0.004959381651133299, + -0.0005696582375094295, + 0.00868635531514883, + -0.0083651477470994, + 0.00036277665640227497 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05244377627968788, + -0.0017052548937499523, + -0.03341599181294441, + -0.27495476603507996, + 0.644521951675415, + 0.6562985181808472, + -0.27975624799728394 + ], + [ + 0.05149918049573898, + -0.002640585647895932, + -0.028645962476730347, + -0.28364476561546326, + 0.645210325717926, + 0.649010956287384, + -0.28641578555107117 + ], + [ + 0.04720093682408333, + 0.0010165621060878038, + -0.03234381973743439, + -0.27399247884750366, + 0.6528394222259521, + 0.6490157842636108, + -0.27840134501457214 + ], + [ + 0.05044782534241676, + -0.0011497443774715066, + -0.025750819593667984, + -0.275985449552536, + 0.6570508480072021, + 0.6357809901237488, + -0.2964773178100586 + ] + ], + "camera1": [ + [ + 0.0548383891582489, + 0.5663204789161682, + 1.956372618675232, + 0.044378507882356644, + 0.010385306552052498, + 0.2737955152988434, + 0.960707426071167 + ], + [ + 0.042834263294935226, + 0.591355562210083, + 1.9570602178573608, + 0.04052809253334999, + 0.01111157052218914, + 0.2808702290058136, + 0.9588252902030945 + ], + [ + 0.03928174078464508, + 0.5717859864234924, + 1.959248661994934, + 0.021483970806002617, + -0.0005998704582452774, + 0.2671637535095215, + 0.9634114503860474 + ], + [ + 0.04455624520778656, + 0.6002740859985352, + 1.9332726001739502, + 0.04362688213586807, + -0.006374990101903677, + 0.26520076394081116, + 0.9631845951080322 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p012_e023/wrist.mp4 b/episodes/c4_p012_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5b350a9db3a3c23d4ba444a74b43f4835d1ecbf --- /dev/null +++ b/episodes/c4_p012_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1970b242f3dd97f83c9550a52e8133e1ca28d2e5e47c6e7a696d1b2650d15ecd +size 6043313 diff --git a/episodes/c6_p012_e022/data.npz b/episodes/c6_p012_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e06f7f594c00688fc0bb1e74b37cbd4b4246fecc --- /dev/null +++ b/episodes/c6_p012_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5681b4f9d2d3cce1772cf446eab75331613bdbac786eec070b2b178e6eee7c4 +size 190078 diff --git a/episodes/c6_p012_e022/device_events.jsonl b/episodes/c6_p012_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bad0520f21523f91bd87f10bdb09c8906122c80b --- /dev/null +++ b/episodes/c6_p012_e022/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 192, "t": 0.96, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 192, "t": 0.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 197, "t": 0.985, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 956, "t": 4.78, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6070, "t": 30.35, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0676117924722366}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7099, "t": 35.495, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0676117924722366}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7713, "t": 38.565, "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": 7713, "t": 38.565, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0700000000015706}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7713, "t": 38.565, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.0700000000015706}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7713, "t": 38.565, "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": 7713, "t": 38.565, "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": 7713, "t": 38.565, "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": 8133, "t": 40.665, "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": 8133, "t": 40.665, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.357211036420949e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8133, "t": 40.665, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.357211036420949e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8133, "t": 40.665, "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": 8133, "t": 40.665, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8133, "t": 40.665, "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": 8716, "t": 43.58, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10448, "t": 52.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p012_e022/env.mp4 b/episodes/c6_p012_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..107fafa4877c45e6f512e9487a218870d2648566 --- /dev/null +++ b/episodes/c6_p012_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edb4441f4ff1be18ee3a587749e39e8bdc815462a69efa2bbc28fa863f752f42 +size 1248798 diff --git a/episodes/c6_p012_e022/meta.json b/episodes/c6_p012_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4292294274788fb70c72fc8fe6accd2fa71e587e --- /dev/null +++ b/episodes/c6_p012_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p012/magicsim/22", + "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/c6_p012_e022/scene_snapshot.json b/episodes/c6_p012_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5065acc9c62628ce16cff935a69a1a6d6ee9c928 --- /dev/null +++ b/episodes/c6_p012_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 2, + "run_id": "c6_p012", + "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/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4634876251220703, + 0.05016803741455078, + 0.8999999761581421 + ], + "ori": [ + 0.733473539352417, + 0.0, + 0.0, + -0.679718017578125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092504089398435e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2044216065083122, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11873177686144884, + "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": 0.2044216065083122, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.69244384765625, + 0.8578605651855469, + 0.8999999761581421 + ], + "ori": [ + 0.6510220170021057, + 1.1573423108757197e-07, + -1.0568642494490632e-07, + 0.7590588331222534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5938216019483207e-09, + 1.2047508546331187e-09, + 0.0 + ], + "angular_velocity": [ + -6.611951874901933e-08, + 6.003615737881773e-08, + 2.8452692646396827e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3546524047851562, + 0.6324958801269531, + 0.8999999761581421 + ], + "ori": [ + -0.8576444983482361, + 1.7429204746122196e-08, + 1.5852950951966704e-08, + 0.5142431855201721 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.028336804071884e-10, + -1.6656126478054034e-10, + 0.0 + ], + "angular_velocity": [ + -1.227817847393453e-10, + 2.1930421922888854e-09, + 5.269939595820006e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.40439414978027344, + 1.152669906616211, + 0.8999999761581421 + ], + "ori": [ + -0.010372240096330643, + 1.9383980642828647e-08, + 2.3246620184380618e-09, + 0.9999462366104126 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5710788225931083e-10, + 1.9607520052034033e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -3.2004791705730895e-07, + 2.017281843791352e-07, + 4.122694008401595e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.030837059020996094, + 0.44744110107421875, + 0.8999999761581421 + ], + "ori": [ + 0.9999570846557617, + -1.3420931033181205e-08, + 7.47511137433321e-08, + 0.009264274500310421 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.575717582611105e-11, + 2.588154135452214e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.0592542309950659e-07, + 7.903111054474721e-08, + 1.1265520072356594e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6864194869995117, + 0.8467988967895508, + 0.9179999828338623 + ], + "ori": [ + 0.6803666353225708, + 1.1680218392484676e-07, + -1.0009242146225006e-07, + 0.732871949672699 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0945520873283385e-08, + -4.1073825229887007e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + 1.0179508080909727e-06, + 1.070237431122223e-06, + 3.3551037859069766e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.358194351196289, + 0.6151857376098633, + 0.9180000424385071 + ], + "ori": [ + -0.8385118246078491, + 1.8218829112015555e-08, + 1.6989915252452192e-08, + 0.5448834896087646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7430950016716906e-09, + 2.5838268413735932e-08, + -5.315989255905151e-06 + ], + "angular_velocity": [ + -1.4809590993536403e-06, + -3.657580691651674e-07, + 3.764649392223873e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.41614246368408203, + 1.164473533630371, + 0.9180000424385071 + ], + "ori": [ + -0.010354863479733467, + 1.947394601131691e-08, + 3.0113362914363506e-09, + 0.9999464154243469 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6377244449472528e-08, + 2.510362051566517e-08, + -5.949288606643677e-06 + ], + "angular_velocity": [ + -9.03966963505809e-07, + 2.5844246920314617e-06, + 9.71532614357784e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.026525497436523438, + 0.4348773956298828, + 0.9179999828338623 + ], + "ori": [ + 0.9999949336051941, + -1.4051527941205677e-08, + 7.435547644263352e-08, + -0.0031853578984737396 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7125644780644507e-08, + 2.5752608934226373e-08, + -1.166015863418579e-06 + ], + "angular_velocity": [ + -6.392622253770242e-07, + -1.6670156810505432e-06, + 1.1120485510218714e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.7199999999999642, + "step": 544, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.0092504089398435e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2044216065083122, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 351, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5424438416957855, + 0.40786057710647583, + 0.0 + ], + "carrier_2": [ + -1.5046524107456207, + 0.18249589204788208, + 0.0 + ], + "carrier_3": [ + 0.25439414381980896, + 0.7026699185371399, + 0.0 + ], + "carrier_4": [ + -0.11916294693946838, + -0.002558887004852295, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8266998976139258, + 0.0010304140758431446, + 3.1074179338001784 + ], + "ori": [ + -9.339841648838082, + -12.723336541633385, + -26.355130855084983 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6544.354778999083, + "color": [ + 0.9590316395209348, + 0.8413734539824755, + 0.8000945415602368 + ], + "intensity": 11350.538966756676, + "width": 2.009588594050543, + "height": 1.7006354604837246 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.5313373148877871, + 1.2156025591485677, + 2.687539089030611 + ], + "ori": [ + 11.243088357705389, + -36.87644178046948, + 14.7586205161003 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4251.529348635468, + "color": [ + 0.8757084753408585, + 0.8235895603869786, + 0.8112972061635061 + ], + "intensity": 4998.691150981168, + "radius": 0.15616215674255632 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1046.9231575990498, + "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": [ + [ + 2.7982404232025146, + -1.6882081031799316, + 1.9162794351577759, + -1.7983486652374268, + -1.5700832605361938, + 4.3695173263549805, + 0.0078064450062811375, + 0.00726340664550662 + ], + [ + 1.4217737913131714, + -1.4823518991470337, + 2.1854822635650635, + -2.272571563720703, + -1.571263313293457, + 6.136199951171875, + 0.0180000439286232, + 0.017999956384301186 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.6458263397216797, + -2.06365704536438, + 2.1675333976745605, + -1.674230933189392, + -1.5705139636993408, + 4.218066692352295, + 0.007769462652504444, + 0.0071015614084899426 + ] + ], + "joint_vel": [ + [ + 0.005004435777664185, + 0.0178452767431736, + -0.015913063660264015, + -0.002438359195366502, + 0.0007522181258536875, + 0.0033623308409005404, + -0.0064659519121050835, + 0.00032298703445121646 + ], + [ + 0.00013673781359102577, + -0.01603606343269348, + -0.010507844388484955, + 0.025264093652367592, + -6.231361567188287e-06, + 2.6593697839416564e-05, + -7.6040187195758335e-06, + 7.579154953418765e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.013624020852148533, + 0.026698071509599686, + -0.012958072125911713, + -0.013709782622754574, + -0.0005173162207938731, + 0.015338573604822159, + -0.008192334324121475, + 0.00034704909194260836 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05032465606927872, + -0.0012755509233102202, + -0.031547170132398605, + -0.2934255003929138, + 0.6444591283798218, + 0.6489655375480652, + -0.27824029326438904 + ], + [ + 0.04962065443396568, + -0.0009825847810134292, + -0.027487587183713913, + -0.2830450236797333, + 0.6435797214508057, + 0.6524667739868164, + -0.28280341625213623 + ], + [ + 0.052841201424598694, + -3.578019459382631e-05, + -0.03131290525197983, + -0.2782194912433624, + 0.6502884030342102, + 0.6527732610702515, + -0.2713041603565216 + ], + [ + 0.052032601088285446, + -0.002093660179525614, + -0.02876332402229309, + -0.2746269106864929, + 0.6527453064918518, + 0.6535277962684631, + -0.2672173082828522 + ] + ], + "camera1": [ + [ + 0.03530014306306839, + 0.6014752388000488, + 1.9325242042541504, + 0.046802472323179245, + 0.023269662633538246, + 0.2570817172527313, + 0.9649751782417297 + ], + [ + 0.04631233215332031, + 0.6024787425994873, + 1.9358333349227905, + 0.053311798721551895, + 0.01344114076346159, + 0.2828792631626129, + 0.9575784802436829 + ], + [ + 0.061985526233911514, + 0.5908357501029968, + 1.9454786777496338, + 0.05326613411307335, + 0.009989137761294842, + 0.27800944447517395, + 0.959048330783844 + ], + [ + 0.0697939321398735, + 0.5858532786369324, + 1.9591069221496582, + 0.0546993650496006, + -0.0015686297556385398, + 0.26096323132514954, + 0.9637964963912964 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p012_e022/wrist.mp4 b/episodes/c6_p012_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4220a3761ae6ae6c1da3057640a7a6e57c21c569 --- /dev/null +++ b/episodes/c6_p012_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb6b1d9bade62fc310c075843ce511519b72ea3b4cd790d6aeb4edff2461418b +size 6671983 diff --git a/episodes/c6_p012_e023/data.npz b/episodes/c6_p012_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f106f059794d9dac80784d46f11b1351832e302 --- /dev/null +++ b/episodes/c6_p012_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0077b7b783fc89ebba2afd794730ef89eb588755ff14c326599b0e0dc04fbee7 +size 200751 diff --git a/episodes/c6_p012_e023/device_events.jsonl b/episodes/c6_p012_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..571dabfa22fe3ba1349a0a42702eec56b1bd0bda --- /dev/null +++ b/episodes/c6_p012_e023/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1394, "t": 6.97, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6112, "t": 30.56, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6728, "t": 33.64, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6728, "t": 33.64, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5492360208570184}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6728, "t": 33.64, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 9, "step": 6728, "t": 33.64, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 6728, "t": 33.64, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7147, "t": 35.735, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 18, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7147, "t": 35.735, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5492360208570184}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7457, "t": 37.285, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 7457, "t": 37.285, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.550000000000793}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7457, "t": 37.285, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.550000000000793}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7457, "t": 37.285, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 24, "step": 7457, "t": 37.285, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 7457, "t": 37.285, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 7877, "t": 39.385, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 7877, "t": 39.385, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7877, "t": 39.385, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7877, "t": 39.385, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 7877, "t": 39.385, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 7877, "t": 39.385, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 8451, "t": 42.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10692, "t": 53.46, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10692, "t": 53.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10692, "t": 53.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10692, "t": 53.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p012_e023/env.mp4 b/episodes/c6_p012_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b709848e8b0fa828a18b006059ac05a887d559c6 --- /dev/null +++ b/episodes/c6_p012_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77933dbf6ebfdacbf14f0022c100ba43a44f88ad5c1cb4bc975f70e71de4e0f8 +size 1242741 diff --git a/episodes/c6_p012_e023/meta.json b/episodes/c6_p012_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6467aa709afb1bd7700bf6f7815a952e403b674 --- /dev/null +++ b/episodes/c6_p012_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p012/magicsim/23", + "fps": 25, + "frames": 1217, + "kept_ticks": "even", + "video_frames": { + "wrist": 1217, + "env": 1217 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p012_e023/scene_snapshot.json b/episodes/c6_p012_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3c91a2e4c28e6c4745525a53c72d842b27211c --- /dev/null +++ b/episodes/c6_p012_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 1, + "run_id": "c6_p012", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4951019287109375, + 0.0760946273803711, + 0.8999999761581421 + ], + "ori": [ + 0.7237980961799622, + 0.0, + 0.0, + -0.6900117993354797 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.72833371049425e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2691040286137225, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17615507666892433, + "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": 0.2691040286137225, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6930608749389648, + 0.8561172485351562, + 0.8999999761581421 + ], + "ori": [ + 0.6545831561088562, + 1.5203735870272794e-07, + -9.307213844067519e-08, + 0.7559900879859924 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6060265339845614e-09, + 9.071594586629317e-10, + 0.0 + ], + "angular_velocity": [ + -8.051492272898031e-08, + -5.6769700051972904e-08, + -1.0757443824616075e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2217111587524414, + 1.1013116836547852, + 0.8999999761581421 + ], + "ori": [ + -0.2481783628463745, + -3.8705280758222216e-08, + 1.146453953992932e-08, + 0.9687143564224243 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.4508245150277617e-09, + -8.535414153243437e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.198032345608226e-07, + 2.5978894768741156e-07, + 5.303442307535988e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.026134490966796875, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.2146851302574646e-09, + 4.472977543912293e-09, + -2.929964648501482e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2276536171261796e-10, + -2.3513604396896426e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.145339881413747e-08, + 1.4389765823352718e-08, + 2.472169313705308e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07618045806884766, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -5.4264910431811586e-05, + 8.773590742805482e-10, + -1.581234143621657e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.180837898104528e-10, + -1.592774800940333e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3497211170943046e-07, + -9.284670809961426e-09, + -8.319616107144157e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6807851791381836, + 0.8652210235595703, + 0.9179999828338623 + ], + "ori": [ + 0.6722375154495239, + 1.5022264676645136e-07, + -9.25746945767969e-08, + 0.7403356432914734 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.5549574657097764e-09, + -6.888188153197916e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 2.225328671556781e-06, + 1.6378760392399272e-06, + 3.5180079294150346e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.2312755584716797, + 1.1076955795288086, + 0.9180000424385071 + ], + "ori": [ + -0.2720387279987335, + 1.6640065325645992e-08, + 4.1599165001571237e-08, + 0.9622863531112671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9387473457754822e-06, + -1.960134341061348e-06, + -4.634261131286621e-06 + ], + "angular_velocity": [ + 4.970369627699256e-05, + 2.868380761356093e-05, + -9.699175279820338e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.017572402954101562, + 0.45293712615966797, + 0.9179999828338623 + ], + "ori": [ + 0.999825119972229, + 5.693802096473632e-10, + 4.059024227842656e-09, + 0.018702160567045212 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4207628851181653e-08, + -3.6419315563307464e-08, + -5.669891834259033e-06 + ], + "angular_velocity": [ + 8.2065469086956e-08, + -1.5699733921792358e-06, + 3.60291885215247e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.08472251892089844, + 1.1494464874267578, + 0.9179999828338623 + ], + "ori": [ + -0.006673385854810476, + 6.195530755093159e-09, + 2.786982866709309e-10, + 0.9999777674674988 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.415375443045377e-08, + 4.936705266800345e-09, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + -5.008991479371616e-07, + 2.1892271888646064e-06, + 1.0158623808820266e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 4.9599999999999165, + "step": 992, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.72833371049425e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2691040286137225, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 892, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5430608689785004, + 0.4061172604560852, + 0.0 + ], + "carrier_2": [ + -1.3717111647129059, + 0.6513116955757141, + 0.0 + ], + "carrier_3": [ + -0.17613449692726135, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + -0.07381954789161682, + 0.699998676776886, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5511894767315734, + 0.582707171063096, + 2.9995428768649566 + ], + "ori": [ + 7.490286871314243, + -5.033371311180694, + -2.7627276916232475 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4792.637812738801, + "color": [ + 0.9248568931220841, + 0.8649856089859258, + 0.9378623570573258 + ], + "intensity": 11269.093889780052, + "width": 1.698588198992724, + "height": 1.5473766624292316 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3512241685708122, + 0.379506584467342, + 2.014224995231338 + ], + "ori": [ + 3.2103378525609543, + 11.837094695133771, + -7.0950372921738705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6097.685720399009, + "color": [ + 0.8150944319784608, + 0.9865057043880537, + 0.9102817034581244 + ], + "intensity": 3756.717303369167, + "radius": 0.0878680750248291 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1046.9231575990498, + "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": [ + [ + 2.688671827316284, + -1.9760429859161377, + 2.130624294281006, + -1.725358486175537, + -1.570793628692627, + 4.2594828605651855, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 0.914104700088501, + -1.7193958759307861, + 2.0904979705810547, + -1.9419004917144775, + -1.5707999467849731, + 2.4849019050598145, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9129717350006104, + -1.5210963487625122, + 2.1170427799224854, + -2.1680359840393066, + -1.5706721544265747, + 2.4916608333587646, + 0.007922610267996788, + 0.007221801206469536 + ], + [ + 2.679266929626465, + -1.9961729049682617, + 2.1419410705566406, + -1.7165560722351074, + -1.5707958936691284, + 4.24984073638916, + 0.017999934032559395, + 0.01800006441771984 + ] + ], + "joint_vel": [ + [ + 0.007693103514611721, + 0.017508039250969887, + -0.009741026908159256, + -0.007276309188455343, + 1.193276148114819e-05, + 0.007779472507536411, + 2.3496675112255616e-06, + -2.349610667806701e-06 + ], + [ + 2.1749945828355497e-38, + -2.1524723533975355e-38, + -1.8303682068296758e-38, + -3.3284676964467884e-37, + 5.753636878845388e-37, + 3.316921221308506e-37, + 3.087918111567739e-38, + -3.4473713463649407e-38 + ], + [ + 0.00529854279011488, + 0.0020984436850994825, + 0.004609990864992142, + 0.010260389186441898, + -0.005105351563543081, + -0.018495015799999237, + -0.003865596605464816, + -0.000338944693794474 + ], + [ + 0.0034445144701749086, + 0.0061422050930559635, + -0.002371483715251088, + -0.003599142422899604, + -5.47687250218587e-07, + 0.0034194523468613625, + -9.109997449741059e-07, + 9.109975280807703e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05149659514427185, + -0.0024936096742749214, + -0.031140245497226715, + -0.2941397428512573, + 0.6429775953292847, + 0.6486915349960327, + -0.2815331220626831 + ], + [ + 0.05305381119251251, + 0.003248065710067749, + -0.031900715082883835, + -0.26746079325675964, + 0.6620039343833923, + 0.6402530074119568, + -0.28335773944854736 + ], + [ + 0.05276646837592125, + 0.001114988001063466, + -0.03235038369894028, + -0.2804986238479614, + 0.6471633911132812, + 0.655963122844696, + -0.2687237858772278 + ], + [ + 0.049707189202308655, + -0.0025179635267704725, + -0.02845211699604988, + -0.27682510018348694, + 0.6548219323158264, + 0.6509109735488892, + -0.26625359058380127 + ] + ], + "camera1": [ + [ + 0.03530014306306839, + 0.6014752388000488, + 1.9325242042541504, + 0.046802472323179245, + 0.023269662633538246, + 0.2570817172527313, + 0.9649751782417297 + ], + [ + 0.042110756039619446, + 0.5583165287971497, + 1.9749540090560913, + 0.03475197032094002, + 0.01567218080163002, + 0.26897910237312317, + 0.9623912572860718 + ], + [ + 0.061985526233911514, + 0.5908357501029968, + 1.9454786777496338, + 0.05326613411307335, + 0.009989137761294842, + 0.27800944447517395, + 0.959048330783844 + ], + [ + 0.0697939321398735, + 0.5858532786369324, + 1.9591069221496582, + 0.0546993650496006, + -0.0015686297556385398, + 0.26096323132514954, + 0.9637964963912964 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p012_e023/wrist.mp4 b/episodes/c6_p012_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a0b671680b49d668d6a233dea9c71a8e4f44830e --- /dev/null +++ b/episodes/c6_p012_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f44ec5883a40fc79f4d8f9dc206ee9f7a8e378ec701f59a05498fd42b1bd031 +size 8107776 diff --git a/episodes/c7_p013_e000/data.npz b/episodes/c7_p013_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f2ae963dd06b60866ba257e0f538972c73837cc9 --- /dev/null +++ b/episodes/c7_p013_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c67b1dedd9ca11e1b893a82f50b624d52ba30c14629f41a073d9df07972c3eb0 +size 190170 diff --git a/episodes/c7_p013_e000/device_events.jsonl b/episodes/c7_p013_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd149fb99b6ed36de42518ec26b7dcb3e62f2236 --- /dev/null +++ b/episodes/c7_p013_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6243, "t": 31.215, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.266354209287044}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7271, "t": 36.355, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.266354209287044}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8125, "t": 40.625, "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": 8125, "t": 40.625, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.2700000000021845}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8125, "t": 40.625, "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": 4.2700000000021845}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8125, "t": 40.625, "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": 8125, "t": 40.625, "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": 8125, "t": 40.625, "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": 8545, "t": 42.725, "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": 8545, "t": 42.725, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8545, "t": 42.725, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8545, "t": 42.725, "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": 8545, "t": 42.725, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8545, "t": 42.725, "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": 9127, "t": 45.635, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10840, "t": 54.2, "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": 10840, "t": 54.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10840, "t": 54.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10840, "t": 54.2, "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/c7_p013_e000/env.mp4 b/episodes/c7_p013_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d72b144c64eac8b97e26512bb66de44402b8635 --- /dev/null +++ b/episodes/c7_p013_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63136face5b91656b46d9f4c69580bb9e00cab9cd312612dcb9968b63a7e23fb +size 1269233 diff --git a/episodes/c7_p013_e000/meta.json b/episodes/c7_p013_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21af948102e2b04b6e4e03b576f8483085d19487 --- /dev/null +++ b/episodes/c7_p013_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p013/magicsim/0", + "fps": 25, + "frames": 1232, + "kept_ticks": "even", + "video_frames": { + "wrist": 1232, + "env": 1232 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p013_e000/scene_snapshot.json b/episodes/c7_p013_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..67feb3a6a2aac5230b8c317d6fa1ae8a041a0089 --- /dev/null +++ b/episodes/c7_p013_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 1, + "run_id": "c7_p013", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 0.5255861282348633, + 0.11473560333251953, + 0.8999999761581421 + ], + "ori": [ + 0.7291901707649231, + 0.0, + 0.0, + -0.6843110918998718 + ], + "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": [ + 2.530140376724721e-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": 0.25073844142960955, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28868473721326815, + "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": 0.25073844142960955, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4215927124023438, + 0.46083545684814453, + 0.8999999761581421 + ], + "ori": [ + 0.9954326748847961, + -6.202300539825956e-08, + 2.9690149006000865e-08, + 0.09546662122011185 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5499490579884423e-11, + -4.955327259636988e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.995196268784639e-08, + -1.5521141705221453e-08, + 8.135741857984158e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.41628265380859375, + 1.1527929306030273, + 0.8999999761581421 + ], + "ori": [ + -0.00790595356374979, + -4.257635077831168e-10, + -1.1859750959075654e-09, + 0.9999687671661377 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1949727308244746e-09, + 1.0578528275573262e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -3.2960011253635457e-07, + 1.6532240465494397e-07, + -1.3649443530994176e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9821071624755859, + 1.1509199142456055, + 0.8999999761581421 + ], + "ori": [ + -0.007259862031787634, + 8.301355158835122e-09, + -8.272397877817639e-09, + 0.999973714351654 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2890029044143603e-09, + -2.7089190890450254e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.9382895288799773e-09, + -6.787234951843857e-08, + -2.3619408651143203e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13826751708984375, + 0.4471616744995117, + 0.8999999761581421 + ], + "ori": [ + 0.9999665021896362, + 4.085476401627375e-09, + -4.006921905386207e-09, + 0.00819319300353527 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1353584739026701e-11, + 1.7312933309199252e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.6679743453096307e-07, + -2.7205775410266142e-08, + -1.2240414903885721e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.4208669662475586, + 0.45604705810546875, + 0.9179999828338623 + ], + "ori": [ + 0.9991535544395447, + -9.242950227417168e-08, + 1.8838600013282303e-08, + 0.04113849624991417 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9441002524777105e-08, + -2.8293525744516046e-08, + 5.587935447692871e-08 + ], + "angular_velocity": [ + 2.6757425075629726e-07, + -1.264987986360211e-06, + 7.095108855992294e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.42793941497802734, + 1.1624383926391602, + 0.9180000424385071 + ], + "ori": [ + -0.02055307663977146, + -7.081988884216628e-10, + -2.20472795575688e-09, + 0.999788761138916 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.6859146724264065e-08, + 7.532922552400123e-08, + -5.368143320083618e-06 + ], + "angular_velocity": [ + -1.5003970474936068e-06, + 2.3945131033542566e-06, + -2.5132982273134985e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.9713268280029297, + 1.1425838470458984, + 0.9179999828338623 + ], + "ori": [ + 0.04886922612786293, + 1.1549285972023426e-08, + 8.584445154724563e-09, + 0.9988052248954773 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4726148300781006e-08, + -4.088325766815615e-08, + -5.6587159633636475e-06 + ], + "angular_velocity": [ + 6.812527317379136e-06, + 1.2235476560817915e-06, + -2.211315717204343e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.1358499526977539, + 0.44630908966064453, + 0.9179999828338623 + ], + "ori": [ + 0.9983524680137634, + 1.2204417476624485e-09, + -4.697454869528883e-09, + -0.05737864226102829 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.547518000525997e-08, + 1.536283811276462e-08, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + -4.2689788415373187e-07, + -2.5033978090505116e-06, + 1.2754357214816991e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.079999999999914, + "step": 1016, + "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": 2.530140376724721e-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": 0.25073844142960955, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 886, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.2715927064418793, + 0.010835468769073486, + 0.0 + ], + "carrier_2": [ + 0.2662826478481293, + 0.7027929425239563, + 0.0 + ], + "carrier_3": [ + -1.1321071684360504, + 0.7009199261665344, + 0.0 + ], + "carrier_4": [ + -0.2882675230503082, + -0.002838313579559326, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.11350674121456128, + -0.361948123350733, + 2.8061668605026644 + ], + "ori": [ + -8.030338075795914, + 1.0138137886621124, + -29.264878414980608 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5376.463353739773, + "color": [ + 0.84158894353415, + 0.8067759514831389, + 0.8777747752126557 + ], + "intensity": 5881.738471849322, + "width": 1.4690717611082074, + "height": 0.8245886577129685 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.4463866766764695, + 0.35565405776687764, + 2.102036237659982 + ], + "ori": [ + 14.765799469258155, + -27.332265411052514, + -37.53590041604025 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6849.086960001241, + "color": [ + 0.8759222650988957, + 0.8941145688219588, + 0.9134383063642156 + ], + "intensity": 7520.373844446599, + "radius": 0.1374465344916635 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1578.5576647589312, + "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": [ + [ + 0.04959059879183769, + 0.0027070194482803345, + -0.029244760051369667, + -0.2763929069042206, + 0.6572098135948181, + 0.6420514583587646, + -0.28187257051467896 + ], + [ + 0.04849054664373398, + 0.0009784118738025427, + -0.031085584312677383, + -0.29126814007759094, + 0.6481708884239197, + 0.6418443918228149, + -0.2882241904735565 + ], + [ + 0.05287142097949982, + -0.0014836317859590054, + -0.028638586401939392, + -0.27789902687072754, + 0.6453306078910828, + 0.6579619646072388, + -0.2709365487098694 + ], + [ + 0.049556318670511246, + -0.0034705400466918945, + -0.029862474650144577, + -0.28555312752723694, + 0.6550309062004089, + 0.6415691375732422, + -0.27889591455459595 + ] + ], + "camera1": [ + [ + 0.05289797857403755, + 0.5650148391723633, + 1.9567633867263794, + 0.04375304654240608, + 0.02383706346154213, + 0.2567434310913086, + 0.9651944041252136 + ], + [ + 0.0559639073908329, + 0.5569254755973816, + 1.9390060901641846, + 0.055761635303497314, + 0.006573722697794437, + 0.2804553806781769, + 0.9582234621047974 + ], + [ + 0.05321516841650009, + 0.5939241051673889, + 1.925697684288025, + 0.033371783792972565, + 0.024900119751691818, + 0.28529268503189087, + 0.9575355648994446 + ], + [ + 0.06483064591884613, + 0.5886526703834534, + 1.9508416652679443, + 0.05189504101872444, + 0.021194009110331535, + 0.2729783058166504, + 0.9603856205940247 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p013_e000/wrist.mp4 b/episodes/c7_p013_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..13ceb0ec48accd7226407e40a0b76581e9e49ac7 --- /dev/null +++ b/episodes/c7_p013_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71e92b29b48f4f5eed9cdd8b1401daec6fe0a75828e60d4e27ac0d56a3442c25 +size 6794068 diff --git a/episodes/c8_p013_e024/data.npz b/episodes/c8_p013_e024/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..06c35b723ef39a022bc541641281a60b38793a83 --- /dev/null +++ b/episodes/c8_p013_e024/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f626c4a2b66406f9d8e64b6b15357d2ce1925fb8fe53ccf3b01730b863782875 +size 186951 diff --git a/episodes/c8_p013_e024/device_events.jsonl b/episodes/c8_p013_e024/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..729a947bf3a9352c8b004af52ceb877242ce4dab --- /dev/null +++ b/episodes/c8_p013_e024/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 108, "t": 0.54, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7500, "t": 37.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7500, "t": 37.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1256470234428537}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7500, "t": 37.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7500, "t": 37.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7500, "t": 37.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7919, "t": 39.595, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7919, "t": 39.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1256470234428537}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8545, "t": 42.725, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8545, "t": 42.725, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1300000000016013}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8545, "t": 42.725, "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": 3.1300000000016013}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8545, "t": 42.725, "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": 23, "step": 8545, "t": 42.725, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8545, "t": 42.725, "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": 25, "step": 8965, "t": 44.825, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8965, "t": 44.825, "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": 27, "step": 8965, "t": 44.825, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8965, "t": 44.825, "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": 29, "step": 8965, "t": 44.825, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8965, "t": 44.825, "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": 31, "step": 9546, "t": 47.73, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11264, "t": 56.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11264, "t": 56.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11264, "t": 56.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11264, "t": 56.32, "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_p013_e024/env.mp4 b/episodes/c8_p013_e024/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..483ed82cac6c4c3f8fb75281441439d2062ec365 --- /dev/null +++ b/episodes/c8_p013_e024/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a637f9b95b88a6f08f9dd6694eb24f4ce85e69ebdd3a3e2ceeca0d4a0e996d1a +size 1369838 diff --git a/episodes/c8_p013_e024/meta.json b/episodes/c8_p013_e024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6bc96a26c2018947e3a2a91dd7d37b2ce2cd869 --- /dev/null +++ b/episodes/c8_p013_e024/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p013/magicsim/24", + "fps": 25, + "frames": 1237, + "kept_ticks": "even", + "video_frames": { + "wrist": 1237, + "env": 1237 + }, + "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_p013_e024/scene_snapshot.json b/episodes/c8_p013_e024/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc96433860a5865dce77825131ee2faf4eb6dce --- /dev/null +++ b/episodes/c8_p013_e024/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 24, + "env_id": 3, + "run_id": "c8_p013", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 3.3641657168348438e-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": 0.29504504393360104, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08721536824131546, + "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": 0.29504504393360104, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06293773651123047, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.606115933114552e-09, + -6.7230501166193335e-09, + 2.724776823015418e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9106907167554255e-09, + 2.0669860267830131e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -9.091735364563647e-09, + 1.844421149144182e-07, + -6.4155973866775184e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3237371444702148, + 1.0134334564208984, + 0.8999999761581421 + ], + "ori": [ + -0.42972901463508606, + -3.36929559807686e-08, + -1.0544889050834172e-07, + 0.9029579758644104 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9588772321176293e-08, + 6.834126509147609e-08, + -1.2665987014770508e-07 + ], + "angular_velocity": [ + -3.1906793083180673e-06, + 2.919789494626457e-07, + 1.1020561032637488e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.49211597442626953, + 1.1524114608764648, + 0.8999999761581421 + ], + "ori": [ + -0.010937043465673923, + 5.853457718529853e-10, + 6.906272220774667e-10, + 0.9999402165412903 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.019860331387463e-10, + 7.686066005874181e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.995020622620359e-07, + 4.788572738334551e-08, + 2.2693505741244735e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.560837745666504, + 0.5245246887207031, + 0.8999999761581421 + ], + "ori": [ + 0.9502067565917969, + 1.4704429673884079e-08, + -1.9699124109706645e-08, + 0.31162041425704956 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6840680506244894e-10, + 8.065363377163237e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -7.629683551613198e-08, + 1.3347541738539803e-08, + 4.584761459369702e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.07249736785888672, + 0.4618644714355469, + 0.9179999828338623 + ], + "ori": [ + 0.9999744892120361, + 3.0204951873002983e-09, + -6.381666750598924e-09, + -0.007152199745178223 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2122959525129318e-08, + -2.985682812095547e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 1.5840739706618479e-06, + -1.8728197801465285e-06, + -9.67119433425978e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.307887077331543, + 1.0162267684936523, + 0.9180000424385071 + ], + "ori": [ + -0.3429000973701477, + 2.2969840074438252e-07, + -4.718223181043868e-07, + 0.9393718838691711 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.943258424347732e-06, + -1.5404143596242648e-06, + -4.6156346797943115e-06 + ], + "angular_velocity": [ + -1.756352503434755e-05, + -5.687971133738756e-05, + -4.566514689940959e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.49718761444091797, + 1.1479806900024414, + 0.9180000424385071 + ], + "ori": [ + -0.09956850111484528, + -4.681725007671389e-10, + 4.832163558177172e-10, + 0.9950307607650757 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.621106578094896e-09, + 7.885230246529318e-08, + -5.27501106262207e-06 + ], + "angular_velocity": [ + -2.293913439643802e-06, + 1.5133762190089328e-06, + -5.682923998051592e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5576562881469727, + 0.5313596725463867, + 0.9179999828338623 + ], + "ori": [ + 0.9479181170463562, + 2.2974026236965983e-08, + -1.831564055976287e-08, + 0.3185141384601593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5079499366142954e-08, + -5.2308170239712126e-08, + -3.2298266887664795e-06 + ], + "angular_velocity": [ + 2.328799837414408e-06, + -7.271200388458965e-07, + 6.322238732536789e-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": 6.979999999999873, + "step": 1396, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641657168348438e-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": 0.29504504393360104, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1292, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.08706226944923401, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + -1.4737371504306793, + 0.5634334683418274, + 0.0 + ], + "carrier_3": [ + 0.34211596846580505, + 0.7024114727973938, + 0.0 + ], + "carrier_4": [ + 1.4108377397060394, + 0.07452470064163208, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.10568399865761346, + 0.2590406054913844, + 2.8376357072710836 + ], + "ori": [ + -7.125483616708878, + 7.053276722986652, + -1.702343175142122 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4785.526014398743, + "color": [ + 0.9968732263961552, + 0.8185783581886348, + 0.9505848738782823 + ], + "intensity": 13681.141574475589, + "width": 2.041094834737688, + "height": 1.0728402375719386 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.22461651347871525, + 0.6496825554724144, + 2.5665013528428604 + ], + "ori": [ + -4.320971584334892, + 2.129456726719674, + 15.287895578250712 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7022.257971044204, + "color": [ + 0.9493072231061054, + 0.9108866179009647, + 0.8815011221367898 + ], + "intensity": 2275.3974068188477, + "radius": 0.10117483351540774 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 467.5718084372196, + "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": [ + [ + -0.3810606598854065, + -2.114558458328247, + 2.7036819458007812, + -2.159703254699707, + -1.5713671445846558, + 4.280501365661621, + 0.007736680097877979, + 0.00703232130035758 + ], + [ + -0.22441810369491577, + -2.286219835281372, + 2.3593838214874268, + -1.6393682956695557, + -1.5663057565689087, + 4.483098030090332, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + -0.05863434076309204, + -1.975719928741455, + 2.67518949508667, + -2.270388603210449, + -1.5706017017364502, + 4.658453464508057, + 0.007805369328707457, + 0.007045710925012827 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0905003547668457, + -1.941901445388794, + -1.5707999467849731, + 2.484901189804077, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + -0.0004488106642384082, + 0.010114945471286774, + 0.00777653232216835, + -0.018259063363075256, + -0.000932894938159734, + 0.0021488554775714874, + -0.008839774876832962, + 0.0003100528265349567 + ], + [ + -1.2772321724696667e-06, + -6.811857019783929e-06, + -6.811919774918351e-06, + 5.101565437454214e-12, + 3.405978986847913e-06, + -4.5235776929830607e-13, + 7.797070367132619e-08, + -7.79704834030781e-08 + ], + [ + -0.000824375543743372, + 2.8445609132177196e-05, + 0.0013449949910864234, + 0.0001231744245160371, + -0.006195475347340107, + 0.013910703361034393, + -0.010535997338593006, + 0.0005656370194628835 + ], + [ + 2.886341047214921e-38, + -1.620904354459945e-38, + -2.612997603050479e-38, + -5.257771834805128e-37, + 2.0619557593541668e-37, + -2.860419660066025e-37, + 5.198074859436019e-08, + -5.198079477963802e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051600296050310135, + 0.0016374291153624654, + -0.029808280989527702, + -0.27122247219085693, + 0.6538538932800293, + 0.6426674127578735, + -0.293073445558548 + ], + [ + 0.050598565489053726, + -0.004671062342822552, + -0.03403160348534584, + -0.2785585820674896, + 0.656093418598175, + 0.6451661586761475, + -0.2751493453979492 + ], + [ + 0.051186028867959976, + -0.001251688809134066, + -0.03153492882847786, + -0.28264859318733215, + 0.6453577876091003, + 0.6510422229766846, + -0.2824307680130005 + ], + [ + 0.04691533371806145, + 0.004079335369169712, + -0.032466400414705276, + -0.28356069326400757, + 0.6421455144882202, + 0.6491341590881348, + -0.29303112626075745 + ] + ], + "camera1": [ + [ + 0.03658133000135422, + 0.5676924586296082, + 1.9602289199829102, + 0.05293252691626549, + 0.014697501435875893, + 0.26218754053115845, + 0.9634520411491394 + ], + [ + 0.06227647513151169, + 0.6019635796546936, + 1.9435845613479614, + 0.05958547070622444, + 0.01957184076309204, + 0.2802184522151947, + 0.9578852653503418 + ], + [ + 0.06695494800806046, + 0.5570390224456787, + 1.9258135557174683, + 0.032406531274318695, + -0.0027565762866288424, + 0.287273108959198, + 0.9572963714599609 + ], + [ + 0.05846666544675827, + 0.555284857749939, + 1.9322699308395386, + 0.042641349136829376, + 0.025747107341885567, + 0.28322604298591614, + 0.9577587246894836 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p013_e024/wrist.mp4 b/episodes/c8_p013_e024/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7f7294f0e7405f56825f2ee49723304b3d8d0c59 --- /dev/null +++ b/episodes/c8_p013_e024/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5692fb10806fc4b4e2598424d2dfc268f103cbe0d2cd7d0dccdd99e53c96c5f7 +size 7721680 diff --git a/episodes/c9_p017_e026/data.npz b/episodes/c9_p017_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5c74d298528be431368fa828f5f2a2263baa1b52 --- /dev/null +++ b/episodes/c9_p017_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ea5aaf241aa4fcca55c4739f523842e792442b02b3c6205955c4c8d9e2a609f +size 187155 diff --git a/episodes/c9_p017_e026/device_events.jsonl b/episodes/c9_p017_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e83e45a4f4f7ef5feac0b58d0fd7dcb60851bcc --- /dev/null +++ b/episodes/c9_p017_e026/device_events.jsonl @@ -0,0 +1,47 @@ +{"env_id": 1, "seq": 1, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1479, "t": 7.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1495, "t": 7.475, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 1509, "t": 7.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 1526, "t": 7.63, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 1540, "t": 7.7, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 1556, "t": 7.78, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 1570, "t": 7.85, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 1586, "t": 7.93, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 1600, "t": 8.0, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 1616, "t": 8.08, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 14, "step": 1630, "t": 8.15, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 15, "step": 1646, "t": 8.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 16, "step": 6551, "t": 32.755, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 17, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.618035756804317}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 20, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 22, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 23, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 24, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 25, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 26, "step": 7583, "t": 37.915, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 27, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 28, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 29, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 30, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.618035756804317}, "cause": "program-1-3"} +{"env_id": 1, "seq": 31, "step": 8107, "t": 40.535, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 8107, "t": 40.535, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.6200000000013404}, "cause": "program-1-3"} +{"env_id": 1, "seq": 33, "step": 8107, "t": 40.535, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.6200000000013404}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 34, "step": 8107, "t": 40.535, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 35, "step": 8107, "t": 40.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 8107, "t": 40.535, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 37, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 38, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1248196152280343e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 39, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1248196152280343e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 40, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 41, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 42, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 43, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 44, "step": 10780, "t": 53.9, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 45, "step": 10780, "t": 53.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 46, "step": 10780, "t": 53.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 47, "step": 10780, "t": 53.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c9_p017_e026/env.mp4 b/episodes/c9_p017_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..547eb06ec97c94c7b7bb889d0e7f1bee84a7347d --- /dev/null +++ b/episodes/c9_p017_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d82f6f76b333d6f10d4667c6e5d81d79891c402f8ecf8be9150ba62ddf534001 +size 1288885 diff --git a/episodes/c9_p017_e026/meta.json b/episodes/c9_p017_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c47f2f931d6c82f6cb4c58690e0c03378a0267b0 --- /dev/null +++ b/episodes/c9_p017_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p017/magicsim/26", + "fps": 25, + "frames": 1221, + "kept_ticks": "even", + "video_frames": { + "wrist": 1221, + "env": 1221 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p017_e026/scene_snapshot.json b/episodes/c9_p017_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..87af8036c1d2c775ff113eb97f51a1ff9f21209e --- /dev/null +++ b/episodes/c9_p017_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 1, + "run_id": "c9_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": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4793062210083008, + 0.06306743621826172, + 0.8999999761581421 + ], + "ori": [ + 0.7273814082145691, + 0.0, + 0.0, + -0.686233401298523 + ], + "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": 0.27574942529891144, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.02553254879033129, + "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": 0.27574942529891144, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3700704574584961, + 1.1515064239501953, + 0.8999999761581421 + ], + "ori": [ + -0.01790775917470455, + -3.7325218471551125e-09, + -6.617384862295239e-09, + 0.999839723110199 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.115918272873387e-08, + 2.9276861823746003e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -3.176019845341216e-06, + 2.7466171559353825e-06, + 3.5156296007698984e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3744001388549805, + 0.9239292144775391, + 0.8999999761581421 + ], + "ori": [ + -0.5601383447647095, + -4.965786004618167e-08, + 4.9624755860122605e-08, + 0.828399121761322 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.9998893913993925e-12, + 3.952130844808721e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -4.3247254666312074e-08, + 9.782120002910233e-09, + 1.2584669972781626e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6121244430541992, + 1.0290231704711914, + 0.8999999761581421 + ], + "ori": [ + 0.4241601526737213, + -8.881949398187317e-09, + 3.548226157334966e-09, + 0.9055871963500977 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.31244237278861e-09, + -2.416564282015088e-09, + 0.0 + ], + "angular_velocity": [ + 3.072882179822045e-07, + -3.258714968978893e-07, + 8.560991915373961e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12473773956298828, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.4638665835065012e-09, + 8.762001790785234e-09, + -7.061848737066612e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9431256603752445e-09, + 2.74318834314613e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.78811632167708e-07, + 1.876364166264466e-07, + -2.0843510029067147e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.3843812942504883, + 1.1546764373779297, + 0.9179999828338623 + ], + "ori": [ + -0.05575915798544884, + -1.1952413103699655e-07, + -1.6483099329889228e-08, + 0.9984443187713623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3655260318046203e-06, + 4.703568265540525e-06, + -1.2405216693878174e-06 + ], + "angular_velocity": [ + -2.172012500523124e-05, + 1.5024074855318759e-05, + -3.350053475514869e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.372023582458496, + 0.9383049011230469, + 0.9180000424385071 + ], + "ori": [ + -0.5669496059417725, + -4.87105147328748e-08, + 5.115923329412908e-08, + 0.8237524032592773 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.297337596881334e-09, + 7.3230697061887895e-09, + -5.159527063369751e-06 + ], + "angular_velocity": [ + -9.828518159338273e-07, + -9.527263955533272e-08, + 5.069398412160808e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6118087768554688, + 1.0435066223144531, + 0.9179999828338623 + ], + "ori": [ + 0.39814990758895874, + 6.029515731142965e-08, + 2.2490516471407318e-07, + 0.9173203110694885 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.171398366750509e-06, + -5.997338121233042e-06, + -5.934387445449829e-06 + ], + "angular_velocity": [ + 4.443704165169038e-05, + -3.8244586903601885e-05, + 4.5666107325814664e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.11890125274658203, + 0.44551658630371094, + 0.9179999828338623 + ], + "ori": [ + 0.9967830181121826, + -1.072800182022604e-09, + 7.616598907134176e-09, + -0.08014793694019318 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7716207995354125e-08, + 2.5386931667981116e-08, + 2.1979212760925293e-07 + ], + "angular_velocity": [ + -6.100752329984971e-07, + -2.1896407815802377e-06, + -4.14859009367774e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.2399999999999105, + "step": 1048, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 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": 0.27574942529891144, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 943, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.22007045149803162, + 0.7015064358711243, + 0.0 + ], + "carrier_2": [ + -1.524400144815445, + 0.473929226398468, + 0.0 + ], + "carrier_3": [ + 1.4621244370937347, + 0.5790231823921204, + 0.0 + ], + "carrier_4": [ + -0.025262266397476196, + 2.682209014892578e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.4887241033065791, + -0.19146184151906787, + 2.747099261113549 + ], + "ori": [ + -0.4110090807755231, + 2.3667445724999503, + 26.59602843891728 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3282.3948625383814, + "color": [ + 0.8793612393535268, + 0.8002402978329088, + 0.9078314263433733 + ], + "intensity": 10036.279542866178, + "width": 2.7492837171956337, + "height": 1.1502220674269104 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.2718884056708393, + -0.819549594991207, + 2.0751070445646542 + ], + "ori": [ + -19.128842054206334, + -24.770667674290642, + -15.859534014305432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4166.058067035981, + "color": [ + 0.7639495392576088, + 0.8216703778217676, + 0.8840622085553421 + ], + "intensity": 8863.728743701366, + "radius": 0.1393165638954858 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 945.0097605438992, + "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 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2385597229003906, + -1.6503095626831055, + 2.2270309925079346, + -2.147627830505371, + -1.570953607559204, + 2.7683651447296143, + 0.008192071691155434, + 0.007140261586755514 + ], + [ + 1.6171073913574219, + -1.9383560419082642, + 2.1225438117980957, + -1.7550157308578491, + -1.5711003541946411, + 3.2149596214294434, + 0.007149909622967243, + 0.007743542548269033 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.5548849149558504e-38, + 2.9536232719407056e-38, + 2.9447031664361996e-38, + 6.970803828126907e-37, + -7.238009248705974e-37, + 2.5911396451364935e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.0531773641705513, + -0.030926238745450974, + 0.024181684479117393, + 0.011031263507902622, + -0.001906150602735579, + 0.039945799857378006, + -0.0017136746319010854, + -8.434100891463459e-06 + ], + [ + 0.07471051067113876, + -0.05354166030883789, + -0.002920322585850954, + 0.04970318451523781, + 4.2299507185816765e-06, + 0.07372084259986877, + -0.005954445339739323, + 0.0005261424230411649 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052296098321676254, + -0.0010526569094508886, + -0.027325846254825592, + -0.28945234417915344, + 0.636705219745636, + 0.6592144966125488, + -0.27615222334861755 + ], + [ + 0.05012907087802887, + 9.948509250534698e-05, + -0.027575502172112465, + -0.279829204082489, + 0.6431225538253784, + 0.6533743739128113, + -0.28494012355804443 + ], + [ + 0.04866261035203934, + 0.000859629362821579, + -0.0290085356682539, + -0.2878100574016571, + 0.6439675688743591, + 0.6532047986984253, + -0.27530837059020996 + ], + [ + 0.04905688017606735, + 0.0009163010981865227, + -0.030624041333794594, + -0.2637869119644165, + 0.6605662107467651, + 0.6436154246330261, + -0.28253838419914246 + ] + ], + "camera1": [ + [ + 0.06755798310041428, + 0.557428777217865, + 1.9610188007354736, + 0.038202788680791855, + 0.0025628539733588696, + 0.28704798221588135, + 0.9571506977081299 + ], + [ + 0.03827832266688347, + 0.5940765738487244, + 1.933432936668396, + 0.031974948942661285, + 0.01653127931058407, + 0.26422107219696045, + 0.9637901782989502 + ], + [ + 0.029360365122556686, + 0.5955831408500671, + 1.9544044733047485, + 0.05162535607814789, + 0.015298254787921906, + 0.2790490984916687, + 0.9587661027908325 + ], + [ + 0.029666783288121223, + 0.5678251385688782, + 1.9494125843048096, + 0.029623422771692276, + -0.001975990366190672, + 0.2740747034549713, + 0.9612500071525574 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p017_e026/wrist.mp4 b/episodes/c9_p017_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..870348090b7a58ac80084ae098451f4b9bcc0ea9 --- /dev/null +++ b/episodes/c9_p017_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09197a7993db1f454696c528ff9c0d114e3499035e488f2d7daa5cf2fb9237ce +size 6863650 diff --git a/episodes/c9_p017_e027/data.npz b/episodes/c9_p017_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a8ed6eea737c338d123fd92b3796e89e1716202f --- /dev/null +++ b/episodes/c9_p017_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2904f53d719f7f906d340555d1ed410f6e5e514f3cc0922b77ba7f1d287505fb +size 197663 diff --git a/episodes/c9_p017_e027/device_events.jsonl b/episodes/c9_p017_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adac7b203a06babfeb95859771e3d1a7607f48c5 --- /dev/null +++ b/episodes/c9_p017_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5994, "t": 29.97, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6608, "t": 33.04, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6608, "t": 33.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7788816326652839}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6608, "t": 33.04, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6608, "t": 33.04, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6608, "t": 33.04, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7027, "t": 35.135, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7027, "t": 35.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7788816326652839}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7383, "t": 36.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7383, "t": 36.915, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7800000000009106}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7383, "t": 36.915, "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": 1.7800000000009106}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7383, "t": 36.915, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 7383, "t": 36.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7383, "t": 36.915, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7803, "t": 39.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7803, "t": 39.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.866943541046112e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7803, "t": 39.015, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.866943541046112e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7803, "t": 39.015, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7803, "t": 39.015, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7803, "t": 39.015, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8378, "t": 41.89, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10588, "t": 52.94, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10588, "t": 52.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10588, "t": 52.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10588, "t": 52.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c9_p017_e027/env.mp4 b/episodes/c9_p017_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..26f132e095c73b94d13456efb7bc6804e4344401 --- /dev/null +++ b/episodes/c9_p017_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:065e5214cc3162ecfd529711476b77753c7549c27f1050b6e2f71727955e8959 +size 1357743 diff --git a/episodes/c9_p017_e027/meta.json b/episodes/c9_p017_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a08c86c36015fbcdce19610bbc5822fc7e27cbc9 --- /dev/null +++ b/episodes/c9_p017_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p017/magicsim/27", + "fps": 25, + "frames": 1199, + "kept_ticks": "even", + "video_frames": { + "wrist": 1199, + "env": 1199 + }, + "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_p017_e027/scene_snapshot.json b/episodes/c9_p017_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b93319dadbe824597d1e0b3f8cc3c1e402e39ce0 --- /dev/null +++ b/episodes/c9_p017_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 0, + "run_id": "c9_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": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46932029724121094, + 0.11342144012451172, + 0.8999999761581421 + ], + "ori": [ + -0.6900280714035034, + 0.0, + 0.0, + 0.7237825989723206 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.700582808935371e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2876788267089253, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2634701329067054, + "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": 0.2876788267089253, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.361128807067871, + 0.9541807174682617, + 0.8999999761581421 + ], + "ori": [ + -0.518268346786499, + 3.299275874724117e-08, + -4.733477609875081e-09, + 0.8552180528640747 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.935896289585799e-08, + -5.443730355381149e-09, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -1.401011218149506e-07, + -1.1955305581068387e-06, + 1.5766045180498622e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1137990951538086, + 0.4473896026611328, + 0.8999999761581421 + ], + "ori": [ + 0.9999381303787231, + -7.041447425137903e-10, + 4.136297526713406e-09, + 0.011121454648673534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.011331349891179e-10, + 2.636428853008965e-10, + 0.0 + ], + "angular_velocity": [ + -5.1074959372954254e-08, + -5.8922388745941134e-08, + -9.733716055393415e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.29406166076660156, + 1.1526927947998047, + 0.8999999761581421 + ], + "ori": [ + -0.010077951475977898, + -3.6126407421122053e-10, + -3.1974904945997196e-09, + 0.9999492764472961 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8396046908009112e-09, + 4.303455813925439e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.2307710051118192e-07, + 1.096842296988143e-07, + -5.873273067891205e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.691549301147461, + 0.8651409149169922, + 0.8999999761581421 + ], + "ori": [ + 0.6460550427436829, + 8.487867120265946e-08, + -3.791630476257524e-08, + 0.7632909417152405 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2433881479978481e-08, + 1.403215055262308e-08, + -2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.6090127701318124e-06, + 1.619241288608464e-06, + -1.1679868805458682e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3594532012939453, + 0.9565896987915039, + 0.9179999828338623 + ], + "ori": [ + -0.5211805701255798, + 2.6163337452089763e-07, + -3.851614565064665e-07, + 0.8534464240074158 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.511309493362205e-06, + 9.326080885330157e-07, + 5.327165126800537e-07 + ], + "angular_velocity": [ + -3.6430217733141035e-05, + -7.408016244880855e-05, + -3.289513915660791e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.12038612365722656, + 0.45328330993652344, + 0.9180000424385071 + ], + "ori": [ + 0.998947024345398, + -3.121913005887933e-10, + 2.4699768896851992e-09, + 0.045878857374191284 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5163234223791733e-08, + 5.9228848492409725e-09, + -5.792826414108276e-06 + ], + "angular_velocity": [ + 3.6531437785924936e-07, + -1.2592103075803607e-06, + 7.039538019171232e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.28626441955566406, + 1.143967628479004, + 0.9180000424385071 + ], + "ori": [ + 0.04468171298503876, + -1.0161549379716917e-10, + -3.508937362894926e-09, + 0.9990013241767883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.61876625226887e-08, + 4.712537204909495e-08, + -5.684792995452881e-06 + ], + "angular_velocity": [ + -5.620772185466194e-07, + 3.73865668734652e-06, + 5.8598477181703856e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.700242042541504, + 0.8510913848876953, + 0.9179999828338623 + ], + "ori": [ + 0.7199479937553406, + 8.562835063230523e-08, + -3.224288391834307e-08, + 0.6940280199050903 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.717754992749178e-08, + 5.977655348488042e-08, + -1.7918646335601807e-06 + ], + "angular_velocity": [ + 1.583487119205529e-07, + 3.574412517082237e-07, + -2.492227508810174e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.139999999999913, + "step": 1028, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.700582808935371e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2876788267089253, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 912, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5111288130283356, + 0.5041807293891907, + 0.0 + ], + "carrier_2": [ + -0.26379910111427307, + -0.0026103854179382324, + 0.0 + ], + "carrier_3": [ + 0.14406165480613708, + 0.7026928067207336, + 0.0 + ], + "carrier_4": [ + 1.5415492951869965, + 0.41514092683792114, + 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": [ + -0.07972399506410188, + -0.09593827173956793, + 3.0222134927920528 + ], + "ori": [ + -9.088762522374195, + -11.451149872101674, + -15.086762753735263 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3443.420079282857, + "color": [ + 0.989851709177146, + 0.8824624075210696, + 0.8930217251508978 + ], + "intensity": 15541.982905827306, + "width": 2.2963580477137735, + "height": 1.0067957872076503 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.8029042833749078, + 1.3619669439014543, + 2.5763623846605332 + ], + "ori": [ + 3.517663934951784, + 20.73645170042566, + 16.72274993372264 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3435.543256475851, + "color": [ + 0.7694800863810425, + 0.9076723399603787, + 0.8904067589462961 + ], + "intensity": 7303.2474128358945, + "radius": 0.2408937677152994 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 945.0097605438992, + "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": [ + [ + 0.9141109585762024, + -1.7193955183029175, + 2.0904974937438965, + -1.9419001340866089, + -1.5707999467849731, + 2.4849047660827637, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.7522267699241638, + -1.2381776571273804, + 2.155457019805908, + -2.4880990982055664, + -1.5707767009735107, + 2.4835734367370605, + 0.00778201362118125, + 0.00723629305139184 + ], + [ + 2.7485735416412354, + -1.5347124338150024, + 2.386357307434082, + -2.4225199222564697, + -1.5712554454803467, + 4.318997859954834, + 0.007750189397484064, + 0.007168016862124205 + ], + [ + 2.7946724891662598, + -1.7206095457077026, + 1.7686847448349, + -1.618704080581665, + -1.5705735683441162, + 4.365281581878662, + 0.007689215242862701, + 0.007060606498271227 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 4.3624317992032865e-37, + -6.361624185067485e-37, + -2.9642098239997622e-36, + 2.599039738981901e-08, + -2.5990379626250615e-08 + ], + [ + 0.0002740910276770592, + -0.01222493126988411, + -0.0039522177539765835, + 0.015380044467747211, + -0.00014184652536641806, + -0.0006519585731439292, + -0.006634519435465336, + 0.00026791347772814333 + ], + [ + 0.008595379069447517, + 0.021285347640514374, + -0.022763554006814957, + 0.0005999944405630231, + -0.0005438002990558743, + 0.010171350091695786, + -0.007237019948661327, + 0.00026590621564537287 + ], + [ + 0.006209538783878088, + 0.021250946447253227, + -0.017674874514341354, + -0.003290018066763878, + -0.0004064137756358832, + 0.00758256483823061, + -0.008023573085665703, + 0.00020329251128714532 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051851123571395874, + -0.0020227376371622086, + -0.026219094172120094, + -0.2889154851436615, + 0.643484890460968, + 0.6542177200317383, + -0.2728629410266876 + ], + [ + 0.051341913640499115, + -0.000957404263317585, + -0.027185557410120964, + -0.28211236000061035, + 0.6398905515670776, + 0.6542881727218628, + -0.2878535985946655 + ], + [ + 0.048338957130908966, + -0.00016407569637522101, + -0.029124410822987556, + -0.2837606370449066, + 0.6488025188446045, + 0.6524041891098022, + -0.27000725269317627 + ], + [ + 0.046162113547325134, + -0.0034665269777178764, + -0.02800610475242138, + -0.26781806349754333, + 0.6551046967506409, + 0.6459871530532837, + -0.286027729511261 + ] + ], + "camera1": [ + [ + 0.06755798310041428, + 0.557428777217865, + 1.9610188007354736, + 0.038202788680791855, + 0.0025628539733588696, + 0.28704798221588135, + 0.9571506977081299 + ], + [ + 0.03827832266688347, + 0.5940765738487244, + 1.933432936668396, + 0.031974948942661285, + 0.01653127931058407, + 0.26422107219696045, + 0.9637901782989502 + ], + [ + 0.029360365122556686, + 0.5955831408500671, + 1.9544044733047485, + 0.05162535607814789, + 0.015298254787921906, + 0.2790490984916687, + 0.9587661027908325 + ], + [ + 0.029666783288121223, + 0.5678251385688782, + 1.9494125843048096, + 0.029623422771692276, + -0.001975990366190672, + 0.2740747034549713, + 0.9612500071525574 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p017_e027/wrist.mp4 b/episodes/c9_p017_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2a8ad9bb53847c7b5ee0f576c531ed9f7ae8d298 --- /dev/null +++ b/episodes/c9_p017_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c5063fdd9f3652a77bf9729b88d3c9377b1c3f7e9fa4d54e6d4ac4c2bd4c21c +size 7005460 diff --git a/index/episodes.csv b/index/episodes.csv index c785d05f47398b0fe28d09d8d3d5cea8d17976d9..81182548503c49593cc072fa63e7f098a94f500b 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -3726,3 +3726,20 @@ c6_p012_e021,3,True,-0.03982353210449219,0.45000171661376953,0.00271326799183997 c8_p013_e023,0,True,-0.07137298583984375,0.44814395904541016,-0.014703244641357804,0.004947413052216331,-7.540618041055893,plate_6_clear,0.470947265625,0.11478233337402344,-86.6555380947792,0.28282477410341433,467.5718084372196,rect,0.26555996160913153,-0.06585580208430647,3.197503113742834,4922.574765758326,5492.668951011817,disk,-0.7623740696108956,-0.4375157458812985,2.033336045906628,10941.592378355426,5077.231014746845,0.049106620252132416,0.003093177219852805,-0.03036155365407467,-0.2684482932090759,0.6592123508453369,0.6375033855438232,-0.2948967218399048,0.03658133000135422,0.5676924586296082,1.9602289199829102,0.05293252691626549,0.014697501435875893,0.26218754053115845,0.9634520411491394,1270,1,,2.1200032234191895,0.30184482208768,0.0,0.007383433636277914,0.49921259842519683,12,release,0.0422595739364624,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p017_e024,2,True,-0.05294513702392578,0.45000362396240234,0.006251063015641424,-0.00885915353647639,2.7653453211948147,plate_384_black,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.26190318928840883,1193.119816595729,rect,0.26890931889377057,0.13309058887845682,2.7178691019955474,8400.864362973829,3817.2464128292527,sphere,1.0113731513432058,0.20984166299614793,1.9245953129716757,5716.8476632105685,3468.6651222760447,0.04916538670659065,0.0003225919499527663,-0.026919877156615257,-0.2909020483493805,0.6451053023338318,0.6522164940834045,-0.27171456813812256,0.029360365122556686,0.5955831408500671,1.9544044733047485,0.05162535607814789,0.015298254787921906,0.2790490984916687,0.9587661027908325,1218,1,,2.1212780475616455,0.2884304690232634,0.0,0.007418498396873474,0.5262725779967159,12,release,0.042496681213378906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p017_e025,3,True,-0.032141685485839844,0.45000267028808594,-0.0023414345793904266,0.0034970138284279675,-2.884191329317929,plate_48_clear,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.21383955205841376,1193.119816595729,rect,-0.31477097565163903,0.39172253240522037,3.1445131749528312,14209.04575789753,5882.321055542483,sphere,-1.0103986312850146,0.37591732720690096,2.2560234955232947,5368.307322650473,7492.7747530466395,0.04836130887269974,-0.0010842985939234495,-0.030352428555488586,-0.26131370663642883,0.6571580767631531,0.6476041078567505,-0.28366753458976746,0.029666783288121223,0.5678251385688782,1.9494125843048096,0.029623422771692276,-0.001975990366190672,0.2740747034549713,0.9612500071525574,1276,1,,2.0708205699920654,0.29141278483954075,0.0,0.007336340378969908,0.5462382445141066,12,release,0.04268646240234375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p015_e012,3,True,0.1378469467163086,0.45000171661376953,0.009905155901255439,-0.005099678369490202,-11.054844386727694,plate_48_clear,0.5080299377441406,0.10838794708251953,-94.807448785957,0.1874633356015498,513.4769117981787,rect,-0.5887133500155952,-0.2240985561135253,2.7874513170194155,10696.5047417639,3310.378236811354,disk,-1.490081489027781,-0.7078064645888275,2.672490886037701,4372.710399764499,7015.804376406407,0.052771616727113724,-0.004094898700714111,-0.027883121743798256,-0.2820618450641632,0.6425362229347229,0.6581330299377441,-0.27285391092300415,0.040033742785453796,0.5868625044822693,1.9484621286392212,0.03315163031220436,0.0075879888609051704,0.25426197052001953,0.9665372371673584,1157,1,,2.0997462272644043,0.3345272825192577,0.0,0.007336651906371117,0.543647363872083,12,release,0.0422438383102417,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p015_e013,1,True,0.10821723937988281,0.4499959945678711,0.011969066930625253,0.010558694507570437,-3.8911745253571155,plate_96_white,0.5050563812255859,0.11005401611328125,-92.32764814527636,0.2532987296799928,513.4769117981787,rect,-0.5615480074794588,-0.38311852129940865,2.6272137117311463,11141.064917403086,5141.091971004351,sphere,-1.2223242425976864,1.3396531146582744,2.5000788648410714,1773.512575892507,3718.987040421965,0.05122021958231926,-0.0031384762842208147,-0.0303533673286438,-0.2779805064201355,0.6538347005844116,0.6400485038757324,-0.29251477122306824,0.045272041112184525,0.5917916893959045,1.9428541660308838,0.03775448724627495,-0.004303470253944397,0.26471757888793945,0.9635770320892334,1225,1,,2.083800792694092,0.2864367164493747,0.0,0.007240098901093006,0.5118367346938776,12,release,0.042314887046813965,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p015_e014,2,True,-0.12877845764160156,0.4500007629394531,-0.011567051187906671,-0.011971503971499924,0.38371352399832404,plate_24_clear,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.2739735745057915,513.4769117981787,rect,0.5873596422160209,-0.4098862040268607,3.1410208240356763,6705.3013438290745,7022.721304797515,disk,0.19854827040691636,0.09948703864378405,2.22495331147534,2322.389427241939,5194.28603129349,0.04973655194044113,-0.0010126462439075112,-0.03306060656905174,-0.28127434849739075,0.6451427340507507,0.6515993475914001,-0.28300872445106506,0.07073767483234406,0.5943475961685181,1.9286177158355713,0.04228080436587334,0.026426026597619057,0.27454838156700134,0.9602797627449036,1207,1,,2.093400001525879,0.31836943073917806,0.0,0.007289450149983168,0.5227837613918807,12,release,0.04220724105834961,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p015_e015,0,True,0.09888458251953125,0.4499988555908203,0.008443830046127577,0.0013427882234290241,-2.7482697348563363,plate_96_black,0.46442604064941406,0.05261802673339844,-90.18349874668557,0.2592163876348917,513.4769117981787,rect,0.6140627946865217,0.2190862679098533,3.1927757775284733,6789.26826872839,5319.349539435007,disk,-1.200228343069309,0.6863092824789525,1.9795696009455415,3877.181503258624,6185.614872720964,0.050472382456064224,0.0021200545597821474,-0.03305179998278618,-0.27785438299179077,0.6485276818275452,0.6546907424926758,-0.2712726294994354,0.03543298318982124,0.5702260732650757,1.9500106573104858,0.034640196710824966,0.010602401569485664,0.26643049716949463,0.9631730914115906,1224,1,,2.137394428253174,0.2777685243283139,0.0,0.007277649827301502,0.5220588235294118,12,release,0.04229581356048584,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p012_e005,3,True,-0.0531158447265625,0.4499988555908203,0.002140488810433313,-0.00982867859301296,10.621383396843612,reservoir_12ch,0.49452781677246094,0.09826087951660156,-85.34844579922401,0.28810111546475886,1343.2728065042575,rect,-0.23674679492258555,-0.2742149676547434,3.0585889636720944,7285.093847792512,4446.4455121495785,disk,1.5595914051964117,-0.7515820851347784,2.1781896726089767,4060.9898540303116,3690.2429774602388,0.05294596031308174,-0.0010303237941116095,-0.03193310648202896,-0.2883051931858063,0.6569867730140686,0.6396939158439636,-0.27575376629829407,0.07350141555070877,0.5867345333099365,1.951549768447876,0.05168040096759796,-0.0018210264388471842,0.25974854826927185,0.9642906785011292,1222,1,,2.0850563049316406,0.31865138059466713,0.0,0.007445286028087139,0.5253682487725041,12,release,0.042862892150878906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p012_e006,2,True,-0.1306142807006836,0.44741249084472656,-0.010684526272393496,-0.002986969816600919,3.708041936166609,plate_384_black,0.4839763641357422,0.11509037017822266,-92.68205668931623,0.24405866909938664,1343.2728065042575,rect,0.8839634584130446,-0.3912848957933148,2.824044775302999,6802.847023308627,4140.110376387119,sphere,0.4480356106717731,-0.7704875825342152,2.791614710974386,4676.658703697765,5383.528320249718,0.049224045127630234,0.0014432270545512438,-0.03095019981265068,-0.26866471767425537,0.6561450958251953,0.6429473757743835,-0.2896750271320343,0.05859118327498436,0.5915531516075134,1.9385613203048706,0.027152802795171738,-0.001989903626963496,0.2586081922054291,0.9655985832214355,1187,1,,2.095808982849121,0.2767139608341484,0.0,0.007414679042994976,0.5341196293176074,12,release,0.042163968086242676,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p012_e007,1,True,-0.10326576232910156,0.44731807708740234,0.0028295706500178707,0.0038817149114519244,-1.7387651134892508,deep_well_96_1ml,0.47369861602783203,0.11455345153808594,-85.75625933881663,0.2029588755303286,1343.2728065042575,rect,0.18061633906632635,0.2060417294974044,2.729113113414925,4872.578371834919,4397.625606036207,disk,0.026546004112433907,-0.724467182364412,2.2500744001008877,10678.13381334927,4672.685569800746,0.05062798038125038,0.002406087936833501,-0.029395686462521553,-0.27530166506767273,0.6469253897666931,0.6602849364280701,-0.2640460431575775,0.031091736629605293,0.5799543261528015,1.9703311920166016,0.04098974168300629,0.0157494954764843,0.2735796272754669,0.960846483707428,1209,1,,2.0368545055389404,0.31281178932842035,0.0,0.007473759353160858,0.5268817204301075,12,release,0.04222869873046875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p012_e020,0,True,0.016336441040039062,0.45000457763671875,0.007307019244046108,0.0088417077772519,-9.323852597735026,plate_6_clear,0.5234966278076172,0.1207571029663086,-94.96026412449318,0.17610512108198667,1374.0406356040976,rect,0.8965523126349192,0.44897636621245396,2.8679527701580474,11786.13295943098,4477.056752031177,disk,1.5675206236767338,0.10661846794824448,2.181618805657935,7490.05981395808,5713.179712417654,0.05063716694712639,-0.0002342144143767655,-0.031612828373909,-0.27689188718795776,0.6457818150520325,0.6550540328025818,-0.2778506278991699,0.0548383891582489,0.5663204789161682,1.956372618675232,0.044378507882356644,0.010385306552052498,0.2737955152988434,0.960707426071167,1244,1,,2.0570638179779053,0.3130331157927047,0.0,0.007382523268461227,0.5176848874598071,12,release,0.04229605197906494,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p012_e021,3,True,0.10547161102294922,0.45000553131103516,-0.01288030274462102,-0.010428680838695312,-1.6877456205860426,plate_384_white,0.47370147705078125,0.12525367736816406,-87.22483591707285,0.20731890875600906,1374.0406356040976,rect,0.20626426876244408,-0.48464515470506314,3.0033868593230926,9683.840485939765,6431.5878317191355,sphere,-0.6620448084098468,1.4418459290905548,2.2203737388838296,4104.945998714846,3600.456512223719,0.051942378282547,-0.002260158071294427,-0.028599590063095093,-0.28116434812545776,0.654274046421051,0.6388435363769531,-0.2911202609539032,0.04455624520778656,0.6002740859985352,1.9332726001739502,0.04362688213586807,-0.006374990101903677,0.26520076394081116,0.9631845951080322,1254,1,,2.1202034950256348,0.2842270962447995,0.0,0.007414424791932106,0.5063795853269537,12,release,0.042221903800964355,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p012_e022,1,True,-0.1132040023803711,0.45000362396240234,0.001829359255339293,-0.00219804294545773,10.51278337333008,plate_96_white,0.4789886474609375,0.10606861114501953,-92.60895762332187,0.19118097534957731,1374.0406356040976,rect,-0.29195691633324655,-0.2215714769972032,2.74906762652256,5256.261419510904,6419.26163768625,sphere,-0.3363023855486096,1.3041946452231008,2.4162696846033325,6206.871187638415,5786.77891304771,0.04982464388012886,-0.0023315483704209328,-0.027712346985936165,-0.2825942039489746,0.6540274620056152,0.6447485685348511,-0.27692583203315735,0.042834263294935226,0.591355562210083,1.9570602178573608,0.04052809253334999,0.01111157052218914,0.2808702290058136,0.9588252902030945,1224,1,,2.0806734561920166,0.3232000964935948,0.0,0.007291134912520647,0.5220588235294118,12,release,0.042508602142333984,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p012_e023,2,True,-0.07665538787841797,0.4499969482421875,0.012350070144372463,0.0019484342956986535,3.2036295981825447,deep_well_24_10ml,0.4986705780029297,0.0822305679321289,-90.25616064821757,0.21579291761167269,1374.0406356040976,rect,0.6182417110958355,-0.1435130329225242,2.9748880546207808,4988.232167370305,6312.790831763505,disk,-0.609371745038013,0.17793794753930836,1.739948043352478,2681.8567899899567,5953.435109689543,0.04720093682408333,0.0010165621060878038,-0.03234381973743439,-0.27399247884750366,0.6528394222259521,0.6490157842636108,-0.27840134501457214,0.03928174078464508,0.5717859864234924,1.959248661994934,0.021483970806002617,-0.0005998704582452774,0.2671637535095215,0.9634114503860474,1161,1,,2.0697169303894043,0.299792099875695,0.0,0.007513613440096378,0.5478036175710594,12,release,0.042382240295410156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p012_e022,2,True,0.030837059020996094,0.44744110107421875,-0.0045435987313722686,-0.012481665287813528,-1.4266385908801453,deep_well_24_10ml,0.4634876251220703,0.05016803741455078,-85.64322380730157,0.2044216065083122,1046.9231575990498,rect,0.8266998976139258,0.0010304140758431446,3.1074179338001784,11350.538966756676,6544.354778999083,sphere,0.5313373148877871,1.2156025591485677,2.687539089030611,4998.691150981168,4251.529348635468,0.052841201424598694,-3.578019459382631e-05,-0.03131290525197983,-0.2782194912433624,0.6502884030342102,0.6527732610702515,-0.2713041603565216,0.061985526233911514,0.5908357501029968,1.9454786777496338,0.05326613411307335,0.009989137761294842,0.27800944447517395,0.959048330783844,1243,1,,2.1171529293060303,0.27164061776782167,0.0,0.007516371551901102,0.5140788415124699,12,release,0.04435873031616211,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p012_e023,1,True,-0.026134490966796875,0.45000171661376953,0.008561915985070766,0.0029359112731624105,2.146592225518418,pcr_384_red,0.4951019287109375,0.0760946273803711,-87.26208570395877,0.2691040286137225,1046.9231575990498,rect,-0.5511894767315734,0.582707171063096,2.9995428768649566,11269.093889780052,4792.637812738801,sphere,1.3512241685708122,0.379506584467342,2.014224995231338,3756.717303369167,6097.685720399009,0.05305381119251251,0.003248065710067749,-0.031900715082883835,-0.26746079325675964,0.6620039343833923,0.6402530074119568,-0.28335773944854736,0.042110756039619446,0.5583165287971497,1.9749540090560913,0.03475197032094002,0.01567218080163002,0.26897910237312317,0.9623912572860718,1217,1,,2.0721206665039062,0.3215444049162043,0.0,0.0067859855480492115,0.5784716516023007,12,release,0.042197465896606445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p013_e000,1,True,-0.13826751708984375,0.4471616744995117,0.002403269501248734,-0.00089208418982436,-7.517602500808408,deep_well_96_1ml,0.5255861282348633,0.11473560333251953,-86.36290489679435,0.25073844142960955,1578.5576647589312,rect,0.11350674121456128,-0.361948123350733,2.8061668605026644,5881.738471849322,5376.463353739773,sphere,1.4463866766764695,0.35565405776687764,2.102036237659982,7520.373844446599,6849.086960001241,0.04849054664373398,0.0009784118738025427,-0.031085584312677383,-0.29126814007759094,0.6481708884239197,0.6418443918228149,-0.2882241904735565,0.0559639073908329,0.5569254755973816,1.9390060901641846,0.055761635303497314,0.006573722697794437,0.2804553806781769,0.9582234621047974,1232,1,,2.0605008602142334,0.31346123001712456,0.0,0.007432154845446348,0.512987012987013,12,release,0.042092084884643555,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p013_e024,3,True,0.06293773651123047,0.4499998092651367,0.009560277904591224,0.011864141195553882,-0.822711125658401,plate_48_clear,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.29504504393360104,467.5718084372196,rect,0.10568399865761346,0.2590406054913844,2.8376357072710836,13681.141574475589,4785.526014398743,disk,-0.22461651347871525,0.6496825554724144,2.5665013528428604,2275.3974068188477,7022.257971044204,0.04691533371806145,0.004079335369169712,-0.032466400414705276,-0.28356069326400757,0.6421455144882202,0.6491341590881348,-0.29303112626075745,0.05846666544675827,0.555284857749939,1.9322699308395386,0.042641349136829376,0.025747107341885567,0.28322604298591614,0.9577587246894836,1237,1,,2.098430633544922,0.30651322980383966,0.0,0.007335656322538853,0.5149555375909458,12,release,0.0426788330078125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p017_e026,1,True,0.12473773956298828,0.45000267028808594,-0.005835853157263083,-0.004486908267372127,-9.186046474312434,deep_well_96_1ml,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.27574942529891144,945.0097605438992,rect,0.4887241033065791,-0.19146184151906787,2.747099261113549,10036.279542866178,3282.3948625383814,sphere,1.2718884056708393,-0.819549594991207,2.0751070445646542,8863.728743701366,4166.058067035981,0.05012907087802887,9.948509250534698e-05,-0.027575502172112465,-0.279829204082489,0.6431225538253784,0.6533743739128113,-0.28494012355804443,0.03827832266688347,0.5940765738487244,1.933432936668396,0.031974948942661285,0.01653127931058407,0.26422107219696045,0.9637901782989502,1221,1,,2.074937343597412,0.24838929110510224,0.0,0.007468659896403551,0.5184275184275184,12,release,0.04240274429321289,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p017_e027,0,True,-0.1137990951538086,0.4473896026611328,-0.006454313961488812,0.006038754941158297,3.984724876098028,plate_96_black,0.46932029724121094,0.11342144012451172,-92.7353368630375,0.2876788267089253,945.0097605438992,rect,-0.07972399506410188,-0.09593827173956793,3.0222134927920528,15541.982905827306,3443.420079282857,sphere,0.8029042833749078,1.3619669439014543,2.5763623846605332,7303.2474128358945,3435.543256475851,0.051851123571395874,-0.0020227376371622086,-0.026219094172120094,-0.2889154851436615,0.643484890460968,0.6542177200317383,-0.2728629410266876,0.06755798310041428,0.557428777217865,1.9610188007354736,0.038202788680791855,0.0025628539733588696,0.28704798221588135,0.9571506977081299,1199,1,,2.1108198165893555,0.2637201961857782,0.0,0.0073029594495892525,0.5771476230191827,12,release,0.04251837730407715,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False