add 1 episodes (c9_p023_e020 .. c9_p023_e020); total 4781 {'v1': 1088, 'v2': 3693}
Browse files
episodes/c9_p023_e020/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:2005f69866fffb9a237b0581f53c69ed66424a83a59d3b564137c1364d5a4a13
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size 193456
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episodes/c9_p023_e020/device_events.jsonl
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| 1 |
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{"env_id": 1, "seq": 1, "step": 37, "t": 0.185, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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| 2 |
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{"env_id": 1, "seq": 2, "step": 37, "t": 0.185, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 1, "seq": 3, "step": 42, "t": 0.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 6717, "t": 33.585, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 7324, "t": 36.62, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 7324, "t": 36.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.32137588216679}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 7324, "t": 36.62, "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"}
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| 8 |
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{"env_id": 1, "seq": 8, "step": 7324, "t": 36.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
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{"env_id": 1, "seq": 9, "step": 7324, "t": 36.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
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| 10 |
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{"env_id": 1, "seq": 10, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
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{"env_id": 1, "seq": 11, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
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| 12 |
+
{"env_id": 1, "seq": 12, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
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| 13 |
+
{"env_id": 1, "seq": 13, "step": 7743, "t": 38.715, "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"}
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| 14 |
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{"env_id": 1, "seq": 14, "step": 7743, "t": 38.715, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 15 |
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{"env_id": 1, "seq": 15, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 7743, "t": 38.715, "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"}
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| 17 |
+
{"env_id": 1, "seq": 17, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
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{"env_id": 1, "seq": 18, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.32137588216679}, "cause": "program-1-3"}
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| 19 |
+
{"env_id": 1, "seq": 19, "step": 8408, "t": 42.04, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
+
{"env_id": 1, "seq": 20, "step": 8408, "t": 42.04, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.325000000001701}, "cause": "program-1-3"}
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| 21 |
+
{"env_id": 1, "seq": 21, "step": 8408, "t": 42.04, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.325000000001701}}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 8408, "t": 42.04, "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"}
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| 23 |
+
{"env_id": 1, "seq": 23, "step": 8408, "t": 42.04, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
+
{"env_id": 1, "seq": 24, "step": 8408, "t": 42.04, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 25 |
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{"env_id": 1, "seq": 25, "step": 8828, "t": 44.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 8828, "t": 44.14, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.923282226343417e-09}, "cause": "program-1-4"}
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| 27 |
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{"env_id": 1, "seq": 27, "step": 8828, "t": 44.14, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.923282226343417e-09}, "cause": "program-1-4"}
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| 28 |
+
{"env_id": 1, "seq": 28, "step": 8828, "t": 44.14, "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"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 8828, "t": 44.14, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 30 |
+
{"env_id": 1, "seq": 30, "step": 8828, "t": 44.14, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 31 |
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{"env_id": 1, "seq": 31, "step": 9403, "t": 47.015, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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| 32 |
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{"env_id": 1, "seq": 32, "step": 11172, "t": 55.86, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
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| 33 |
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{"env_id": 1, "seq": 33, "step": 11172, "t": 55.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"}
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| 34 |
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{"env_id": 1, "seq": 34, "step": 11172, "t": 55.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 11172, "t": 55.86, "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"}
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episodes/c9_p023_e020/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:ec6d4c9238b0bbb38d24c19ddee84bf0b24ab46c1475cf5177cab5e087f94ddf
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| 3 |
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size 1247822
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episodes/c9_p023_e020/meta.json
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{
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| 2 |
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"source": "raw/c9_p023/magicsim/20",
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| 3 |
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"fps": 25,
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| 4 |
+
"frames": 1251,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1251,
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| 8 |
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"env": 1251
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| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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| 20 |
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"joint_order": [
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| 21 |
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"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
+
"wrist_1",
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| 25 |
+
"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
+
"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c9_p023_e020/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
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| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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},
|
| 12 |
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"restore_interface": {
|
| 13 |
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"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
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"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
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},
|
| 16 |
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|
| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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{},
|
| 21 |
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{
|
| 22 |
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|
| 23 |
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{
|
| 24 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
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|
| 26 |
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|
| 27 |
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0.0,
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| 28 |
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| 29 |
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| 30 |
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],
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
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| 57 |
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|
| 58 |
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|
| 59 |
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| 60 |
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},
|
| 61 |
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|
| 62 |
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}
|
| 63 |
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],
|
| 64 |
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|
| 65 |
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{
|
| 66 |
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|
| 67 |
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|
| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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],
|
| 93 |
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|
| 94 |
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},
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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},
|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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| 104 |
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| 105 |
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|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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|
| 109 |
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}
|
| 110 |
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],
|
| 111 |
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|
| 112 |
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{
|
| 113 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
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|
| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 131 |
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| 132 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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},
|
| 150 |
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|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
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| 154 |
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{
|
| 155 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
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| 156 |
+
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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|
| 161 |
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],
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| 162 |
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| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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| 167 |
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],
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| 168 |
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| 169 |
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| 170 |
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|
| 171 |
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1.0
|
| 172 |
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]
|
| 173 |
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},
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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},
|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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},
|
| 185 |
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|
| 186 |
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},
|
| 187 |
+
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 191 |
+
"pose": {
|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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| 196 |
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| 209 |
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| 212 |
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},
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| 215 |
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| 216 |
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| 217 |
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|
| 218 |
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|
| 219 |
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},
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| 220 |
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|
| 221 |
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},
|
| 222 |
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"type_specific": {}
|
| 223 |
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},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 226 |
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"pose": {
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| 227 |
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"pos": [
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| 228 |
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| 229 |
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0.02,
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| 230 |
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| 231 |
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],
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| 232 |
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| 233 |
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0.0,
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0.0,
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0.0
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],
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1.0,
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1.0
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]
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},
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| 250 |
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},
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},
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 261 |
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| 262 |
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|
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},
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},
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| 294 |
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{
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episodes/c9_p023_e020/wrist.mp4
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:2e82049823fd8b6688f47304cbc676dd5158b0bb8733c897897f2a2fbb1e03ea
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| 3 |
+
size 7650005
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index/episodes.csv
CHANGED
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@@ -4779,3 +4779,4 @@ c9_p023_e016,1,True,0.08323383331298828,0.45000171661376953,-0.01545595634181983
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| 4779 |
c9_p023_e017,0,True,0.03970527648925781,0.4468975067138672,0.009764670827109584,-0.010643481116862816,-9.244386863925456,plate_96_black,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,1100.5294478273554,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.053092360496520996,-0.001218171906657517,-0.02667023241519928,-0.2870069146156311,0.6460055708885193,0.6476543545722961,-0.2843371331691742,0.04108600318431854,0.5754022002220154,1.9278857707977295,0.031901124864816666,0.024578405544161797,0.285363107919693,0.9575730562210083,1197,1,,2.0990242958068848,0.30227014749544545,0.0,0.007258751895278692,0.5329991645781119,12,release,0.04233121871948242,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4780 |
c9_p023_e018,2,True,-0.024463653564453125,0.44847869873046875,-0.0029426126489425324,0.008952462588828265,2.7778117475668296,plate_1536_black,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.18583927002083808,991.0748225776792,rect,-0.3258247740852721,-0.3858416065234789,3.0041538784714112,10876.763701970847,7104.290315163498,sphere,1.1178516578536986,0.3135769718414432,1.8732018390351228,2494.8111158305082,7210.104156063498,0.05275316536426544,0.0011762919602915645,-0.028818095102906227,-0.28644636273384094,0.6377691030502319,0.6545193195343018,-0.2877560555934906,0.07494181394577026,0.5905900597572327,1.9310383796691895,0.032079268246889114,-0.00254537770524621,0.2727562487125397,0.9615448117256165,1254,1,,2.077589511871338,0.3261795999516415,0.0,0.00738300196826458,0.5614035087719298,12,release,0.04218125343322754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4781 |
c9_p023_e019,3,True,0.09528827667236328,0.45000171661376953,-0.004481356932497338,0.00024051093818338546,10.838619392089186,plate_384_white,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.20998626011492566,1100.5294478273554,rect,-0.11002531915312791,0.18286536237891793,2.7170850499561827,6571.788987192962,5838.103338161227,disk,-0.2056227258333274,0.9269871541873222,1.783226163196403,7786.514566422249,3103.3656902914067,0.05089748650789261,0.0011264125350862741,-0.02562771923840046,-0.2754911184310913,0.6472623944282532,0.6605573296546936,-0.2623358368873596,0.06922692060470581,0.5854637622833252,1.9446038007736206,0.04029840603470802,0.0013794619590044022,0.2710159718990326,0.9617299437522888,1297,1,,2.0734736919403076,0.28401971499489725,0.0,0.007416250184178352,0.4973014649190439,12,release,0.04222661256790161,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4779 |
c9_p023_e017,0,True,0.03970527648925781,0.4468975067138672,0.009764670827109584,-0.010643481116862816,-9.244386863925456,plate_96_black,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,1100.5294478273554,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.053092360496520996,-0.001218171906657517,-0.02667023241519928,-0.2870069146156311,0.6460055708885193,0.6476543545722961,-0.2843371331691742,0.04108600318431854,0.5754022002220154,1.9278857707977295,0.031901124864816666,0.024578405544161797,0.285363107919693,0.9575730562210083,1197,1,,2.0990242958068848,0.30227014749544545,0.0,0.007258751895278692,0.5329991645781119,12,release,0.04233121871948242,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4780 |
c9_p023_e018,2,True,-0.024463653564453125,0.44847869873046875,-0.0029426126489425324,0.008952462588828265,2.7778117475668296,plate_1536_black,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.18583927002083808,991.0748225776792,rect,-0.3258247740852721,-0.3858416065234789,3.0041538784714112,10876.763701970847,7104.290315163498,sphere,1.1178516578536986,0.3135769718414432,1.8732018390351228,2494.8111158305082,7210.104156063498,0.05275316536426544,0.0011762919602915645,-0.028818095102906227,-0.28644636273384094,0.6377691030502319,0.6545193195343018,-0.2877560555934906,0.07494181394577026,0.5905900597572327,1.9310383796691895,0.032079268246889114,-0.00254537770524621,0.2727562487125397,0.9615448117256165,1254,1,,2.077589511871338,0.3261795999516415,0.0,0.00738300196826458,0.5614035087719298,12,release,0.04218125343322754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4781 |
c9_p023_e019,3,True,0.09528827667236328,0.45000171661376953,-0.004481356932497338,0.00024051093818338546,10.838619392089186,plate_384_white,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.20998626011492566,1100.5294478273554,rect,-0.11002531915312791,0.18286536237891793,2.7170850499561827,6571.788987192962,5838.103338161227,disk,-0.2056227258333274,0.9269871541873222,1.783226163196403,7786.514566422249,3103.3656902914067,0.05089748650789261,0.0011264125350862741,-0.02562771923840046,-0.2754911184310913,0.6472623944282532,0.6605573296546936,-0.2623358368873596,0.06922692060470581,0.5854637622833252,1.9446038007736206,0.04029840603470802,0.0013794619590044022,0.2710159718990326,0.9617299437522888,1297,1,,2.0734736919403076,0.28401971499489725,0.0,0.007416250184178352,0.4973014649190439,12,release,0.04222661256790161,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4782 |
+
c9_p023_e020,1,True,0.030221939086914062,0.45000362396240234,0.0039495692553425206,-0.010219417881459738,5.082020332808526,pcr_384_red,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22957592271792665,1100.5294478273554,rect,-0.16246897842752822,0.42488921336518914,2.7353594111421047,13271.586758393289,3452.395539967942,disk,0.13175403070411051,0.08922751220343583,2.2423652565510235,9930.626713014277,6579.178165062476,0.05325146019458771,0.001732637407258153,-0.032488010823726654,-0.27191582322120667,0.6488850712776184,0.6552648544311523,-0.27502360939979553,0.054352279752492905,0.6008183360099792,1.964343547821045,0.030567985028028488,0.024501219391822815,0.2828940749168396,0.9583507776260376,1251,1,,2.1086645126342773,0.27235442691642864,0.0,0.006790533661842346,0.5195843325339728,12,release,0.04210066795349121,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|