add 9 episodes (c4_p009_e037 .. c8_p010_e027); total 3101 {'v1': 1088, 'v2': 2013}
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- episodes/c4_p009_e037/data.npz +3 -0
- episodes/c4_p009_e037/device_events.jsonl +40 -0
- episodes/c4_p009_e037/env.mp4 +3 -0
- episodes/c4_p009_e037/meta.json +32 -0
- episodes/c4_p009_e037/scene_snapshot.json +1558 -0
- episodes/c4_p009_e037/wrist.mp4 +3 -0
- episodes/c4_p009_e038/data.npz +3 -0
- episodes/c4_p009_e038/device_events.jsonl +35 -0
- episodes/c4_p009_e038/env.mp4 +3 -0
- episodes/c4_p009_e038/meta.json +32 -0
- episodes/c4_p009_e038/scene_snapshot.json +1558 -0
- episodes/c4_p009_e038/wrist.mp4 +3 -0
- episodes/c7_p010_e021/data.npz +3 -0
- episodes/c7_p010_e021/device_events.jsonl +35 -0
- episodes/c7_p010_e021/env.mp4 +3 -0
- episodes/c7_p010_e021/meta.json +32 -0
- episodes/c7_p010_e021/scene_snapshot.json +1558 -0
- episodes/c7_p010_e021/wrist.mp4 +3 -0
- episodes/c7_p010_e022/data.npz +3 -0
- episodes/c7_p010_e022/device_events.jsonl +36 -0
- episodes/c7_p010_e022/env.mp4 +3 -0
- episodes/c7_p010_e022/meta.json +32 -0
- episodes/c7_p010_e022/scene_snapshot.json +1558 -0
- episodes/c7_p010_e022/wrist.mp4 +3 -0
- episodes/c7_p010_e023/data.npz +3 -0
- episodes/c7_p010_e023/device_events.jsonl +43 -0
- episodes/c7_p010_e023/env.mp4 +3 -0
- episodes/c7_p010_e023/meta.json +32 -0
- episodes/c7_p010_e023/scene_snapshot.json +1558 -0
- episodes/c7_p010_e023/wrist.mp4 +3 -0
- episodes/c8_p010_e024/data.npz +3 -0
- episodes/c8_p010_e024/device_events.jsonl +36 -0
- episodes/c8_p010_e024/env.mp4 +3 -0
- episodes/c8_p010_e024/meta.json +32 -0
- episodes/c8_p010_e024/scene_snapshot.json +1558 -0
- episodes/c8_p010_e024/wrist.mp4 +3 -0
- episodes/c8_p010_e025/data.npz +3 -0
- episodes/c8_p010_e025/device_events.jsonl +37 -0
- episodes/c8_p010_e025/env.mp4 +3 -0
- episodes/c8_p010_e025/meta.json +32 -0
- episodes/c8_p010_e025/scene_snapshot.json +1558 -0
- episodes/c8_p010_e025/wrist.mp4 +3 -0
- episodes/c8_p010_e026/data.npz +3 -0
- episodes/c8_p010_e026/device_events.jsonl +35 -0
- episodes/c8_p010_e026/env.mp4 +3 -0
- episodes/c8_p010_e026/meta.json +32 -0
- episodes/c8_p010_e026/scene_snapshot.json +1558 -0
- episodes/c8_p010_e026/wrist.mp4 +3 -0
- episodes/c8_p010_e027/data.npz +3 -0
- episodes/c8_p010_e027/device_events.jsonl +35 -0
episodes/c4_p009_e037/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:92d50fb94abdb46f0eb75889c9dab7125e89bcf0826458c93f7c844ae97ea028
|
| 3 |
+
size 187684
|
episodes/c4_p009_e037/device_events.jsonl
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 2, "seq": 1, "step": 31, "t": 0.155, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 2, "seq": 2, "step": 31, "t": 0.155, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 2, "seq": 3, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 934, "t": 4.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 941, "t": 4.705, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 987, "t": 4.935, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 7 |
+
{"env_id": 2, "seq": 7, "step": 1010, "t": 5.05, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 8 |
+
{"env_id": 2, "seq": 8, "step": 1031, "t": 5.155, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 9 |
+
{"env_id": 2, "seq": 9, "step": 5571, "t": 27.855, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 10 |
+
{"env_id": 2, "seq": 10, "step": 6180, "t": 30.9, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 11 |
+
{"env_id": 2, "seq": 11, "step": 6180, "t": 30.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.360803156458242}, "cause": "task-2-1"}
|
| 12 |
+
{"env_id": 2, "seq": 12, "step": 6180, "t": 30.9, "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"}
|
| 13 |
+
{"env_id": 2, "seq": 13, "step": 6180, "t": 30.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 14 |
+
{"env_id": 2, "seq": 14, "step": 6180, "t": 30.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 15 |
+
{"env_id": 2, "seq": 15, "step": 6599, "t": 32.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 16 |
+
{"env_id": 2, "seq": 16, "step": 6599, "t": 32.995, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 17 |
+
{"env_id": 2, "seq": 17, "step": 6599, "t": 32.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 18 |
+
{"env_id": 2, "seq": 18, "step": 6599, "t": 32.995, "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"}
|
| 19 |
+
{"env_id": 2, "seq": 19, "step": 6599, "t": 32.995, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
|
| 20 |
+
{"env_id": 2, "seq": 20, "step": 6599, "t": 32.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"}
|
| 21 |
+
{"env_id": 2, "seq": 21, "step": 6599, "t": 32.995, "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"}
|
| 22 |
+
{"env_id": 2, "seq": 22, "step": 6599, "t": 32.995, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 23 |
+
{"env_id": 2, "seq": 23, "step": 6599, "t": 32.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.360803156458242}, "cause": "program-2-3"}
|
| 24 |
+
{"env_id": 2, "seq": 24, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 25 |
+
{"env_id": 2, "seq": 25, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.36500000000121}, "cause": "program-2-3"}
|
| 26 |
+
{"env_id": 2, "seq": 26, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.36500000000121}}, "cause": "program-2-3"}
|
| 27 |
+
{"env_id": 2, "seq": 27, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
|
| 28 |
+
{"env_id": 2, "seq": 28, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 29 |
+
{"env_id": 2, "seq": 29, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 30 |
+
{"env_id": 2, "seq": 30, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 31 |
+
{"env_id": 2, "seq": 31, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"}
|
| 32 |
+
{"env_id": 2, "seq": 32, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"}
|
| 33 |
+
{"env_id": 2, "seq": 33, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
|
| 34 |
+
{"env_id": 2, "seq": 34, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 35 |
+
{"env_id": 2, "seq": 35, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 36 |
+
{"env_id": 2, "seq": 36, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 37 |
+
{"env_id": 2, "seq": 37, "step": 9844, "t": 49.22, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 38 |
+
{"env_id": 2, "seq": 38, "step": 9844, "t": 49.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"}
|
| 39 |
+
{"env_id": 2, "seq": 39, "step": 9844, "t": 49.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 40 |
+
{"env_id": 2, "seq": 40, "step": 9844, "t": 49.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
|
episodes/c4_p009_e037/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95394a83d1823363fe56d99e789e2841535328ffcdb8ffd290c9f0d2cc8d3743
|
| 3 |
+
size 1200772
|
episodes/c4_p009_e037/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c4_p009/magicsim/37",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1173,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1173,
|
| 8 |
+
"env": 1173
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c4_p009_e037/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 37,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c4_p009",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
+
1.0,
|
| 129 |
+
1.0,
|
| 130 |
+
1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
+
0.9605
|
| 162 |
+
],
|
| 163 |
+
"ori": [
|
| 164 |
+
1.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
"scale": [
|
| 170 |
+
1.0,
|
| 171 |
+
1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
"visual": {
|
| 177 |
+
"kind": null,
|
| 178 |
+
"value": null,
|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
+
-0.6,
|
| 195 |
+
0.02,
|
| 196 |
+
1.0285
|
| 197 |
+
],
|
| 198 |
+
"ori": [
|
| 199 |
+
6.123234262925839e-17,
|
| 200 |
+
0.0,
|
| 201 |
+
0.0,
|
| 202 |
+
1.0
|
| 203 |
+
],
|
| 204 |
+
"scale": [
|
| 205 |
+
1.0,
|
| 206 |
+
1.0,
|
| 207 |
+
1.0
|
| 208 |
+
]
|
| 209 |
+
},
|
| 210 |
+
"dr": {
|
| 211 |
+
"visual": {
|
| 212 |
+
"kind": null,
|
| 213 |
+
"value": null,
|
| 214 |
+
"visible": true
|
| 215 |
+
},
|
| 216 |
+
"physics": {
|
| 217 |
+
"type": "geometry",
|
| 218 |
+
"collision": false,
|
| 219 |
+
"ratio": 1.0
|
| 220 |
+
},
|
| 221 |
+
"primitive_params": null
|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 227 |
+
"pose": {
|
| 228 |
+
"pos": [
|
| 229 |
+
-0.6,
|
| 230 |
+
0.02,
|
| 231 |
+
1.0965
|
| 232 |
+
],
|
| 233 |
+
"ori": [
|
| 234 |
+
1.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0
|
| 238 |
+
],
|
| 239 |
+
"scale": [
|
| 240 |
+
1.0,
|
| 241 |
+
1.0,
|
| 242 |
+
1.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"dr": {
|
| 246 |
+
"visual": {
|
| 247 |
+
"kind": null,
|
| 248 |
+
"value": null,
|
| 249 |
+
"visible": true
|
| 250 |
+
},
|
| 251 |
+
"physics": {
|
| 252 |
+
"type": "geometry",
|
| 253 |
+
"collision": false,
|
| 254 |
+
"ratio": 1.0
|
| 255 |
+
},
|
| 256 |
+
"primitive_params": null
|
| 257 |
+
},
|
| 258 |
+
"type_specific": {}
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 262 |
+
"pose": {
|
| 263 |
+
"pos": [
|
| 264 |
+
-0.6,
|
| 265 |
+
0.02,
|
| 266 |
+
1.1645
|
| 267 |
+
],
|
| 268 |
+
"ori": [
|
| 269 |
+
6.123234262925839e-17,
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
1.0
|
| 273 |
+
],
|
| 274 |
+
"scale": [
|
| 275 |
+
1.0,
|
| 276 |
+
1.0,
|
| 277 |
+
1.0
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"dr": {
|
| 281 |
+
"visual": {
|
| 282 |
+
"kind": null,
|
| 283 |
+
"value": null,
|
| 284 |
+
"visible": true
|
| 285 |
+
},
|
| 286 |
+
"physics": {
|
| 287 |
+
"type": "geometry",
|
| 288 |
+
"collision": false,
|
| 289 |
+
"ratio": 1.0
|
| 290 |
+
},
|
| 291 |
+
"primitive_params": null
|
| 292 |
+
},
|
| 293 |
+
"type_specific": {}
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 297 |
+
"pose": {
|
| 298 |
+
"pos": [
|
| 299 |
+
-0.6,
|
| 300 |
+
0.02,
|
| 301 |
+
1.2325
|
| 302 |
+
],
|
| 303 |
+
"ori": [
|
| 304 |
+
1.0,
|
| 305 |
+
0.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0
|
| 308 |
+
],
|
| 309 |
+
"scale": [
|
| 310 |
+
1.0,
|
| 311 |
+
1.0,
|
| 312 |
+
1.0
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
"dr": {
|
| 316 |
+
"visual": {
|
| 317 |
+
"kind": null,
|
| 318 |
+
"value": null,
|
| 319 |
+
"visible": true
|
| 320 |
+
},
|
| 321 |
+
"physics": {
|
| 322 |
+
"type": "geometry",
|
| 323 |
+
"collision": false,
|
| 324 |
+
"ratio": 1.0
|
| 325 |
+
},
|
| 326 |
+
"primitive_params": null
|
| 327 |
+
},
|
| 328 |
+
"type_specific": {}
|
| 329 |
+
}
|
| 330 |
+
],
|
| 331 |
+
"a4s_sealer": [
|
| 332 |
+
{
|
| 333 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 334 |
+
"pose": {
|
| 335 |
+
"pos": [
|
| 336 |
+
0.4977226257324219,
|
| 337 |
+
0.10507011413574219,
|
| 338 |
+
0.8999999761581421
|
| 339 |
+
],
|
| 340 |
+
"ori": [
|
| 341 |
+
0.7244132161140442,
|
| 342 |
+
0.0,
|
| 343 |
+
0.0,
|
| 344 |
+
-0.6893659830093384
|
| 345 |
+
],
|
| 346 |
+
"scale": [
|
| 347 |
+
1.0,
|
| 348 |
+
1.0,
|
| 349 |
+
1.0
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"dr": {
|
| 353 |
+
"visual": {
|
| 354 |
+
"kind": null,
|
| 355 |
+
"value": null,
|
| 356 |
+
"visible": true
|
| 357 |
+
},
|
| 358 |
+
"physics": {
|
| 359 |
+
"type": "articulation",
|
| 360 |
+
"solver_position_iteration_count": 16.0,
|
| 361 |
+
"solver_velocity_iteration_count": 1.0,
|
| 362 |
+
"enabled_self_collisions": false,
|
| 363 |
+
"ratio": 1.0
|
| 364 |
+
},
|
| 365 |
+
"primitive_params": null
|
| 366 |
+
},
|
| 367 |
+
"type_specific": {
|
| 368 |
+
"joint_position": [
|
| 369 |
+
0.0
|
| 370 |
+
],
|
| 371 |
+
"joint_velocity": [
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"linear_velocity": [
|
| 375 |
+
0.0,
|
| 376 |
+
0.0,
|
| 377 |
+
0.0
|
| 378 |
+
],
|
| 379 |
+
"angular_velocity": [
|
| 380 |
+
0.0,
|
| 381 |
+
0.0,
|
| 382 |
+
0.0
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
}
|
| 386 |
+
],
|
| 387 |
+
"conveyor": [
|
| 388 |
+
{
|
| 389 |
+
"asset": "Cube",
|
| 390 |
+
"pose": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.15,
|
| 393 |
+
0.45,
|
| 394 |
+
0.9
|
| 395 |
+
],
|
| 396 |
+
"ori": [
|
| 397 |
+
1.0,
|
| 398 |
+
0.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0
|
| 401 |
+
],
|
| 402 |
+
"scale": [
|
| 403 |
+
1.0,
|
| 404 |
+
1.0,
|
| 405 |
+
1.0
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"dr": {
|
| 409 |
+
"visual": {
|
| 410 |
+
"kind": null,
|
| 411 |
+
"value": null,
|
| 412 |
+
"visible": true
|
| 413 |
+
},
|
| 414 |
+
"physics": {
|
| 415 |
+
"type": "conveyor",
|
| 416 |
+
"physics_material": {
|
| 417 |
+
"static_friction": 0.9,
|
| 418 |
+
"dynamic_friction": 0.9
|
| 419 |
+
},
|
| 420 |
+
"ratio": 1.0
|
| 421 |
+
},
|
| 422 |
+
"primitive_params": {
|
| 423 |
+
"size": [
|
| 424 |
+
2.4,
|
| 425 |
+
0.076,
|
| 426 |
+
0.03
|
| 427 |
+
]
|
| 428 |
+
},
|
| 429 |
+
"conveyor": {
|
| 430 |
+
"speed": 0.2406383467512062,
|
| 431 |
+
"direction": [
|
| 432 |
+
1.0,
|
| 433 |
+
0.0,
|
| 434 |
+
0.0
|
| 435 |
+
],
|
| 436 |
+
"enabled": true,
|
| 437 |
+
"drive": "surface_velocity",
|
| 438 |
+
"lines": null,
|
| 439 |
+
"station_line": null,
|
| 440 |
+
"riders": [
|
| 441 |
+
"carrier"
|
| 442 |
+
],
|
| 443 |
+
"stations": {
|
| 444 |
+
"pick": {
|
| 445 |
+
"position": -0.2554474726728548,
|
| 446 |
+
"slow_distance": 0.03,
|
| 447 |
+
"slow_speed": 0.03
|
| 448 |
+
}
|
| 449 |
+
},
|
| 450 |
+
"rails": {
|
| 451 |
+
"height": 0.01,
|
| 452 |
+
"thickness": 0.01,
|
| 453 |
+
"gap": 0.001,
|
| 454 |
+
"friction": 0.05
|
| 455 |
+
},
|
| 456 |
+
"legs": 0.87,
|
| 457 |
+
"loop": {
|
| 458 |
+
"radius": 0.35,
|
| 459 |
+
"side": "left",
|
| 460 |
+
"curve_extra_width": 0.0,
|
| 461 |
+
"segments": 18,
|
| 462 |
+
"curve_rails": "both"
|
| 463 |
+
},
|
| 464 |
+
"snap_distance": 0.1,
|
| 465 |
+
"junction_snap": 0.02,
|
| 466 |
+
"collision_approximation": "auto",
|
| 467 |
+
"plate_mass": 1.0,
|
| 468 |
+
"lift_drop": 0.004,
|
| 469 |
+
"accel": 0.0,
|
| 470 |
+
"decel": 0.0,
|
| 471 |
+
"drive_damping": 1000000.0,
|
| 472 |
+
"drive_max_force": 1000000000.0
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"type_specific": {
|
| 476 |
+
"controller": {
|
| 477 |
+
"state": "at_station",
|
| 478 |
+
"speed": 0.2406383467512062,
|
| 479 |
+
"holds": [],
|
| 480 |
+
"station": "pick",
|
| 481 |
+
"rider": "carrier_4",
|
| 482 |
+
"arrived": true,
|
| 483 |
+
"applied_speed": 0.0
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
],
|
| 488 |
+
"carrier": [
|
| 489 |
+
{
|
| 490 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 491 |
+
"pose": {
|
| 492 |
+
"pos": [
|
| 493 |
+
-1.3548965454101562,
|
| 494 |
+
0.6307229995727539,
|
| 495 |
+
0.8999999761581421
|
| 496 |
+
],
|
| 497 |
+
"ori": [
|
| 498 |
+
0.859889805316925,
|
| 499 |
+
2.8587066935870098e-08,
|
| 500 |
+
4.8713726386040435e-08,
|
| 501 |
+
-0.5104796886444092
|
| 502 |
+
],
|
| 503 |
+
"scale": [
|
| 504 |
+
1.0,
|
| 505 |
+
1.0,
|
| 506 |
+
1.0
|
| 507 |
+
]
|
| 508 |
+
},
|
| 509 |
+
"dr": {
|
| 510 |
+
"visual": {
|
| 511 |
+
"kind": null,
|
| 512 |
+
"value": null,
|
| 513 |
+
"visible": true
|
| 514 |
+
},
|
| 515 |
+
"physics": {
|
| 516 |
+
"type": "rigid",
|
| 517 |
+
"mass": 0.5,
|
| 518 |
+
"physics_material": {
|
| 519 |
+
"static_friction": 0.9,
|
| 520 |
+
"dynamic_friction": 0.9,
|
| 521 |
+
"restitution": 0.0
|
| 522 |
+
},
|
| 523 |
+
"ratio": 1.0
|
| 524 |
+
},
|
| 525 |
+
"primitive_params": null
|
| 526 |
+
},
|
| 527 |
+
"type_specific": {
|
| 528 |
+
"linear_velocity": [
|
| 529 |
+
4.7312861961579245e-11,
|
| 530 |
+
-2.4951152255425768e-11,
|
| 531 |
+
0.0
|
| 532 |
+
],
|
| 533 |
+
"angular_velocity": [
|
| 534 |
+
8.53223625085775e-09,
|
| 535 |
+
-3.3583749114995953e-09,
|
| 536 |
+
-1.6676451330965847e-09
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
{
|
| 541 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 542 |
+
"pose": {
|
| 543 |
+
"pos": [
|
| 544 |
+
-0.3810901641845703,
|
| 545 |
+
1.1499967575073242,
|
| 546 |
+
0.8999999761581421
|
| 547 |
+
],
|
| 548 |
+
"ori": [
|
| 549 |
+
-1.619179420231376e-05,
|
| 550 |
+
-5.778105549580914e-09,
|
| 551 |
+
2.34751817984602e-09,
|
| 552 |
+
1.0
|
| 553 |
+
],
|
| 554 |
+
"scale": [
|
| 555 |
+
1.0,
|
| 556 |
+
1.0,
|
| 557 |
+
1.0
|
| 558 |
+
]
|
| 559 |
+
},
|
| 560 |
+
"dr": {
|
| 561 |
+
"visual": {
|
| 562 |
+
"kind": null,
|
| 563 |
+
"value": null,
|
| 564 |
+
"visible": true
|
| 565 |
+
},
|
| 566 |
+
"physics": {
|
| 567 |
+
"type": "rigid",
|
| 568 |
+
"mass": 0.5,
|
| 569 |
+
"physics_material": {
|
| 570 |
+
"static_friction": 0.9,
|
| 571 |
+
"dynamic_friction": 0.9,
|
| 572 |
+
"restitution": 0.0
|
| 573 |
+
},
|
| 574 |
+
"ratio": 1.0
|
| 575 |
+
},
|
| 576 |
+
"primitive_params": null
|
| 577 |
+
},
|
| 578 |
+
"type_specific": {
|
| 579 |
+
"linear_velocity": [
|
| 580 |
+
1.314975905941651e-10,
|
| 581 |
+
7.098741594546709e-10,
|
| 582 |
+
0.0
|
| 583 |
+
],
|
| 584 |
+
"angular_velocity": [
|
| 585 |
+
-6.895032811371493e-08,
|
| 586 |
+
2.263700338289709e-09,
|
| 587 |
+
2.0419883561828556e-09
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
{
|
| 592 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 593 |
+
"pose": {
|
| 594 |
+
"pos": [
|
| 595 |
+
1.6858501434326172,
|
| 596 |
+
0.8937320709228516,
|
| 597 |
+
0.8999999761581421
|
| 598 |
+
],
|
| 599 |
+
"ori": [
|
| 600 |
+
0.6069422364234924,
|
| 601 |
+
6.598568802473892e-08,
|
| 602 |
+
-1.4226337441414216e-07,
|
| 603 |
+
0.7947460412979126
|
| 604 |
+
],
|
| 605 |
+
"scale": [
|
| 606 |
+
1.0,
|
| 607 |
+
1.0,
|
| 608 |
+
1.0
|
| 609 |
+
]
|
| 610 |
+
},
|
| 611 |
+
"dr": {
|
| 612 |
+
"visual": {
|
| 613 |
+
"kind": null,
|
| 614 |
+
"value": null,
|
| 615 |
+
"visible": true
|
| 616 |
+
},
|
| 617 |
+
"physics": {
|
| 618 |
+
"type": "rigid",
|
| 619 |
+
"mass": 0.5,
|
| 620 |
+
"physics_material": {
|
| 621 |
+
"static_friction": 0.9,
|
| 622 |
+
"dynamic_friction": 0.9,
|
| 623 |
+
"restitution": 0.0
|
| 624 |
+
},
|
| 625 |
+
"ratio": 1.0
|
| 626 |
+
},
|
| 627 |
+
"primitive_params": null
|
| 628 |
+
},
|
| 629 |
+
"type_specific": {
|
| 630 |
+
"linear_velocity": [
|
| 631 |
+
3.539598614210604e-10,
|
| 632 |
+
2.4752136451589024e-10,
|
| 633 |
+
3.725290298461914e-09
|
| 634 |
+
],
|
| 635 |
+
"angular_velocity": [
|
| 636 |
+
-1.9888481972429872e-08,
|
| 637 |
+
4.835197131569657e-09,
|
| 638 |
+
7.963143922040672e-09
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 644 |
+
"pose": {
|
| 645 |
+
"pos": [
|
| 646 |
+
-0.1053915023803711,
|
| 647 |
+
0.4499979019165039,
|
| 648 |
+
0.8999999761581421
|
| 649 |
+
],
|
| 650 |
+
"ori": [
|
| 651 |
+
1.0,
|
| 652 |
+
2.269245680253107e-09,
|
| 653 |
+
4.509711715172671e-09,
|
| 654 |
+
8.96542624104768e-05
|
| 655 |
+
],
|
| 656 |
+
"scale": [
|
| 657 |
+
1.0,
|
| 658 |
+
1.0,
|
| 659 |
+
1.0
|
| 660 |
+
]
|
| 661 |
+
},
|
| 662 |
+
"dr": {
|
| 663 |
+
"visual": {
|
| 664 |
+
"kind": null,
|
| 665 |
+
"value": null,
|
| 666 |
+
"visible": true
|
| 667 |
+
},
|
| 668 |
+
"physics": {
|
| 669 |
+
"type": "rigid",
|
| 670 |
+
"mass": 0.5,
|
| 671 |
+
"physics_material": {
|
| 672 |
+
"static_friction": 0.9,
|
| 673 |
+
"dynamic_friction": 0.9,
|
| 674 |
+
"restitution": 0.0
|
| 675 |
+
},
|
| 676 |
+
"ratio": 1.0
|
| 677 |
+
},
|
| 678 |
+
"primitive_params": null
|
| 679 |
+
},
|
| 680 |
+
"type_specific": {
|
| 681 |
+
"linear_velocity": [
|
| 682 |
+
4.2701771008069045e-09,
|
| 683 |
+
3.0421398733437854e-09,
|
| 684 |
+
3.725290298461914e-08
|
| 685 |
+
],
|
| 686 |
+
"angular_velocity": [
|
| 687 |
+
-2.0610779927210388e-07,
|
| 688 |
+
4.1879258105836925e-07,
|
| 689 |
+
-2.3391470094225042e-08
|
| 690 |
+
]
|
| 691 |
+
}
|
| 692 |
+
}
|
| 693 |
+
],
|
| 694 |
+
"plate": [
|
| 695 |
+
{
|
| 696 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
|
| 697 |
+
"pose": {
|
| 698 |
+
"pos": [
|
| 699 |
+
-1.3557043075561523,
|
| 700 |
+
0.63824462890625,
|
| 701 |
+
0.9179999828338623
|
| 702 |
+
],
|
| 703 |
+
"ori": [
|
| 704 |
+
-0.8281040191650391,
|
| 705 |
+
-2.5242634649202955e-08,
|
| 706 |
+
-4.886153703864693e-08,
|
| 707 |
+
0.560574471950531
|
| 708 |
+
],
|
| 709 |
+
"scale": [
|
| 710 |
+
1.0,
|
| 711 |
+
1.0,
|
| 712 |
+
1.0
|
| 713 |
+
]
|
| 714 |
+
},
|
| 715 |
+
"dr": {
|
| 716 |
+
"visual": {
|
| 717 |
+
"kind": null,
|
| 718 |
+
"value": null,
|
| 719 |
+
"visible": true
|
| 720 |
+
},
|
| 721 |
+
"physics": {
|
| 722 |
+
"type": "rigid",
|
| 723 |
+
"collision": true,
|
| 724 |
+
"mass": "asset",
|
| 725 |
+
"max_depenetration_velocity": 1.0,
|
| 726 |
+
"physics_material": {
|
| 727 |
+
"static_friction": 0.5,
|
| 728 |
+
"dynamic_friction": 0.45,
|
| 729 |
+
"restitution": 0.0,
|
| 730 |
+
"friction_combine_mode": "average"
|
| 731 |
+
},
|
| 732 |
+
"ratio": 1.0
|
| 733 |
+
},
|
| 734 |
+
"primitive_params": null
|
| 735 |
+
},
|
| 736 |
+
"type_specific": {
|
| 737 |
+
"linear_velocity": [
|
| 738 |
+
-2.3985908370605102e-08,
|
| 739 |
+
3.269539305961189e-08,
|
| 740 |
+
9.313225746154785e-08
|
| 741 |
+
],
|
| 742 |
+
"angular_velocity": [
|
| 743 |
+
-1.1477914085844532e-06,
|
| 744 |
+
-1.7581486417839187e-06,
|
| 745 |
+
3.641056878223026e-08
|
| 746 |
+
]
|
| 747 |
+
}
|
| 748 |
+
},
|
| 749 |
+
{
|
| 750 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
|
| 751 |
+
"pose": {
|
| 752 |
+
"pos": [
|
| 753 |
+
-0.39527034759521484,
|
| 754 |
+
1.1512641906738281,
|
| 755 |
+
0.9180000424385071
|
| 756 |
+
],
|
| 757 |
+
"ori": [
|
| 758 |
+
-0.05299590900540352,
|
| 759 |
+
-5.07814723604838e-09,
|
| 760 |
+
6.033320509857276e-10,
|
| 761 |
+
0.9985948204994202
|
| 762 |
+
],
|
| 763 |
+
"scale": [
|
| 764 |
+
1.0,
|
| 765 |
+
1.0,
|
| 766 |
+
1.0
|
| 767 |
+
]
|
| 768 |
+
},
|
| 769 |
+
"dr": {
|
| 770 |
+
"visual": {
|
| 771 |
+
"kind": null,
|
| 772 |
+
"value": null,
|
| 773 |
+
"visible": true
|
| 774 |
+
},
|
| 775 |
+
"physics": {
|
| 776 |
+
"type": "rigid",
|
| 777 |
+
"collision": true,
|
| 778 |
+
"mass": "asset",
|
| 779 |
+
"max_depenetration_velocity": 1.0,
|
| 780 |
+
"physics_material": {
|
| 781 |
+
"static_friction": 0.5,
|
| 782 |
+
"dynamic_friction": 0.45,
|
| 783 |
+
"restitution": 0.0,
|
| 784 |
+
"friction_combine_mode": "average"
|
| 785 |
+
},
|
| 786 |
+
"ratio": 1.0
|
| 787 |
+
},
|
| 788 |
+
"primitive_params": null
|
| 789 |
+
},
|
| 790 |
+
"type_specific": {
|
| 791 |
+
"linear_velocity": [
|
| 792 |
+
4.0268503198603867e-08,
|
| 793 |
+
2.013183575400035e-08,
|
| 794 |
+
-5.0924718379974365e-06
|
| 795 |
+
],
|
| 796 |
+
"angular_velocity": [
|
| 797 |
+
-8.25210577204416e-07,
|
| 798 |
+
2.4094288164633326e-06,
|
| 799 |
+
1.1267725597008393e-07
|
| 800 |
+
]
|
| 801 |
+
}
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
|
| 805 |
+
"pose": {
|
| 806 |
+
"pos": [
|
| 807 |
+
1.6870059967041016,
|
| 808 |
+
0.889836311340332,
|
| 809 |
+
0.9180000424385071
|
| 810 |
+
],
|
| 811 |
+
"ori": [
|
| 812 |
+
0.5283218622207642,
|
| 813 |
+
5.374171863081756e-08,
|
| 814 |
+
-1.4585141627776466e-07,
|
| 815 |
+
0.8490442633628845
|
| 816 |
+
],
|
| 817 |
+
"scale": [
|
| 818 |
+
1.0,
|
| 819 |
+
1.0,
|
| 820 |
+
1.0
|
| 821 |
+
]
|
| 822 |
+
},
|
| 823 |
+
"dr": {
|
| 824 |
+
"visual": {
|
| 825 |
+
"kind": null,
|
| 826 |
+
"value": null,
|
| 827 |
+
"visible": true
|
| 828 |
+
},
|
| 829 |
+
"physics": {
|
| 830 |
+
"type": "rigid",
|
| 831 |
+
"collision": true,
|
| 832 |
+
"mass": "asset",
|
| 833 |
+
"max_depenetration_velocity": 1.0,
|
| 834 |
+
"physics_material": {
|
| 835 |
+
"static_friction": 0.5,
|
| 836 |
+
"dynamic_friction": 0.45,
|
| 837 |
+
"restitution": 0.0,
|
| 838 |
+
"friction_combine_mode": "average"
|
| 839 |
+
},
|
| 840 |
+
"ratio": 1.0
|
| 841 |
+
},
|
| 842 |
+
"primitive_params": null
|
| 843 |
+
},
|
| 844 |
+
"type_specific": {
|
| 845 |
+
"linear_velocity": [
|
| 846 |
+
8.887109714805774e-09,
|
| 847 |
+
-1.5656469898317482e-08,
|
| 848 |
+
-5.338340997695923e-06
|
| 849 |
+
],
|
| 850 |
+
"angular_velocity": [
|
| 851 |
+
1.4804559214098845e-06,
|
| 852 |
+
4.680789970734622e-06,
|
| 853 |
+
1.8327375528315315e-07
|
| 854 |
+
]
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
{
|
| 858 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
|
| 859 |
+
"pose": {
|
| 860 |
+
"pos": [
|
| 861 |
+
-0.0975494384765625,
|
| 862 |
+
0.4502449035644531,
|
| 863 |
+
0.9179999828338623
|
| 864 |
+
],
|
| 865 |
+
"ori": [
|
| 866 |
+
0.9956831336021423,
|
| 867 |
+
1.7595890300370343e-09,
|
| 868 |
+
4.643719186958606e-09,
|
| 869 |
+
0.09281829744577408
|
| 870 |
+
],
|
| 871 |
+
"scale": [
|
| 872 |
+
1.0,
|
| 873 |
+
1.0,
|
| 874 |
+
1.0
|
| 875 |
+
]
|
| 876 |
+
},
|
| 877 |
+
"dr": {
|
| 878 |
+
"visual": {
|
| 879 |
+
"kind": null,
|
| 880 |
+
"value": null,
|
| 881 |
+
"visible": true
|
| 882 |
+
},
|
| 883 |
+
"physics": {
|
| 884 |
+
"type": "rigid",
|
| 885 |
+
"collision": true,
|
| 886 |
+
"mass": "asset",
|
| 887 |
+
"max_depenetration_velocity": 1.0,
|
| 888 |
+
"physics_material": {
|
| 889 |
+
"static_friction": 0.5,
|
| 890 |
+
"dynamic_friction": 0.45,
|
| 891 |
+
"restitution": 0.0,
|
| 892 |
+
"friction_combine_mode": "average"
|
| 893 |
+
},
|
| 894 |
+
"ratio": 1.0
|
| 895 |
+
},
|
| 896 |
+
"primitive_params": null
|
| 897 |
+
},
|
| 898 |
+
"type_specific": {
|
| 899 |
+
"linear_velocity": [
|
| 900 |
+
-3.5210973692301195e-08,
|
| 901 |
+
-1.1731405180626098e-08,
|
| 902 |
+
-9.387731552124023e-07
|
| 903 |
+
],
|
| 904 |
+
"angular_velocity": [
|
| 905 |
+
1.4119424349701148e-06,
|
| 906 |
+
-2.320232397323707e-06,
|
| 907 |
+
-6.826244458579822e-08
|
| 908 |
+
]
|
| 909 |
+
}
|
| 910 |
+
}
|
| 911 |
+
],
|
| 912 |
+
"deco_hub_west": [
|
| 913 |
+
{
|
| 914 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
|
| 915 |
+
"pose": {
|
| 916 |
+
"pos": [
|
| 917 |
+
-3.36,
|
| 918 |
+
0.0,
|
| 919 |
+
0.0
|
| 920 |
+
],
|
| 921 |
+
"ori": [
|
| 922 |
+
1.0,
|
| 923 |
+
0.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0
|
| 926 |
+
],
|
| 927 |
+
"scale": [
|
| 928 |
+
1.0,
|
| 929 |
+
1.0,
|
| 930 |
+
1.0
|
| 931 |
+
]
|
| 932 |
+
},
|
| 933 |
+
"dr": {
|
| 934 |
+
"visual": {
|
| 935 |
+
"kind": null,
|
| 936 |
+
"value": null,
|
| 937 |
+
"visible": true
|
| 938 |
+
},
|
| 939 |
+
"physics": {
|
| 940 |
+
"type": "geometry",
|
| 941 |
+
"collision": false,
|
| 942 |
+
"ratio": 1.0
|
| 943 |
+
},
|
| 944 |
+
"primitive_params": null
|
| 945 |
+
},
|
| 946 |
+
"type_specific": {}
|
| 947 |
+
}
|
| 948 |
+
],
|
| 949 |
+
"deco_hub_east": [
|
| 950 |
+
{
|
| 951 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 952 |
+
"pose": {
|
| 953 |
+
"pos": [
|
| 954 |
+
3.36,
|
| 955 |
+
0.0,
|
| 956 |
+
0.0
|
| 957 |
+
],
|
| 958 |
+
"ori": [
|
| 959 |
+
1.0,
|
| 960 |
+
0.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0
|
| 963 |
+
],
|
| 964 |
+
"scale": [
|
| 965 |
+
1.0,
|
| 966 |
+
1.0,
|
| 967 |
+
1.0
|
| 968 |
+
]
|
| 969 |
+
},
|
| 970 |
+
"dr": {
|
| 971 |
+
"visual": {
|
| 972 |
+
"kind": null,
|
| 973 |
+
"value": null,
|
| 974 |
+
"visible": true
|
| 975 |
+
},
|
| 976 |
+
"physics": {
|
| 977 |
+
"type": "geometry",
|
| 978 |
+
"collision": false,
|
| 979 |
+
"ratio": 1.0
|
| 980 |
+
},
|
| 981 |
+
"primitive_params": null
|
| 982 |
+
},
|
| 983 |
+
"type_specific": {}
|
| 984 |
+
}
|
| 985 |
+
],
|
| 986 |
+
"deco_hub_back": [
|
| 987 |
+
{
|
| 988 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 989 |
+
"pose": {
|
| 990 |
+
"pos": [
|
| 991 |
+
-3.0,
|
| 992 |
+
-2.1,
|
| 993 |
+
0.0
|
| 994 |
+
],
|
| 995 |
+
"ori": [
|
| 996 |
+
1.0,
|
| 997 |
+
0.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0
|
| 1000 |
+
],
|
| 1001 |
+
"scale": [
|
| 1002 |
+
1.0,
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0
|
| 1005 |
+
]
|
| 1006 |
+
},
|
| 1007 |
+
"dr": {
|
| 1008 |
+
"visual": {
|
| 1009 |
+
"kind": null,
|
| 1010 |
+
"value": null,
|
| 1011 |
+
"visible": true
|
| 1012 |
+
},
|
| 1013 |
+
"physics": {
|
| 1014 |
+
"type": "geometry",
|
| 1015 |
+
"collision": false,
|
| 1016 |
+
"ratio": 1.0
|
| 1017 |
+
},
|
| 1018 |
+
"primitive_params": null
|
| 1019 |
+
},
|
| 1020 |
+
"type_specific": {}
|
| 1021 |
+
}
|
| 1022 |
+
],
|
| 1023 |
+
"deco_bench_east": [
|
| 1024 |
+
{
|
| 1025 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1026 |
+
"pose": {
|
| 1027 |
+
"pos": [
|
| 1028 |
+
2.6,
|
| 1029 |
+
-2.5,
|
| 1030 |
+
0.0
|
| 1031 |
+
],
|
| 1032 |
+
"ori": [
|
| 1033 |
+
6.123234262925839e-17,
|
| 1034 |
+
0.0,
|
| 1035 |
+
0.0,
|
| 1036 |
+
1.0
|
| 1037 |
+
],
|
| 1038 |
+
"scale": [
|
| 1039 |
+
1.0,
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0
|
| 1042 |
+
]
|
| 1043 |
+
},
|
| 1044 |
+
"dr": {
|
| 1045 |
+
"visual": {
|
| 1046 |
+
"kind": null,
|
| 1047 |
+
"value": null,
|
| 1048 |
+
"visible": true
|
| 1049 |
+
},
|
| 1050 |
+
"physics": {
|
| 1051 |
+
"type": "geometry",
|
| 1052 |
+
"collision": false,
|
| 1053 |
+
"ratio": 1.0
|
| 1054 |
+
},
|
| 1055 |
+
"primitive_params": null
|
| 1056 |
+
},
|
| 1057 |
+
"type_specific": {}
|
| 1058 |
+
}
|
| 1059 |
+
],
|
| 1060 |
+
"deco_bench_gap": [
|
| 1061 |
+
{
|
| 1062 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1063 |
+
"pose": {
|
| 1064 |
+
"pos": [
|
| 1065 |
+
-0.1,
|
| 1066 |
+
-2.9,
|
| 1067 |
+
0.0
|
| 1068 |
+
],
|
| 1069 |
+
"ori": [
|
| 1070 |
+
1.0,
|
| 1071 |
+
0.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0
|
| 1074 |
+
],
|
| 1075 |
+
"scale": [
|
| 1076 |
+
1.0,
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0
|
| 1079 |
+
]
|
| 1080 |
+
},
|
| 1081 |
+
"dr": {
|
| 1082 |
+
"visual": {
|
| 1083 |
+
"kind": null,
|
| 1084 |
+
"value": null,
|
| 1085 |
+
"visible": true
|
| 1086 |
+
},
|
| 1087 |
+
"physics": {
|
| 1088 |
+
"type": "geometry",
|
| 1089 |
+
"collision": false,
|
| 1090 |
+
"ratio": 1.0
|
| 1091 |
+
},
|
| 1092 |
+
"primitive_params": null
|
| 1093 |
+
},
|
| 1094 |
+
"type_specific": {}
|
| 1095 |
+
}
|
| 1096 |
+
]
|
| 1097 |
+
},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
{
|
| 1105 |
+
"t": 2.499999999999969,
|
| 1106 |
+
"step": 500,
|
| 1107 |
+
"counter": 0,
|
| 1108 |
+
"devices": {
|
| 1109 |
+
"a4s_sealer_1": {
|
| 1110 |
+
"mode": "auto",
|
| 1111 |
+
"units": {
|
| 1112 |
+
"drawer": {
|
| 1113 |
+
"state": "at_out",
|
| 1114 |
+
"active": null,
|
| 1115 |
+
"target": 0.0,
|
| 1116 |
+
"goal_name": "out",
|
| 1117 |
+
"profile": null,
|
| 1118 |
+
"q_start": null,
|
| 1119 |
+
"reversing": false,
|
| 1120 |
+
"blocked_for": 0.0,
|
| 1121 |
+
"settled_for": 0.0,
|
| 1122 |
+
"last_q": 0.0
|
| 1123 |
+
},
|
| 1124 |
+
"heater": {
|
| 1125 |
+
"state": "ready",
|
| 1126 |
+
"active": null,
|
| 1127 |
+
"duration": 0.0,
|
| 1128 |
+
"t_start": null,
|
| 1129 |
+
"elapsed": 0.0
|
| 1130 |
+
}
|
| 1131 |
+
},
|
| 1132 |
+
"queues": {},
|
| 1133 |
+
"program": null,
|
| 1134 |
+
"sensors": {
|
| 1135 |
+
"plate_present": {
|
| 1136 |
+
"occupants": [],
|
| 1137 |
+
"pending": {}
|
| 1138 |
+
}
|
| 1139 |
+
},
|
| 1140 |
+
"interlocks": {}
|
| 1141 |
+
},
|
| 1142 |
+
"conveyor_1": {
|
| 1143 |
+
"mode": "auto",
|
| 1144 |
+
"units": {
|
| 1145 |
+
"belt": {
|
| 1146 |
+
"state": "at_station",
|
| 1147 |
+
"active": null,
|
| 1148 |
+
"controller": {
|
| 1149 |
+
"speed": 0.2406383467512062,
|
| 1150 |
+
"holds": [],
|
| 1151 |
+
"station": "pick",
|
| 1152 |
+
"rider": "carrier_4",
|
| 1153 |
+
"arrived": true,
|
| 1154 |
+
"settle_count": 468,
|
| 1155 |
+
"released": {
|
| 1156 |
+
"pick": []
|
| 1157 |
+
},
|
| 1158 |
+
"last_pos": {
|
| 1159 |
+
"carrier_1": [
|
| 1160 |
+
-1.5048965513706207,
|
| 1161 |
+
0.18072301149368286,
|
| 1162 |
+
0.0
|
| 1163 |
+
],
|
| 1164 |
+
"carrier_2": [
|
| 1165 |
+
-0.5310901701450348,
|
| 1166 |
+
0.6999967694282532,
|
| 1167 |
+
0.0
|
| 1168 |
+
],
|
| 1169 |
+
"carrier_3": [
|
| 1170 |
+
1.5358501374721527,
|
| 1171 |
+
0.4437320828437805,
|
| 1172 |
+
0.0
|
| 1173 |
+
],
|
| 1174 |
+
"carrier_4": [
|
| 1175 |
+
-0.25539150834083557,
|
| 1176 |
+
-2.086162567138672e-06,
|
| 1177 |
+
0.0
|
| 1178 |
+
]
|
| 1179 |
+
},
|
| 1180 |
+
"command": 0.0
|
| 1181 |
+
},
|
| 1182 |
+
"belt": {
|
| 1183 |
+
"target_speed": 0.0,
|
| 1184 |
+
"command_speed": 0.0
|
| 1185 |
+
},
|
| 1186 |
+
"seen": {
|
| 1187 |
+
"state": "at_station",
|
| 1188 |
+
"station": "pick",
|
| 1189 |
+
"rider": "carrier_4",
|
| 1190 |
+
"arrived": true
|
| 1191 |
+
}
|
| 1192 |
+
}
|
| 1193 |
+
},
|
| 1194 |
+
"queues": {},
|
| 1195 |
+
"program": null,
|
| 1196 |
+
"sensors": {},
|
| 1197 |
+
"interlocks": {}
|
| 1198 |
+
}
|
| 1199 |
+
},
|
| 1200 |
+
"zones": {},
|
| 1201 |
+
"labware": {
|
| 1202 |
+
"plate_1": {
|
| 1203 |
+
"sealed": false
|
| 1204 |
+
},
|
| 1205 |
+
"plate_2": {
|
| 1206 |
+
"sealed": false
|
| 1207 |
+
},
|
| 1208 |
+
"plate_3": {
|
| 1209 |
+
"sealed": false
|
| 1210 |
+
},
|
| 1211 |
+
"plate_4": {
|
| 1212 |
+
"sealed": false
|
| 1213 |
+
}
|
| 1214 |
+
},
|
| 1215 |
+
"rules": {},
|
| 1216 |
+
"records": [],
|
| 1217 |
+
"bus": {
|
| 1218 |
+
"seq": 3,
|
| 1219 |
+
"queue": []
|
| 1220 |
+
}
|
| 1221 |
+
},
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
{},
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{
|
| 1235 |
+
"ceiling": {
|
| 1236 |
+
"type": "rect",
|
| 1237 |
+
"pose": {
|
| 1238 |
+
"pos": [
|
| 1239 |
+
0.02531198782791677,
|
| 1240 |
+
0.45944705566872723,
|
| 1241 |
+
2.6436843271103854
|
| 1242 |
+
],
|
| 1243 |
+
"ori": [
|
| 1244 |
+
-3.0188127617343223,
|
| 1245 |
+
-9.436196156472498,
|
| 1246 |
+
17.664962006266883
|
| 1247 |
+
],
|
| 1248 |
+
"scale": [
|
| 1249 |
+
1.0,
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0
|
| 1252 |
+
]
|
| 1253 |
+
},
|
| 1254 |
+
"dr": {
|
| 1255 |
+
"color_temperature": 4946.664289529614,
|
| 1256 |
+
"color": [
|
| 1257 |
+
0.8248006882374987,
|
| 1258 |
+
0.9510909370991857,
|
| 1259 |
+
0.8129180160139245
|
| 1260 |
+
],
|
| 1261 |
+
"intensity": 12619.795946565677,
|
| 1262 |
+
"width": 2.7924180838519574,
|
| 1263 |
+
"height": 1.8736179913544169
|
| 1264 |
+
}
|
| 1265 |
+
},
|
| 1266 |
+
"key": {
|
| 1267 |
+
"type": "sphere",
|
| 1268 |
+
"pose": {
|
| 1269 |
+
"pos": [
|
| 1270 |
+
-0.5754705067708916,
|
| 1271 |
+
1.2204801129363598,
|
| 1272 |
+
2.6500790961239042
|
| 1273 |
+
],
|
| 1274 |
+
"ori": [
|
| 1275 |
+
-34.83376584792913,
|
| 1276 |
+
16.444396224906193,
|
| 1277 |
+
-17.092725584177995
|
| 1278 |
+
],
|
| 1279 |
+
"scale": [
|
| 1280 |
+
1.0,
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0
|
| 1283 |
+
]
|
| 1284 |
+
},
|
| 1285 |
+
"dr": {
|
| 1286 |
+
"color_temperature": 6990.009097253256,
|
| 1287 |
+
"color": [
|
| 1288 |
+
0.7551946889093735,
|
| 1289 |
+
0.8819814080720891,
|
| 1290 |
+
0.898752801245241
|
| 1291 |
+
],
|
| 1292 |
+
"intensity": 7207.248139923125,
|
| 1293 |
+
"radius": 0.18278322190204704
|
| 1294 |
+
}
|
| 1295 |
+
}
|
| 1296 |
+
},
|
| 1297 |
+
{}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 401.37407996474775,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
2.763354778289795,
|
| 1394 |
+
-1.8126322031021118,
|
| 1395 |
+
1.84117591381073,
|
| 1396 |
+
-1.5993670225143433,
|
| 1397 |
+
-1.5713529586791992,
|
| 1398 |
+
4.332200527191162,
|
| 1399 |
+
0.007671390660107136,
|
| 1400 |
+
0.006986228283494711
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
-0.32943958044052124,
|
| 1404 |
+
-2.2973766326904297,
|
| 1405 |
+
2.449235677719116,
|
| 1406 |
+
-1.7235970497131348,
|
| 1407 |
+
-1.5709724426269531,
|
| 1408 |
+
4.351561546325684,
|
| 1409 |
+
0.007597204763442278,
|
| 1410 |
+
0.00757165951654315
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.9141026735305786,
|
| 1414 |
+
-1.7193981409072876,
|
| 1415 |
+
2.09049916267395,
|
| 1416 |
+
-1.9419001340866089,
|
| 1417 |
+
-1.5707999467849731,
|
| 1418 |
+
2.484900951385498,
|
| 1419 |
+
0.01799999736249447,
|
| 1420 |
+
0.018000001087784767
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
1.3863970041275024,
|
| 1424 |
+
-1.3164249658584595,
|
| 1425 |
+
2.2881505489349365,
|
| 1426 |
+
-2.5429208278656006,
|
| 1427 |
+
-1.5712717771530151,
|
| 1428 |
+
6.085141181945801,
|
| 1429 |
+
0.017999986186623573,
|
| 1430 |
+
0.017999986186623573
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.007543198298662901,
|
| 1436 |
+
0.021853961050510406,
|
| 1437 |
+
-0.0157624538987875,
|
| 1438 |
+
-0.005424676928669214,
|
| 1439 |
+
0.0005263520870357752,
|
| 1440 |
+
0.006359727121889591,
|
| 1441 |
+
-0.00868571549654007,
|
| 1442 |
+
0.00025176978670060635
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.0007052028086036444,
|
| 1446 |
+
0.0015712793683633208,
|
| 1447 |
+
0.010517298243939877,
|
| 1448 |
+
0.003633745713159442,
|
| 1449 |
+
0.005674562882632017,
|
| 1450 |
+
-0.01352272555232048,
|
| 1451 |
+
-0.00487004267051816,
|
| 1452 |
+
-0.00012342231639195234
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
2.450923142406978e-38,
|
| 1456 |
+
-1.7409171601385797e-38,
|
| 1457 |
+
0.0,
|
| 1458 |
+
-7.067751709498263e-37,
|
| 1459 |
+
3.401411447228138e-37,
|
| 1460 |
+
-2.2853690110480285e-36,
|
| 1461 |
+
2.5990386731677972e-08,
|
| 1462 |
+
-2.5990386731677972e-08
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-1.0217891940556001e-05,
|
| 1466 |
+
3.405918050702894e-06,
|
| 1467 |
+
6.811928415118018e-06,
|
| 1468 |
+
-3.771738130153857e-12,
|
| 1469 |
+
-3.391960377938791e-14,
|
| 1470 |
+
2.72478300757939e-05,
|
| 1471 |
+
1.8195267159626383e-07,
|
| 1472 |
+
1.8191650497101364e-07
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.050633203238248825,
|
| 1482 |
+
0.00042186002247035503,
|
| 1483 |
+
-0.0305246002972126,
|
| 1484 |
+
-0.27979010343551636,
|
| 1485 |
+
0.6389834880828857,
|
| 1486 |
+
0.6675043106079102,
|
| 1487 |
+
-0.26049113273620605
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.05391215905547142,
|
| 1491 |
+
-0.000502065580803901,
|
| 1492 |
+
-0.032722871750593185,
|
| 1493 |
+
-0.29188159108161926,
|
| 1494 |
+
0.6484509110450745,
|
| 1495 |
+
0.6462492942810059,
|
| 1496 |
+
-0.2769087553024292
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.047836970537900925,
|
| 1500 |
+
-0.00046086451038718224,
|
| 1501 |
+
-0.03392621502280235,
|
| 1502 |
+
-0.27293843030929565,
|
| 1503 |
+
0.6584253311157227,
|
| 1504 |
+
0.6455066204071045,
|
| 1505 |
+
-0.2744119167327881
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04917911812663078,
|
| 1509 |
+
0.0012874623062089086,
|
| 1510 |
+
-0.027536708861589432,
|
| 1511 |
+
-0.28965988755226135,
|
| 1512 |
+
0.6449910998344421,
|
| 1513 |
+
0.6522229909896851,
|
| 1514 |
+
-0.27329251170158386
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.04453088343143463,
|
| 1520 |
+
0.5939066410064697,
|
| 1521 |
+
1.9395017623901367,
|
| 1522 |
+
0.04214826226234436,
|
| 1523 |
+
0.02362462505698204,
|
| 1524 |
+
0.261856347322464,
|
| 1525 |
+
0.9638965725898743
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.07056161016225815,
|
| 1529 |
+
0.5793591737747192,
|
| 1530 |
+
1.9472136497497559,
|
| 1531 |
+
0.040486253798007965,
|
| 1532 |
+
0.010899017564952374,
|
| 1533 |
+
0.2757556736469269,
|
| 1534 |
+
0.9603129029273987
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.040176790207624435,
|
| 1538 |
+
0.5868003964424133,
|
| 1539 |
+
1.940189003944397,
|
| 1540 |
+
0.04685106500983238,
|
| 1541 |
+
-0.004421116318553686,
|
| 1542 |
+
0.2781777083873749,
|
| 1543 |
+
0.9593761563301086
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.05073905736207962,
|
| 1547 |
+
0.597321629524231,
|
| 1548 |
+
1.9357995986938477,
|
| 1549 |
+
0.0508233904838562,
|
| 1550 |
+
0.02676999941468239,
|
| 1551 |
+
0.25730785727500916,
|
| 1552 |
+
0.9646206498146057
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c4_p009_e037/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c04f8ec2061f2389a1466b2f42733c90b09b6108ede58b83b310b7e24bbdf52c
|
| 3 |
+
size 6489962
|
episodes/c4_p009_e038/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7cf88dfb7a49476103e0dd74c9e558448dbf811957751176a173c093a168db41
|
| 3 |
+
size 188137
|
episodes/c4_p009_e038/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 3, "seq": 1, "step": 86, "t": 0.43, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 86, "t": 0.43, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 5691, "t": 28.455, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.147887857290355}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 6304, "t": 31.52, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 10 |
+
{"env_id": 3, "seq": 10, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 3, "seq": 11, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 12 |
+
{"env_id": 3, "seq": 12, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 13 |
+
{"env_id": 3, "seq": 13, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 6723, "t": 33.615, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"}
|
| 16 |
+
{"env_id": 3, "seq": 16, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 6723, "t": 33.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.147887857290355}, "cause": "program-3-3"}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 7153, "t": 35.765, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 7153, "t": 35.765, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1500000000011}, "cause": "program-3-3"}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 7153, "t": 35.765, "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": 2.1500000000011}}, "cause": "program-3-3"}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 7153, "t": 35.765, "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"}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 7153, "t": 35.765, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 7153, "t": 35.765, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 7573, "t": 37.865, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 3, "seq": 26, "step": 7573, "t": 37.865, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"}
|
| 27 |
+
{"env_id": 3, "seq": 27, "step": 7573, "t": 37.865, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"}
|
| 28 |
+
{"env_id": 3, "seq": 28, "step": 7573, "t": 37.865, "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"}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 7573, "t": 37.865, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 7573, "t": 37.865, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 8154, "t": 40.77, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 32 |
+
{"env_id": 3, "seq": 32, "step": 9880, "t": 49.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 9880, "t": 49.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 9880, "t": 49.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 9880, "t": 49.4, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
|
episodes/c4_p009_e038/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:889b05e60fb8edc82f654492fde05b6e87913e8398532559e11eab49eccbc25f
|
| 3 |
+
size 1318372
|
episodes/c4_p009_e038/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c4_p009/magicsim/38",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1206,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1206,
|
| 8 |
+
"env": 1206
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c4_p009_e038/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 38,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c4_p009",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
+
0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
| 123 |
+
6.123234262925839e-17,
|
| 124 |
+
0.0,
|
| 125 |
+
0.0,
|
| 126 |
+
1.0
|
| 127 |
+
],
|
| 128 |
+
"scale": [
|
| 129 |
+
1.0,
|
| 130 |
+
1.0,
|
| 131 |
+
1.0
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"dr": {
|
| 135 |
+
"visual": {
|
| 136 |
+
"kind": null,
|
| 137 |
+
"value": null,
|
| 138 |
+
"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
+
-0.6,
|
| 161 |
+
0.02,
|
| 162 |
+
0.9605
|
| 163 |
+
],
|
| 164 |
+
"ori": [
|
| 165 |
+
1.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
"scale": [
|
| 171 |
+
1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"dr": {
|
| 177 |
+
"visual": {
|
| 178 |
+
"kind": null,
|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
+
-0.6,
|
| 196 |
+
0.02,
|
| 197 |
+
1.0285
|
| 198 |
+
],
|
| 199 |
+
"ori": [
|
| 200 |
+
6.123234262925839e-17,
|
| 201 |
+
0.0,
|
| 202 |
+
0.0,
|
| 203 |
+
1.0
|
| 204 |
+
],
|
| 205 |
+
"scale": [
|
| 206 |
+
1.0,
|
| 207 |
+
1.0,
|
| 208 |
+
1.0
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"dr": {
|
| 212 |
+
"visual": {
|
| 213 |
+
"kind": null,
|
| 214 |
+
"value": null,
|
| 215 |
+
"visible": true
|
| 216 |
+
},
|
| 217 |
+
"physics": {
|
| 218 |
+
"type": "geometry",
|
| 219 |
+
"collision": false,
|
| 220 |
+
"ratio": 1.0
|
| 221 |
+
},
|
| 222 |
+
"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 228 |
+
"pose": {
|
| 229 |
+
"pos": [
|
| 230 |
+
-0.6,
|
| 231 |
+
0.02,
|
| 232 |
+
1.0965
|
| 233 |
+
],
|
| 234 |
+
"ori": [
|
| 235 |
+
1.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0,
|
| 238 |
+
0.0
|
| 239 |
+
],
|
| 240 |
+
"scale": [
|
| 241 |
+
1.0,
|
| 242 |
+
1.0,
|
| 243 |
+
1.0
|
| 244 |
+
]
|
| 245 |
+
},
|
| 246 |
+
"dr": {
|
| 247 |
+
"visual": {
|
| 248 |
+
"kind": null,
|
| 249 |
+
"value": null,
|
| 250 |
+
"visible": true
|
| 251 |
+
},
|
| 252 |
+
"physics": {
|
| 253 |
+
"type": "geometry",
|
| 254 |
+
"collision": false,
|
| 255 |
+
"ratio": 1.0
|
| 256 |
+
},
|
| 257 |
+
"primitive_params": null
|
| 258 |
+
},
|
| 259 |
+
"type_specific": {}
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 263 |
+
"pose": {
|
| 264 |
+
"pos": [
|
| 265 |
+
-0.6,
|
| 266 |
+
0.02,
|
| 267 |
+
1.1645
|
| 268 |
+
],
|
| 269 |
+
"ori": [
|
| 270 |
+
6.123234262925839e-17,
|
| 271 |
+
0.0,
|
| 272 |
+
0.0,
|
| 273 |
+
1.0
|
| 274 |
+
],
|
| 275 |
+
"scale": [
|
| 276 |
+
1.0,
|
| 277 |
+
1.0,
|
| 278 |
+
1.0
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"dr": {
|
| 282 |
+
"visual": {
|
| 283 |
+
"kind": null,
|
| 284 |
+
"value": null,
|
| 285 |
+
"visible": true
|
| 286 |
+
},
|
| 287 |
+
"physics": {
|
| 288 |
+
"type": "geometry",
|
| 289 |
+
"collision": false,
|
| 290 |
+
"ratio": 1.0
|
| 291 |
+
},
|
| 292 |
+
"primitive_params": null
|
| 293 |
+
},
|
| 294 |
+
"type_specific": {}
|
| 295 |
+
},
|
| 296 |
+
{
|
| 297 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 298 |
+
"pose": {
|
| 299 |
+
"pos": [
|
| 300 |
+
-0.6,
|
| 301 |
+
0.02,
|
| 302 |
+
1.2325
|
| 303 |
+
],
|
| 304 |
+
"ori": [
|
| 305 |
+
1.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0,
|
| 308 |
+
0.0
|
| 309 |
+
],
|
| 310 |
+
"scale": [
|
| 311 |
+
1.0,
|
| 312 |
+
1.0,
|
| 313 |
+
1.0
|
| 314 |
+
]
|
| 315 |
+
},
|
| 316 |
+
"dr": {
|
| 317 |
+
"visual": {
|
| 318 |
+
"kind": null,
|
| 319 |
+
"value": null,
|
| 320 |
+
"visible": true
|
| 321 |
+
},
|
| 322 |
+
"physics": {
|
| 323 |
+
"type": "geometry",
|
| 324 |
+
"collision": false,
|
| 325 |
+
"ratio": 1.0
|
| 326 |
+
},
|
| 327 |
+
"primitive_params": null
|
| 328 |
+
},
|
| 329 |
+
"type_specific": {}
|
| 330 |
+
}
|
| 331 |
+
],
|
| 332 |
+
"a4s_sealer": [
|
| 333 |
+
{
|
| 334 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 335 |
+
"pose": {
|
| 336 |
+
"pos": [
|
| 337 |
+
0.5234966278076172,
|
| 338 |
+
0.1207571029663086,
|
| 339 |
+
0.8999999761581421
|
| 340 |
+
],
|
| 341 |
+
"ori": [
|
| 342 |
+
-0.6758458018302917,
|
| 343 |
+
0.0,
|
| 344 |
+
0.0,
|
| 345 |
+
0.737043023109436
|
| 346 |
+
],
|
| 347 |
+
"scale": [
|
| 348 |
+
1.0,
|
| 349 |
+
1.0,
|
| 350 |
+
1.0
|
| 351 |
+
]
|
| 352 |
+
},
|
| 353 |
+
"dr": {
|
| 354 |
+
"visual": {
|
| 355 |
+
"kind": null,
|
| 356 |
+
"value": null,
|
| 357 |
+
"visible": true
|
| 358 |
+
},
|
| 359 |
+
"physics": {
|
| 360 |
+
"type": "articulation",
|
| 361 |
+
"solver_position_iteration_count": 16.0,
|
| 362 |
+
"solver_velocity_iteration_count": 1.0,
|
| 363 |
+
"enabled_self_collisions": false,
|
| 364 |
+
"ratio": 1.0
|
| 365 |
+
},
|
| 366 |
+
"primitive_params": null
|
| 367 |
+
},
|
| 368 |
+
"type_specific": {
|
| 369 |
+
"joint_position": [
|
| 370 |
+
3.0277473236917096e-12
|
| 371 |
+
],
|
| 372 |
+
"joint_velocity": [
|
| 373 |
+
0.0
|
| 374 |
+
],
|
| 375 |
+
"linear_velocity": [
|
| 376 |
+
0.0,
|
| 377 |
+
0.0,
|
| 378 |
+
0.0
|
| 379 |
+
],
|
| 380 |
+
"angular_velocity": [
|
| 381 |
+
0.0,
|
| 382 |
+
0.0,
|
| 383 |
+
0.0
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
}
|
| 387 |
+
],
|
| 388 |
+
"conveyor": [
|
| 389 |
+
{
|
| 390 |
+
"asset": "Cube",
|
| 391 |
+
"pose": {
|
| 392 |
+
"pos": [
|
| 393 |
+
0.15,
|
| 394 |
+
0.45,
|
| 395 |
+
0.9
|
| 396 |
+
],
|
| 397 |
+
"ori": [
|
| 398 |
+
1.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0,
|
| 401 |
+
0.0
|
| 402 |
+
],
|
| 403 |
+
"scale": [
|
| 404 |
+
1.0,
|
| 405 |
+
1.0,
|
| 406 |
+
1.0
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
"dr": {
|
| 410 |
+
"visual": {
|
| 411 |
+
"kind": null,
|
| 412 |
+
"value": null,
|
| 413 |
+
"visible": true
|
| 414 |
+
},
|
| 415 |
+
"physics": {
|
| 416 |
+
"type": "conveyor",
|
| 417 |
+
"physics_material": {
|
| 418 |
+
"static_friction": 0.9,
|
| 419 |
+
"dynamic_friction": 0.9
|
| 420 |
+
},
|
| 421 |
+
"ratio": 1.0
|
| 422 |
+
},
|
| 423 |
+
"primitive_params": {
|
| 424 |
+
"size": [
|
| 425 |
+
2.4,
|
| 426 |
+
0.076,
|
| 427 |
+
0.03
|
| 428 |
+
]
|
| 429 |
+
},
|
| 430 |
+
"conveyor": {
|
| 431 |
+
"speed": 0.29961319526627317,
|
| 432 |
+
"direction": [
|
| 433 |
+
1.0,
|
| 434 |
+
0.0,
|
| 435 |
+
0.0
|
| 436 |
+
],
|
| 437 |
+
"enabled": true,
|
| 438 |
+
"drive": "surface_velocity",
|
| 439 |
+
"lines": null,
|
| 440 |
+
"station_line": null,
|
| 441 |
+
"riders": [
|
| 442 |
+
"carrier"
|
| 443 |
+
],
|
| 444 |
+
"stations": {
|
| 445 |
+
"pick": {
|
| 446 |
+
"position": -0.29775273041730005,
|
| 447 |
+
"slow_distance": 0.03,
|
| 448 |
+
"slow_speed": 0.03
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"rails": {
|
| 452 |
+
"height": 0.01,
|
| 453 |
+
"thickness": 0.01,
|
| 454 |
+
"gap": 0.001,
|
| 455 |
+
"friction": 0.05
|
| 456 |
+
},
|
| 457 |
+
"legs": 0.87,
|
| 458 |
+
"loop": {
|
| 459 |
+
"radius": 0.35,
|
| 460 |
+
"side": "left",
|
| 461 |
+
"curve_extra_width": 0.0,
|
| 462 |
+
"segments": 18,
|
| 463 |
+
"curve_rails": "both"
|
| 464 |
+
},
|
| 465 |
+
"snap_distance": 0.1,
|
| 466 |
+
"junction_snap": 0.02,
|
| 467 |
+
"collision_approximation": "auto",
|
| 468 |
+
"plate_mass": 1.0,
|
| 469 |
+
"lift_drop": 0.004,
|
| 470 |
+
"accel": 0.0,
|
| 471 |
+
"decel": 0.0,
|
| 472 |
+
"drive_damping": 1000000.0,
|
| 473 |
+
"drive_max_force": 1000000000.0
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"type_specific": {
|
| 477 |
+
"controller": {
|
| 478 |
+
"state": "at_station",
|
| 479 |
+
"speed": 0.29961319526627317,
|
| 480 |
+
"holds": [],
|
| 481 |
+
"station": "pick",
|
| 482 |
+
"rider": "carrier_1",
|
| 483 |
+
"arrived": true,
|
| 484 |
+
"applied_speed": 0.0
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"carrier": [
|
| 490 |
+
{
|
| 491 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 492 |
+
"pose": {
|
| 493 |
+
"pos": [
|
| 494 |
+
-0.1476593017578125,
|
| 495 |
+
0.4485025405883789,
|
| 496 |
+
0.8999999761581421
|
| 497 |
+
],
|
| 498 |
+
"ori": [
|
| 499 |
+
0.9998450875282288,
|
| 500 |
+
-3.151992000738346e-09,
|
| 501 |
+
3.7215333037465825e-09,
|
| 502 |
+
0.017605872824788094
|
| 503 |
+
],
|
| 504 |
+
"scale": [
|
| 505 |
+
1.0,
|
| 506 |
+
1.0,
|
| 507 |
+
1.0
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"dr": {
|
| 511 |
+
"visual": {
|
| 512 |
+
"kind": null,
|
| 513 |
+
"value": null,
|
| 514 |
+
"visible": true
|
| 515 |
+
},
|
| 516 |
+
"physics": {
|
| 517 |
+
"type": "rigid",
|
| 518 |
+
"mass": 0.5,
|
| 519 |
+
"physics_material": {
|
| 520 |
+
"static_friction": 0.9,
|
| 521 |
+
"dynamic_friction": 0.9,
|
| 522 |
+
"restitution": 0.0
|
| 523 |
+
},
|
| 524 |
+
"ratio": 1.0
|
| 525 |
+
},
|
| 526 |
+
"primitive_params": null
|
| 527 |
+
},
|
| 528 |
+
"type_specific": {
|
| 529 |
+
"linear_velocity": [
|
| 530 |
+
-1.7047818712256912e-10,
|
| 531 |
+
1.513080993831295e-09,
|
| 532 |
+
3.725290298461914e-09
|
| 533 |
+
],
|
| 534 |
+
"angular_velocity": [
|
| 535 |
+
-1.076845919101288e-07,
|
| 536 |
+
-2.4615140148398496e-08,
|
| 537 |
+
-3.3998637238852325e-09
|
| 538 |
+
]
|
| 539 |
+
}
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 543 |
+
"pose": {
|
| 544 |
+
"pos": [
|
| 545 |
+
1.3249988555908203,
|
| 546 |
+
0.45002269744873047,
|
| 547 |
+
0.8999999761581421
|
| 548 |
+
],
|
| 549 |
+
"ori": [
|
| 550 |
+
1.0,
|
| 551 |
+
2.3828308215456673e-08,
|
| 552 |
+
9.47752170077365e-08,
|
| 553 |
+
0.00025821515009738505
|
| 554 |
+
],
|
| 555 |
+
"scale": [
|
| 556 |
+
1.0,
|
| 557 |
+
1.0,
|
| 558 |
+
1.0
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
"dr": {
|
| 562 |
+
"visual": {
|
| 563 |
+
"kind": null,
|
| 564 |
+
"value": null,
|
| 565 |
+
"visible": true
|
| 566 |
+
},
|
| 567 |
+
"physics": {
|
| 568 |
+
"type": "rigid",
|
| 569 |
+
"mass": 0.5,
|
| 570 |
+
"physics_material": {
|
| 571 |
+
"static_friction": 0.9,
|
| 572 |
+
"dynamic_friction": 0.9,
|
| 573 |
+
"restitution": 0.0
|
| 574 |
+
},
|
| 575 |
+
"ratio": 1.0
|
| 576 |
+
},
|
| 577 |
+
"primitive_params": null
|
| 578 |
+
},
|
| 579 |
+
"type_specific": {
|
| 580 |
+
"linear_velocity": [
|
| 581 |
+
1.237876467996557e-10,
|
| 582 |
+
-8.62340243656945e-09,
|
| 583 |
+
0.0
|
| 584 |
+
],
|
| 585 |
+
"angular_velocity": [
|
| 586 |
+
1.7023151599460107e-07,
|
| 587 |
+
2.1099211267028295e-10,
|
| 588 |
+
4.1307963272174675e-08
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 594 |
+
"pose": {
|
| 595 |
+
"pos": [
|
| 596 |
+
0.4680452346801758,
|
| 597 |
+
1.152165412902832,
|
| 598 |
+
0.8999999761581421
|
| 599 |
+
],
|
| 600 |
+
"ori": [
|
| 601 |
+
-0.014081209897994995,
|
| 602 |
+
-1.0144741990902872e-10,
|
| 603 |
+
1.579165243015268e-09,
|
| 604 |
+
0.9999008774757385
|
| 605 |
+
],
|
| 606 |
+
"scale": [
|
| 607 |
+
1.0,
|
| 608 |
+
1.0,
|
| 609 |
+
1.0
|
| 610 |
+
]
|
| 611 |
+
},
|
| 612 |
+
"dr": {
|
| 613 |
+
"visual": {
|
| 614 |
+
"kind": null,
|
| 615 |
+
"value": null,
|
| 616 |
+
"visible": true
|
| 617 |
+
},
|
| 618 |
+
"physics": {
|
| 619 |
+
"type": "rigid",
|
| 620 |
+
"mass": 0.5,
|
| 621 |
+
"physics_material": {
|
| 622 |
+
"static_friction": 0.9,
|
| 623 |
+
"dynamic_friction": 0.9,
|
| 624 |
+
"restitution": 0.0
|
| 625 |
+
},
|
| 626 |
+
"ratio": 1.0
|
| 627 |
+
},
|
| 628 |
+
"primitive_params": null
|
| 629 |
+
},
|
| 630 |
+
"type_specific": {
|
| 631 |
+
"linear_velocity": [
|
| 632 |
+
4.304034906255083e-10,
|
| 633 |
+
-8.797892414591502e-10,
|
| 634 |
+
3.725290298461914e-09
|
| 635 |
+
],
|
| 636 |
+
"angular_velocity": [
|
| 637 |
+
6.811212927004817e-08,
|
| 638 |
+
4.243643303425415e-08,
|
| 639 |
+
-3.2826428242316297e-09
|
| 640 |
+
]
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
{
|
| 644 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 645 |
+
"pose": {
|
| 646 |
+
"pos": [
|
| 647 |
+
-1.1480779647827148,
|
| 648 |
+
1.1326770782470703,
|
| 649 |
+
0.8999999761581421
|
| 650 |
+
],
|
| 651 |
+
"ori": [
|
| 652 |
+
-0.13745178282260895,
|
| 653 |
+
2.997334647147909e-08,
|
| 654 |
+
6.353315207263677e-09,
|
| 655 |
+
0.990508496761322
|
| 656 |
+
],
|
| 657 |
+
"scale": [
|
| 658 |
+
1.0,
|
| 659 |
+
1.0,
|
| 660 |
+
1.0
|
| 661 |
+
]
|
| 662 |
+
},
|
| 663 |
+
"dr": {
|
| 664 |
+
"visual": {
|
| 665 |
+
"kind": null,
|
| 666 |
+
"value": null,
|
| 667 |
+
"visible": true
|
| 668 |
+
},
|
| 669 |
+
"physics": {
|
| 670 |
+
"type": "rigid",
|
| 671 |
+
"mass": 0.5,
|
| 672 |
+
"physics_material": {
|
| 673 |
+
"static_friction": 0.9,
|
| 674 |
+
"dynamic_friction": 0.9,
|
| 675 |
+
"restitution": 0.0
|
| 676 |
+
},
|
| 677 |
+
"ratio": 1.0
|
| 678 |
+
},
|
| 679 |
+
"primitive_params": null
|
| 680 |
+
},
|
| 681 |
+
"type_specific": {
|
| 682 |
+
"linear_velocity": [
|
| 683 |
+
-3.708930107482189e-10,
|
| 684 |
+
2.0051296734102664e-10,
|
| 685 |
+
0.0
|
| 686 |
+
],
|
| 687 |
+
"angular_velocity": [
|
| 688 |
+
6.694489851355456e-09,
|
| 689 |
+
-3.972438022969982e-08,
|
| 690 |
+
-4.454517199548036e-09
|
| 691 |
+
]
|
| 692 |
+
}
|
| 693 |
+
}
|
| 694 |
+
],
|
| 695 |
+
"plate": [
|
| 696 |
+
{
|
| 697 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
|
| 698 |
+
"pose": {
|
| 699 |
+
"pos": [
|
| 700 |
+
-0.14834880828857422,
|
| 701 |
+
0.4406099319458008,
|
| 702 |
+
0.9179999828338623
|
| 703 |
+
],
|
| 704 |
+
"ori": [
|
| 705 |
+
0.9998056292533875,
|
| 706 |
+
-3.313930907467011e-09,
|
| 707 |
+
1.8321095751616667e-09,
|
| 708 |
+
-0.019717304036021233
|
| 709 |
+
],
|
| 710 |
+
"scale": [
|
| 711 |
+
1.0,
|
| 712 |
+
1.0,
|
| 713 |
+
1.0
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
"dr": {
|
| 717 |
+
"visual": {
|
| 718 |
+
"kind": null,
|
| 719 |
+
"value": null,
|
| 720 |
+
"visible": true
|
| 721 |
+
},
|
| 722 |
+
"physics": {
|
| 723 |
+
"type": "rigid",
|
| 724 |
+
"collision": true,
|
| 725 |
+
"mass": "asset",
|
| 726 |
+
"max_depenetration_velocity": 1.0,
|
| 727 |
+
"physics_material": {
|
| 728 |
+
"static_friction": 0.5,
|
| 729 |
+
"dynamic_friction": 0.45,
|
| 730 |
+
"restitution": 0.0,
|
| 731 |
+
"friction_combine_mode": "average"
|
| 732 |
+
},
|
| 733 |
+
"ratio": 1.0
|
| 734 |
+
},
|
| 735 |
+
"primitive_params": null
|
| 736 |
+
},
|
| 737 |
+
"type_specific": {
|
| 738 |
+
"linear_velocity": [
|
| 739 |
+
-2.977857960217989e-08,
|
| 740 |
+
2.1757983859060914e-08,
|
| 741 |
+
8.940696716308594e-08
|
| 742 |
+
],
|
| 743 |
+
"angular_velocity": [
|
| 744 |
+
-6.505420628855063e-07,
|
| 745 |
+
-1.5020395949250087e-06,
|
| 746 |
+
1.6357162735403108e-07
|
| 747 |
+
]
|
| 748 |
+
}
|
| 749 |
+
},
|
| 750 |
+
{
|
| 751 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
|
| 752 |
+
"pose": {
|
| 753 |
+
"pos": [
|
| 754 |
+
1.3345584869384766,
|
| 755 |
+
0.45005226135253906,
|
| 756 |
+
0.9180000424385071
|
| 757 |
+
],
|
| 758 |
+
"ori": [
|
| 759 |
+
0.9997590780258179,
|
| 760 |
+
2.5081105192725772e-08,
|
| 761 |
+
9.379316168178775e-08,
|
| 762 |
+
0.021952206268906593
|
| 763 |
+
],
|
| 764 |
+
"scale": [
|
| 765 |
+
1.0,
|
| 766 |
+
1.0,
|
| 767 |
+
1.0
|
| 768 |
+
]
|
| 769 |
+
},
|
| 770 |
+
"dr": {
|
| 771 |
+
"visual": {
|
| 772 |
+
"kind": null,
|
| 773 |
+
"value": null,
|
| 774 |
+
"visible": true
|
| 775 |
+
},
|
| 776 |
+
"physics": {
|
| 777 |
+
"type": "rigid",
|
| 778 |
+
"collision": true,
|
| 779 |
+
"mass": "asset",
|
| 780 |
+
"max_depenetration_velocity": 1.0,
|
| 781 |
+
"physics_material": {
|
| 782 |
+
"static_friction": 0.5,
|
| 783 |
+
"dynamic_friction": 0.45,
|
| 784 |
+
"restitution": 0.0,
|
| 785 |
+
"friction_combine_mode": "average"
|
| 786 |
+
},
|
| 787 |
+
"ratio": 1.0
|
| 788 |
+
},
|
| 789 |
+
"primitive_params": null
|
| 790 |
+
},
|
| 791 |
+
"type_specific": {
|
| 792 |
+
"linear_velocity": [
|
| 793 |
+
-2.325505832345698e-08,
|
| 794 |
+
-6.455130829863265e-08,
|
| 795 |
+
-5.636364221572876e-06
|
| 796 |
+
],
|
| 797 |
+
"angular_velocity": [
|
| 798 |
+
6.196239610289922e-07,
|
| 799 |
+
-1.810581011341128e-06,
|
| 800 |
+
4.5270326154422946e-08
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
},
|
| 804 |
+
{
|
| 805 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
|
| 806 |
+
"pose": {
|
| 807 |
+
"pos": [
|
| 808 |
+
0.4620342254638672,
|
| 809 |
+
1.158595085144043,
|
| 810 |
+
0.9180000424385071
|
| 811 |
+
],
|
| 812 |
+
"ori": [
|
| 813 |
+
-0.043344344943761826,
|
| 814 |
+
-3.6321143315198867e-10,
|
| 815 |
+
-2.1476649625373767e-10,
|
| 816 |
+
0.9990602135658264
|
| 817 |
+
],
|
| 818 |
+
"scale": [
|
| 819 |
+
1.0,
|
| 820 |
+
1.0,
|
| 821 |
+
1.0
|
| 822 |
+
]
|
| 823 |
+
},
|
| 824 |
+
"dr": {
|
| 825 |
+
"visual": {
|
| 826 |
+
"kind": null,
|
| 827 |
+
"value": null,
|
| 828 |
+
"visible": true
|
| 829 |
+
},
|
| 830 |
+
"physics": {
|
| 831 |
+
"type": "rigid",
|
| 832 |
+
"collision": true,
|
| 833 |
+
"mass": "asset",
|
| 834 |
+
"max_depenetration_velocity": 1.0,
|
| 835 |
+
"physics_material": {
|
| 836 |
+
"static_friction": 0.5,
|
| 837 |
+
"dynamic_friction": 0.45,
|
| 838 |
+
"restitution": 0.0,
|
| 839 |
+
"friction_combine_mode": "average"
|
| 840 |
+
},
|
| 841 |
+
"ratio": 1.0
|
| 842 |
+
},
|
| 843 |
+
"primitive_params": null
|
| 844 |
+
},
|
| 845 |
+
"type_specific": {
|
| 846 |
+
"linear_velocity": [
|
| 847 |
+
1.8891906705675865e-08,
|
| 848 |
+
-1.6175382810956762e-08,
|
| 849 |
+
-5.234032869338989e-06
|
| 850 |
+
],
|
| 851 |
+
"angular_velocity": [
|
| 852 |
+
2.3490954959015653e-07,
|
| 853 |
+
1.2284710919630015e-06,
|
| 854 |
+
1.2085254752491892e-07
|
| 855 |
+
]
|
| 856 |
+
}
|
| 857 |
+
},
|
| 858 |
+
{
|
| 859 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
|
| 860 |
+
"pose": {
|
| 861 |
+
"pos": [
|
| 862 |
+
-1.1541900634765625,
|
| 863 |
+
1.1272172927856445,
|
| 864 |
+
0.9179999828338623
|
| 865 |
+
],
|
| 866 |
+
"ori": [
|
| 867 |
+
-0.12979254126548767,
|
| 868 |
+
2.9020192471307382e-08,
|
| 869 |
+
8.222530212265156e-09,
|
| 870 |
+
0.9915412664413452
|
| 871 |
+
],
|
| 872 |
+
"scale": [
|
| 873 |
+
1.0,
|
| 874 |
+
1.0,
|
| 875 |
+
1.0
|
| 876 |
+
]
|
| 877 |
+
},
|
| 878 |
+
"dr": {
|
| 879 |
+
"visual": {
|
| 880 |
+
"kind": null,
|
| 881 |
+
"value": null,
|
| 882 |
+
"visible": true
|
| 883 |
+
},
|
| 884 |
+
"physics": {
|
| 885 |
+
"type": "rigid",
|
| 886 |
+
"collision": true,
|
| 887 |
+
"mass": "asset",
|
| 888 |
+
"max_depenetration_velocity": 1.0,
|
| 889 |
+
"physics_material": {
|
| 890 |
+
"static_friction": 0.5,
|
| 891 |
+
"dynamic_friction": 0.45,
|
| 892 |
+
"restitution": 0.0,
|
| 893 |
+
"friction_combine_mode": "average"
|
| 894 |
+
},
|
| 895 |
+
"ratio": 1.0
|
| 896 |
+
},
|
| 897 |
+
"primitive_params": null
|
| 898 |
+
},
|
| 899 |
+
"type_specific": {
|
| 900 |
+
"linear_velocity": [
|
| 901 |
+
3.2336487265638425e-08,
|
| 902 |
+
4.7614438614118626e-08,
|
| 903 |
+
-1.817941665649414e-06
|
| 904 |
+
],
|
| 905 |
+
"angular_velocity": [
|
| 906 |
+
-1.2475946959966677e-06,
|
| 907 |
+
1.0231209444100386e-06,
|
| 908 |
+
-3.4039597807122846e-09
|
| 909 |
+
]
|
| 910 |
+
}
|
| 911 |
+
}
|
| 912 |
+
],
|
| 913 |
+
"deco_hub_west": [
|
| 914 |
+
{
|
| 915 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 916 |
+
"pose": {
|
| 917 |
+
"pos": [
|
| 918 |
+
-3.36,
|
| 919 |
+
0.0,
|
| 920 |
+
0.0
|
| 921 |
+
],
|
| 922 |
+
"ori": [
|
| 923 |
+
1.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0,
|
| 926 |
+
0.0
|
| 927 |
+
],
|
| 928 |
+
"scale": [
|
| 929 |
+
1.0,
|
| 930 |
+
1.0,
|
| 931 |
+
1.0
|
| 932 |
+
]
|
| 933 |
+
},
|
| 934 |
+
"dr": {
|
| 935 |
+
"visual": {
|
| 936 |
+
"kind": null,
|
| 937 |
+
"value": null,
|
| 938 |
+
"visible": true
|
| 939 |
+
},
|
| 940 |
+
"physics": {
|
| 941 |
+
"type": "geometry",
|
| 942 |
+
"collision": false,
|
| 943 |
+
"ratio": 1.0
|
| 944 |
+
},
|
| 945 |
+
"primitive_params": null
|
| 946 |
+
},
|
| 947 |
+
"type_specific": {}
|
| 948 |
+
}
|
| 949 |
+
],
|
| 950 |
+
"deco_hub_east": [
|
| 951 |
+
{
|
| 952 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 953 |
+
"pose": {
|
| 954 |
+
"pos": [
|
| 955 |
+
3.36,
|
| 956 |
+
0.0,
|
| 957 |
+
0.0
|
| 958 |
+
],
|
| 959 |
+
"ori": [
|
| 960 |
+
1.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0,
|
| 963 |
+
0.0
|
| 964 |
+
],
|
| 965 |
+
"scale": [
|
| 966 |
+
1.0,
|
| 967 |
+
1.0,
|
| 968 |
+
1.0
|
| 969 |
+
]
|
| 970 |
+
},
|
| 971 |
+
"dr": {
|
| 972 |
+
"visual": {
|
| 973 |
+
"kind": null,
|
| 974 |
+
"value": null,
|
| 975 |
+
"visible": true
|
| 976 |
+
},
|
| 977 |
+
"physics": {
|
| 978 |
+
"type": "geometry",
|
| 979 |
+
"collision": false,
|
| 980 |
+
"ratio": 1.0
|
| 981 |
+
},
|
| 982 |
+
"primitive_params": null
|
| 983 |
+
},
|
| 984 |
+
"type_specific": {}
|
| 985 |
+
}
|
| 986 |
+
],
|
| 987 |
+
"deco_hub_back": [
|
| 988 |
+
{
|
| 989 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 990 |
+
"pose": {
|
| 991 |
+
"pos": [
|
| 992 |
+
-3.0,
|
| 993 |
+
-2.1,
|
| 994 |
+
0.0
|
| 995 |
+
],
|
| 996 |
+
"ori": [
|
| 997 |
+
1.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0,
|
| 1000 |
+
0.0
|
| 1001 |
+
],
|
| 1002 |
+
"scale": [
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0,
|
| 1005 |
+
1.0
|
| 1006 |
+
]
|
| 1007 |
+
},
|
| 1008 |
+
"dr": {
|
| 1009 |
+
"visual": {
|
| 1010 |
+
"kind": null,
|
| 1011 |
+
"value": null,
|
| 1012 |
+
"visible": true
|
| 1013 |
+
},
|
| 1014 |
+
"physics": {
|
| 1015 |
+
"type": "geometry",
|
| 1016 |
+
"collision": false,
|
| 1017 |
+
"ratio": 1.0
|
| 1018 |
+
},
|
| 1019 |
+
"primitive_params": null
|
| 1020 |
+
},
|
| 1021 |
+
"type_specific": {}
|
| 1022 |
+
}
|
| 1023 |
+
],
|
| 1024 |
+
"deco_bench_east": [
|
| 1025 |
+
{
|
| 1026 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
|
| 1027 |
+
"pose": {
|
| 1028 |
+
"pos": [
|
| 1029 |
+
2.6,
|
| 1030 |
+
-2.5,
|
| 1031 |
+
0.0
|
| 1032 |
+
],
|
| 1033 |
+
"ori": [
|
| 1034 |
+
6.123234262925839e-17,
|
| 1035 |
+
0.0,
|
| 1036 |
+
0.0,
|
| 1037 |
+
1.0
|
| 1038 |
+
],
|
| 1039 |
+
"scale": [
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0,
|
| 1042 |
+
1.0
|
| 1043 |
+
]
|
| 1044 |
+
},
|
| 1045 |
+
"dr": {
|
| 1046 |
+
"visual": {
|
| 1047 |
+
"kind": null,
|
| 1048 |
+
"value": null,
|
| 1049 |
+
"visible": true
|
| 1050 |
+
},
|
| 1051 |
+
"physics": {
|
| 1052 |
+
"type": "geometry",
|
| 1053 |
+
"collision": false,
|
| 1054 |
+
"ratio": 1.0
|
| 1055 |
+
},
|
| 1056 |
+
"primitive_params": null
|
| 1057 |
+
},
|
| 1058 |
+
"type_specific": {}
|
| 1059 |
+
}
|
| 1060 |
+
],
|
| 1061 |
+
"deco_bench_gap": [
|
| 1062 |
+
{
|
| 1063 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1064 |
+
"pose": {
|
| 1065 |
+
"pos": [
|
| 1066 |
+
-0.1,
|
| 1067 |
+
-2.9,
|
| 1068 |
+
0.0
|
| 1069 |
+
],
|
| 1070 |
+
"ori": [
|
| 1071 |
+
1.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0,
|
| 1074 |
+
0.0
|
| 1075 |
+
],
|
| 1076 |
+
"scale": [
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0,
|
| 1079 |
+
1.0
|
| 1080 |
+
]
|
| 1081 |
+
},
|
| 1082 |
+
"dr": {
|
| 1083 |
+
"visual": {
|
| 1084 |
+
"kind": null,
|
| 1085 |
+
"value": null,
|
| 1086 |
+
"visible": true
|
| 1087 |
+
},
|
| 1088 |
+
"physics": {
|
| 1089 |
+
"type": "geometry",
|
| 1090 |
+
"collision": false,
|
| 1091 |
+
"ratio": 1.0
|
| 1092 |
+
},
|
| 1093 |
+
"primitive_params": null
|
| 1094 |
+
},
|
| 1095 |
+
"type_specific": {}
|
| 1096 |
+
}
|
| 1097 |
+
]
|
| 1098 |
+
}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
null,
|
| 1105 |
+
{
|
| 1106 |
+
"t": 1.2999999999999943,
|
| 1107 |
+
"step": 260,
|
| 1108 |
+
"counter": 0,
|
| 1109 |
+
"devices": {
|
| 1110 |
+
"a4s_sealer_1": {
|
| 1111 |
+
"mode": "auto",
|
| 1112 |
+
"units": {
|
| 1113 |
+
"drawer": {
|
| 1114 |
+
"state": "at_out",
|
| 1115 |
+
"active": null,
|
| 1116 |
+
"target": 0.0,
|
| 1117 |
+
"goal_name": "out",
|
| 1118 |
+
"profile": null,
|
| 1119 |
+
"q_start": null,
|
| 1120 |
+
"reversing": false,
|
| 1121 |
+
"blocked_for": 0.0,
|
| 1122 |
+
"settled_for": 0.0,
|
| 1123 |
+
"last_q": 3.0277473236917096e-12
|
| 1124 |
+
},
|
| 1125 |
+
"heater": {
|
| 1126 |
+
"state": "ready",
|
| 1127 |
+
"active": null,
|
| 1128 |
+
"duration": 0.0,
|
| 1129 |
+
"t_start": null,
|
| 1130 |
+
"elapsed": 0.0
|
| 1131 |
+
}
|
| 1132 |
+
},
|
| 1133 |
+
"queues": {},
|
| 1134 |
+
"program": null,
|
| 1135 |
+
"sensors": {
|
| 1136 |
+
"plate_present": {
|
| 1137 |
+
"occupants": [],
|
| 1138 |
+
"pending": {}
|
| 1139 |
+
}
|
| 1140 |
+
},
|
| 1141 |
+
"interlocks": {}
|
| 1142 |
+
},
|
| 1143 |
+
"conveyor_1": {
|
| 1144 |
+
"mode": "auto",
|
| 1145 |
+
"units": {
|
| 1146 |
+
"belt": {
|
| 1147 |
+
"state": "at_station",
|
| 1148 |
+
"active": null,
|
| 1149 |
+
"controller": {
|
| 1150 |
+
"speed": 0.29961319526627317,
|
| 1151 |
+
"holds": [],
|
| 1152 |
+
"station": "pick",
|
| 1153 |
+
"rider": "carrier_1",
|
| 1154 |
+
"arrived": true,
|
| 1155 |
+
"settle_count": 173,
|
| 1156 |
+
"released": {
|
| 1157 |
+
"pick": []
|
| 1158 |
+
},
|
| 1159 |
+
"last_pos": {
|
| 1160 |
+
"carrier_1": [
|
| 1161 |
+
-0.297659307718277,
|
| 1162 |
+
-0.0014974474906921387,
|
| 1163 |
+
0.0
|
| 1164 |
+
],
|
| 1165 |
+
"carrier_2": [
|
| 1166 |
+
1.1749988496303558,
|
| 1167 |
+
2.2709369659423828e-05,
|
| 1168 |
+
0.0
|
| 1169 |
+
],
|
| 1170 |
+
"carrier_3": [
|
| 1171 |
+
0.3180452287197113,
|
| 1172 |
+
0.702165424823761,
|
| 1173 |
+
0.0
|
| 1174 |
+
],
|
| 1175 |
+
"carrier_4": [
|
| 1176 |
+
-1.2980779707431793,
|
| 1177 |
+
0.6826770901679993,
|
| 1178 |
+
0.0
|
| 1179 |
+
]
|
| 1180 |
+
},
|
| 1181 |
+
"command": 0.0
|
| 1182 |
+
},
|
| 1183 |
+
"belt": {
|
| 1184 |
+
"target_speed": 0.0,
|
| 1185 |
+
"command_speed": 0.0
|
| 1186 |
+
},
|
| 1187 |
+
"seen": {
|
| 1188 |
+
"state": "at_station",
|
| 1189 |
+
"station": "pick",
|
| 1190 |
+
"rider": "carrier_1",
|
| 1191 |
+
"arrived": true
|
| 1192 |
+
}
|
| 1193 |
+
}
|
| 1194 |
+
},
|
| 1195 |
+
"queues": {},
|
| 1196 |
+
"program": null,
|
| 1197 |
+
"sensors": {},
|
| 1198 |
+
"interlocks": {}
|
| 1199 |
+
}
|
| 1200 |
+
},
|
| 1201 |
+
"zones": {},
|
| 1202 |
+
"labware": {
|
| 1203 |
+
"plate_1": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_2": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_3": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
},
|
| 1212 |
+
"plate_4": {
|
| 1213 |
+
"sealed": false
|
| 1214 |
+
}
|
| 1215 |
+
},
|
| 1216 |
+
"rules": {},
|
| 1217 |
+
"records": [],
|
| 1218 |
+
"bus": {
|
| 1219 |
+
"seq": 3,
|
| 1220 |
+
"queue": []
|
| 1221 |
+
}
|
| 1222 |
+
}
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
{}
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{},
|
| 1235 |
+
{
|
| 1236 |
+
"ceiling": {
|
| 1237 |
+
"type": "rect",
|
| 1238 |
+
"pose": {
|
| 1239 |
+
"pos": [
|
| 1240 |
+
-0.2295258821005276,
|
| 1241 |
+
0.3340132025843987,
|
| 1242 |
+
2.995549877898748
|
| 1243 |
+
],
|
| 1244 |
+
"ori": [
|
| 1245 |
+
-7.703888500698559,
|
| 1246 |
+
-11.239694927229461,
|
| 1247 |
+
-29.141310315012007
|
| 1248 |
+
],
|
| 1249 |
+
"scale": [
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0,
|
| 1252 |
+
1.0
|
| 1253 |
+
]
|
| 1254 |
+
},
|
| 1255 |
+
"dr": {
|
| 1256 |
+
"color_temperature": 6101.504085990284,
|
| 1257 |
+
"color": [
|
| 1258 |
+
0.8567456498273545,
|
| 1259 |
+
0.9256870642483994,
|
| 1260 |
+
0.7947643919290355
|
| 1261 |
+
],
|
| 1262 |
+
"intensity": 7380.676790963862,
|
| 1263 |
+
"width": 2.4663010462200337,
|
| 1264 |
+
"height": 1.5063947136880314
|
| 1265 |
+
}
|
| 1266 |
+
},
|
| 1267 |
+
"key": {
|
| 1268 |
+
"type": "disk",
|
| 1269 |
+
"pose": {
|
| 1270 |
+
"pos": [
|
| 1271 |
+
0.5078491767250157,
|
| 1272 |
+
0.8776337270645211,
|
| 1273 |
+
2.028140407066475
|
| 1274 |
+
],
|
| 1275 |
+
"ori": [
|
| 1276 |
+
-10.777055570352942,
|
| 1277 |
+
18.35409687709376,
|
| 1278 |
+
-16.841664957617404
|
| 1279 |
+
],
|
| 1280 |
+
"scale": [
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0,
|
| 1283 |
+
1.0
|
| 1284 |
+
]
|
| 1285 |
+
},
|
| 1286 |
+
"dr": {
|
| 1287 |
+
"color_temperature": 6780.574441794992,
|
| 1288 |
+
"color": [
|
| 1289 |
+
0.8965387942830273,
|
| 1290 |
+
0.9240397715883526,
|
| 1291 |
+
0.9988429840492631
|
| 1292 |
+
],
|
| 1293 |
+
"intensity": 4311.040095158194,
|
| 1294 |
+
"radius": 0.2199292490843414
|
| 1295 |
+
}
|
| 1296 |
+
}
|
| 1297 |
+
}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 401.37407996474775,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
2.5321340560913086,
|
| 1394 |
+
-2.228564739227295,
|
| 1395 |
+
2.0621097087860107,
|
| 1396 |
+
-1.4046180248260498,
|
| 1397 |
+
-1.5712482929229736,
|
| 1398 |
+
4.100754261016846,
|
| 1399 |
+
0.01799996942281723,
|
| 1400 |
+
0.018000029027462006
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
0.646719217300415,
|
| 1404 |
+
-1.882080078125,
|
| 1405 |
+
2.256298542022705,
|
| 1406 |
+
-1.9443787336349487,
|
| 1407 |
+
-1.570674180984497,
|
| 1408 |
+
2.434241533279419,
|
| 1409 |
+
0.0077716270461678505,
|
| 1410 |
+
0.007099233567714691
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
1.2041311264038086,
|
| 1414 |
+
-1.3341104984283447,
|
| 1415 |
+
2.1808996200561523,
|
| 1416 |
+
-2.4176037311553955,
|
| 1417 |
+
-1.5708752870559692,
|
| 1418 |
+
2.5887372493743896,
|
| 1419 |
+
0.007792063523083925,
|
| 1420 |
+
0.007301424164324999
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
0.9141015410423279,
|
| 1424 |
+
-1.719399333000183,
|
| 1425 |
+
2.0905003547668457,
|
| 1426 |
+
-1.9419009685516357,
|
| 1427 |
+
-1.5707999467849731,
|
| 1428 |
+
2.4849002361297607,
|
| 1429 |
+
0.017999999225139618,
|
| 1430 |
+
0.017999999225139618
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
-0.007938403636217117,
|
| 1436 |
+
-0.010607395321130753,
|
| 1437 |
+
0.003716479055583477,
|
| 1438 |
+
0.006586642470210791,
|
| 1439 |
+
-6.4372738961537834e-06,
|
| 1440 |
+
-0.00794293638318777,
|
| 1441 |
+
-2.0931684048264287e-06,
|
| 1442 |
+
2.093223884003237e-06
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.03736288845539093,
|
| 1446 |
+
0.015738746151328087,
|
| 1447 |
+
-0.007461095694452524,
|
| 1448 |
+
-0.008736055344343185,
|
| 1449 |
+
0.0009323234553448856,
|
| 1450 |
+
-0.06936416774988174,
|
| 1451 |
+
-0.008370278403162956,
|
| 1452 |
+
0.0003392873040866107
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
0.00048091370263136923,
|
| 1456 |
+
-0.018613038584589958,
|
| 1457 |
+
-0.00791562907397747,
|
| 1458 |
+
0.025142058730125427,
|
| 1459 |
+
8.476285438518971e-05,
|
| 1460 |
+
0.00024313220637850463,
|
| 1461 |
+
-0.005853191018104553,
|
| 1462 |
+
0.00031751918140798807
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
5.108948244014755e-06,
|
| 1466 |
+
3.405936467970605e-06,
|
| 1467 |
+
-9.343160793651162e-12,
|
| 1468 |
+
-1.6840057993905422e-12,
|
| 1469 |
+
1.2356072111655014e-13,
|
| 1470 |
+
1.7370748936484937e-12,
|
| 1471 |
+
-2.796114576854303e-13,
|
| 1472 |
+
1.926507049590867e-13
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.05028471350669861,
|
| 1482 |
+
-0.0013767494820058346,
|
| 1483 |
+
-0.027732018381357193,
|
| 1484 |
+
-0.28317710757255554,
|
| 1485 |
+
0.6423545479774475,
|
| 1486 |
+
0.6632515788078308,
|
| 1487 |
+
-0.2594006359577179
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.05050521343946457,
|
| 1491 |
+
-0.0025628572329878807,
|
| 1492 |
+
-0.032258763909339905,
|
| 1493 |
+
-0.2788439095020294,
|
| 1494 |
+
0.6516839861869812,
|
| 1495 |
+
0.6460680961608887,
|
| 1496 |
+
-0.2831078767776489
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.048209402710199356,
|
| 1500 |
+
0.0005623543402180076,
|
| 1501 |
+
-0.032500822097063065,
|
| 1502 |
+
-0.2735510766506195,
|
| 1503 |
+
0.6557443141937256,
|
| 1504 |
+
0.6472445130348206,
|
| 1505 |
+
-0.2761225998401642
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.050943877547979355,
|
| 1509 |
+
0.0005792679148726165,
|
| 1510 |
+
-0.02878260239958763,
|
| 1511 |
+
-0.2836515009403229,
|
| 1512 |
+
0.6535420417785645,
|
| 1513 |
+
0.6456186771392822,
|
| 1514 |
+
-0.274956613779068
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.04453088343143463,
|
| 1520 |
+
0.5939066410064697,
|
| 1521 |
+
1.9395017623901367,
|
| 1522 |
+
0.04214826226234436,
|
| 1523 |
+
0.02362462505698204,
|
| 1524 |
+
0.261856347322464,
|
| 1525 |
+
0.9638965725898743
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.07056161016225815,
|
| 1529 |
+
0.5793591737747192,
|
| 1530 |
+
1.9472136497497559,
|
| 1531 |
+
0.040486253798007965,
|
| 1532 |
+
0.010899017564952374,
|
| 1533 |
+
0.2757556736469269,
|
| 1534 |
+
0.9603129029273987
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.040176790207624435,
|
| 1538 |
+
0.5868003964424133,
|
| 1539 |
+
1.940189003944397,
|
| 1540 |
+
0.04685106500983238,
|
| 1541 |
+
-0.004421116318553686,
|
| 1542 |
+
0.2781777083873749,
|
| 1543 |
+
0.9593761563301086
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06031622365117073,
|
| 1547 |
+
0.5552382469177246,
|
| 1548 |
+
1.9330048561096191,
|
| 1549 |
+
0.04171917960047722,
|
| 1550 |
+
-0.0030483989976346493,
|
| 1551 |
+
0.28094640374183655,
|
| 1552 |
+
0.9588114023208618
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c4_p009_e038/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c9b3d5293002b75496b4f2df6cbe9d18e4a38ba2cfd4c5a6406da8c79369b464
|
| 3 |
+
size 7409712
|
episodes/c7_p010_e021/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:078d969f7233dc1ccd7294efe9a33e75b19aee60a67109b180d287d96b78ad5b
|
| 3 |
+
size 203618
|
episodes/c7_p010_e021/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 0, "seq": 1, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 0, "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}
|
| 3 |
+
{"env_id": 0, "seq": 3, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 5725, "t": 28.625, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 6336, "t": 31.68, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 6 |
+
{"env_id": 0, "seq": 6, "step": 6336, "t": 31.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.9152936289559475}, "cause": "task-0-1"}
|
| 7 |
+
{"env_id": 0, "seq": 7, "step": 6336, "t": 31.68, "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"}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 6336, "t": 31.68, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 0, "seq": 9, "step": 6336, "t": 31.68, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
|
| 10 |
+
{"env_id": 0, "seq": 10, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 0, "seq": 11, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 12 |
+
{"env_id": 0, "seq": 12, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 13 |
+
{"env_id": 0, "seq": 13, "step": 6755, "t": 33.775, "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"}
|
| 14 |
+
{"env_id": 0, "seq": 14, "step": 6755, "t": 33.775, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
|
| 15 |
+
{"env_id": 0, "seq": 15, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
|
| 16 |
+
{"env_id": 0, "seq": 16, "step": 6755, "t": 33.775, "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"}
|
| 17 |
+
{"env_id": 0, "seq": 17, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 0, "seq": 18, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.9152936289559475}, "cause": "program-0-3"}
|
| 19 |
+
{"env_id": 0, "seq": 19, "step": 7139, "t": 35.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 0, "seq": 20, "step": 7139, "t": 35.695, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9200000000009823}, "cause": "program-0-3"}
|
| 21 |
+
{"env_id": 0, "seq": 21, "step": 7139, "t": 35.695, "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": 1.9200000000009823}}, "cause": "program-0-3"}
|
| 22 |
+
{"env_id": 0, "seq": 22, "step": 7139, "t": 35.695, "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"}
|
| 23 |
+
{"env_id": 0, "seq": 23, "step": 7139, "t": 35.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 0, "seq": 24, "step": 7139, "t": 35.695, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
|
| 25 |
+
{"env_id": 0, "seq": 25, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 0, "seq": 26, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.630057838182154e-10}, "cause": "program-0-4"}
|
| 27 |
+
{"env_id": 0, "seq": 27, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.630057838182154e-10}, "cause": "program-0-4"}
|
| 28 |
+
{"env_id": 0, "seq": 28, "step": 7559, "t": 37.795, "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"}
|
| 29 |
+
{"env_id": 0, "seq": 29, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
|
| 30 |
+
{"env_id": 0, "seq": 30, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 31 |
+
{"env_id": 0, "seq": 31, "step": 8143, "t": 40.715, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
+
{"env_id": 0, "seq": 32, "step": 10432, "t": 52.16, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
|
| 33 |
+
{"env_id": 0, "seq": 33, "step": 10432, "t": 52.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"}
|
| 34 |
+
{"env_id": 0, "seq": 34, "step": 10432, "t": 52.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 0, "seq": 35, "step": 10432, "t": 52.16, "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"}
|
episodes/c7_p010_e021/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:af940189c52f5bed6d48a0918b5f3560f622474e979ec5e305b710798ce685d8
|
| 3 |
+
size 1340611
|
episodes/c7_p010_e021/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p010/magicsim/21",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1282,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1282,
|
| 8 |
+
"env": 1282
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p010_e021/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 21,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c7_p010",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
+
1.0,
|
| 127 |
+
1.0,
|
| 128 |
+
1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
+
],
|
| 196 |
+
"ori": [
|
| 197 |
+
6.123234262925839e-17,
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
1.0
|
| 201 |
+
],
|
| 202 |
+
"scale": [
|
| 203 |
+
1.0,
|
| 204 |
+
1.0,
|
| 205 |
+
1.0
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"dr": {
|
| 209 |
+
"visual": {
|
| 210 |
+
"kind": null,
|
| 211 |
+
"value": null,
|
| 212 |
+
"visible": true
|
| 213 |
+
},
|
| 214 |
+
"physics": {
|
| 215 |
+
"type": "geometry",
|
| 216 |
+
"collision": false,
|
| 217 |
+
"ratio": 1.0
|
| 218 |
+
},
|
| 219 |
+
"primitive_params": null
|
| 220 |
+
},
|
| 221 |
+
"type_specific": {}
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 225 |
+
"pose": {
|
| 226 |
+
"pos": [
|
| 227 |
+
-0.6,
|
| 228 |
+
0.02,
|
| 229 |
+
1.0965
|
| 230 |
+
],
|
| 231 |
+
"ori": [
|
| 232 |
+
1.0,
|
| 233 |
+
0.0,
|
| 234 |
+
0.0,
|
| 235 |
+
0.0
|
| 236 |
+
],
|
| 237 |
+
"scale": [
|
| 238 |
+
1.0,
|
| 239 |
+
1.0,
|
| 240 |
+
1.0
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"dr": {
|
| 244 |
+
"visual": {
|
| 245 |
+
"kind": null,
|
| 246 |
+
"value": null,
|
| 247 |
+
"visible": true
|
| 248 |
+
},
|
| 249 |
+
"physics": {
|
| 250 |
+
"type": "geometry",
|
| 251 |
+
"collision": false,
|
| 252 |
+
"ratio": 1.0
|
| 253 |
+
},
|
| 254 |
+
"primitive_params": null
|
| 255 |
+
},
|
| 256 |
+
"type_specific": {}
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 260 |
+
"pose": {
|
| 261 |
+
"pos": [
|
| 262 |
+
-0.6,
|
| 263 |
+
0.02,
|
| 264 |
+
1.1645
|
| 265 |
+
],
|
| 266 |
+
"ori": [
|
| 267 |
+
6.123234262925839e-17,
|
| 268 |
+
0.0,
|
| 269 |
+
0.0,
|
| 270 |
+
1.0
|
| 271 |
+
],
|
| 272 |
+
"scale": [
|
| 273 |
+
1.0,
|
| 274 |
+
1.0,
|
| 275 |
+
1.0
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"dr": {
|
| 279 |
+
"visual": {
|
| 280 |
+
"kind": null,
|
| 281 |
+
"value": null,
|
| 282 |
+
"visible": true
|
| 283 |
+
},
|
| 284 |
+
"physics": {
|
| 285 |
+
"type": "geometry",
|
| 286 |
+
"collision": false,
|
| 287 |
+
"ratio": 1.0
|
| 288 |
+
},
|
| 289 |
+
"primitive_params": null
|
| 290 |
+
},
|
| 291 |
+
"type_specific": {}
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 295 |
+
"pose": {
|
| 296 |
+
"pos": [
|
| 297 |
+
-0.6,
|
| 298 |
+
0.02,
|
| 299 |
+
1.2325
|
| 300 |
+
],
|
| 301 |
+
"ori": [
|
| 302 |
+
1.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0
|
| 306 |
+
],
|
| 307 |
+
"scale": [
|
| 308 |
+
1.0,
|
| 309 |
+
1.0,
|
| 310 |
+
1.0
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"dr": {
|
| 314 |
+
"visual": {
|
| 315 |
+
"kind": null,
|
| 316 |
+
"value": null,
|
| 317 |
+
"visible": true
|
| 318 |
+
},
|
| 319 |
+
"physics": {
|
| 320 |
+
"type": "geometry",
|
| 321 |
+
"collision": false,
|
| 322 |
+
"ratio": 1.0
|
| 323 |
+
},
|
| 324 |
+
"primitive_params": null
|
| 325 |
+
},
|
| 326 |
+
"type_specific": {}
|
| 327 |
+
}
|
| 328 |
+
],
|
| 329 |
+
"a4s_sealer": [
|
| 330 |
+
{
|
| 331 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 332 |
+
"pose": {
|
| 333 |
+
"pos": [
|
| 334 |
+
0.4947824478149414,
|
| 335 |
+
0.1017904281616211,
|
| 336 |
+
0.8999999761581421
|
| 337 |
+
],
|
| 338 |
+
"ori": [
|
| 339 |
+
0.7262182235717773,
|
| 340 |
+
0.0,
|
| 341 |
+
0.0,
|
| 342 |
+
-0.6874642372131348
|
| 343 |
+
],
|
| 344 |
+
"scale": [
|
| 345 |
+
1.0,
|
| 346 |
+
1.0,
|
| 347 |
+
1.0
|
| 348 |
+
]
|
| 349 |
+
},
|
| 350 |
+
"dr": {
|
| 351 |
+
"visual": {
|
| 352 |
+
"kind": null,
|
| 353 |
+
"value": null,
|
| 354 |
+
"visible": true
|
| 355 |
+
},
|
| 356 |
+
"physics": {
|
| 357 |
+
"type": "articulation",
|
| 358 |
+
"solver_position_iteration_count": 16.0,
|
| 359 |
+
"solver_velocity_iteration_count": 1.0,
|
| 360 |
+
"enabled_self_collisions": false,
|
| 361 |
+
"ratio": 1.0
|
| 362 |
+
},
|
| 363 |
+
"primitive_params": null
|
| 364 |
+
},
|
| 365 |
+
"type_specific": {
|
| 366 |
+
"joint_position": [
|
| 367 |
+
5.719082325772451e-12
|
| 368 |
+
],
|
| 369 |
+
"joint_velocity": [
|
| 370 |
+
0.0
|
| 371 |
+
],
|
| 372 |
+
"linear_velocity": [
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
0.0
|
| 376 |
+
],
|
| 377 |
+
"angular_velocity": [
|
| 378 |
+
0.0,
|
| 379 |
+
0.0,
|
| 380 |
+
0.0
|
| 381 |
+
]
|
| 382 |
+
}
|
| 383 |
+
}
|
| 384 |
+
],
|
| 385 |
+
"conveyor": [
|
| 386 |
+
{
|
| 387 |
+
"asset": "Cube",
|
| 388 |
+
"pose": {
|
| 389 |
+
"pos": [
|
| 390 |
+
0.15,
|
| 391 |
+
0.45,
|
| 392 |
+
0.9
|
| 393 |
+
],
|
| 394 |
+
"ori": [
|
| 395 |
+
1.0,
|
| 396 |
+
0.0,
|
| 397 |
+
0.0,
|
| 398 |
+
0.0
|
| 399 |
+
],
|
| 400 |
+
"scale": [
|
| 401 |
+
1.0,
|
| 402 |
+
1.0,
|
| 403 |
+
1.0
|
| 404 |
+
]
|
| 405 |
+
},
|
| 406 |
+
"dr": {
|
| 407 |
+
"visual": {
|
| 408 |
+
"kind": null,
|
| 409 |
+
"value": null,
|
| 410 |
+
"visible": true
|
| 411 |
+
},
|
| 412 |
+
"physics": {
|
| 413 |
+
"type": "conveyor",
|
| 414 |
+
"physics_material": {
|
| 415 |
+
"static_friction": 0.9,
|
| 416 |
+
"dynamic_friction": 0.9
|
| 417 |
+
},
|
| 418 |
+
"ratio": 1.0
|
| 419 |
+
},
|
| 420 |
+
"primitive_params": {
|
| 421 |
+
"size": [
|
| 422 |
+
2.4,
|
| 423 |
+
0.076,
|
| 424 |
+
0.03
|
| 425 |
+
]
|
| 426 |
+
},
|
| 427 |
+
"conveyor": {
|
| 428 |
+
"speed": 0.17890474031639514,
|
| 429 |
+
"direction": [
|
| 430 |
+
1.0,
|
| 431 |
+
0.0,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
+
"enabled": true,
|
| 435 |
+
"drive": "surface_velocity",
|
| 436 |
+
"lines": null,
|
| 437 |
+
"station_line": null,
|
| 438 |
+
"riders": [
|
| 439 |
+
"carrier"
|
| 440 |
+
],
|
| 441 |
+
"stations": {
|
| 442 |
+
"pick": {
|
| 443 |
+
"position": -0.1580510491706248,
|
| 444 |
+
"slow_distance": 0.03,
|
| 445 |
+
"slow_speed": 0.03
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"rails": {
|
| 449 |
+
"height": 0.01,
|
| 450 |
+
"thickness": 0.01,
|
| 451 |
+
"gap": 0.001,
|
| 452 |
+
"friction": 0.05
|
| 453 |
+
},
|
| 454 |
+
"legs": 0.87,
|
| 455 |
+
"loop": {
|
| 456 |
+
"radius": 0.35,
|
| 457 |
+
"side": "left",
|
| 458 |
+
"curve_extra_width": 0.0,
|
| 459 |
+
"segments": 18,
|
| 460 |
+
"curve_rails": "both"
|
| 461 |
+
},
|
| 462 |
+
"snap_distance": 0.1,
|
| 463 |
+
"junction_snap": 0.02,
|
| 464 |
+
"collision_approximation": "auto",
|
| 465 |
+
"plate_mass": 1.0,
|
| 466 |
+
"lift_drop": 0.004,
|
| 467 |
+
"accel": 0.0,
|
| 468 |
+
"decel": 0.0,
|
| 469 |
+
"drive_damping": 1000000.0,
|
| 470 |
+
"drive_max_force": 1000000000.0
|
| 471 |
+
}
|
| 472 |
+
},
|
| 473 |
+
"type_specific": {
|
| 474 |
+
"controller": {
|
| 475 |
+
"state": "at_station",
|
| 476 |
+
"speed": 0.17890474031639514,
|
| 477 |
+
"holds": [],
|
| 478 |
+
"station": "pick",
|
| 479 |
+
"rider": "carrier_3",
|
| 480 |
+
"arrived": true,
|
| 481 |
+
"applied_speed": 0.0
|
| 482 |
+
}
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
],
|
| 486 |
+
"carrier": [
|
| 487 |
+
{
|
| 488 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 489 |
+
"pose": {
|
| 490 |
+
"pos": [
|
| 491 |
+
-1.385798454284668,
|
| 492 |
+
0.7105293273925781,
|
| 493 |
+
0.8999999761581421
|
| 494 |
+
],
|
| 495 |
+
"ori": [
|
| 496 |
+
-0.7899976968765259,
|
| 497 |
+
-6.379067940542882e-08,
|
| 498 |
+
-1.312836985789545e-07,
|
| 499 |
+
0.6131097674369812
|
| 500 |
+
],
|
| 501 |
+
"scale": [
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0
|
| 505 |
+
]
|
| 506 |
+
},
|
| 507 |
+
"dr": {
|
| 508 |
+
"visual": {
|
| 509 |
+
"kind": null,
|
| 510 |
+
"value": null,
|
| 511 |
+
"visible": true
|
| 512 |
+
},
|
| 513 |
+
"physics": {
|
| 514 |
+
"type": "rigid",
|
| 515 |
+
"mass": 0.5,
|
| 516 |
+
"physics_material": {
|
| 517 |
+
"static_friction": 0.9,
|
| 518 |
+
"dynamic_friction": 0.9,
|
| 519 |
+
"restitution": 0.0
|
| 520 |
+
},
|
| 521 |
+
"ratio": 1.0
|
| 522 |
+
},
|
| 523 |
+
"primitive_params": null
|
| 524 |
+
},
|
| 525 |
+
"type_specific": {
|
| 526 |
+
"linear_velocity": [
|
| 527 |
+
-5.087165133588201e-10,
|
| 528 |
+
2.196165471701761e-11,
|
| 529 |
+
0.0
|
| 530 |
+
],
|
| 531 |
+
"angular_velocity": [
|
| 532 |
+
-9.252030253037447e-10,
|
| 533 |
+
-4.0099266129800526e-08,
|
| 534 |
+
-6.72377264976376e-10
|
| 535 |
+
]
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 540 |
+
"pose": {
|
| 541 |
+
"pos": [
|
| 542 |
+
0.6046991348266602,
|
| 543 |
+
1.1506881713867188,
|
| 544 |
+
0.8999999761581421
|
| 545 |
+
],
|
| 546 |
+
"ori": [
|
| 547 |
+
-0.00660801911726594,
|
| 548 |
+
-9.737131101417162e-10,
|
| 549 |
+
-1.650890424365059e-09,
|
| 550 |
+
0.9999781847000122
|
| 551 |
+
],
|
| 552 |
+
"scale": [
|
| 553 |
+
1.0,
|
| 554 |
+
1.0,
|
| 555 |
+
1.0
|
| 556 |
+
]
|
| 557 |
+
},
|
| 558 |
+
"dr": {
|
| 559 |
+
"visual": {
|
| 560 |
+
"kind": null,
|
| 561 |
+
"value": null,
|
| 562 |
+
"visible": true
|
| 563 |
+
},
|
| 564 |
+
"physics": {
|
| 565 |
+
"type": "rigid",
|
| 566 |
+
"mass": 0.5,
|
| 567 |
+
"physics_material": {
|
| 568 |
+
"static_friction": 0.9,
|
| 569 |
+
"dynamic_friction": 0.9,
|
| 570 |
+
"restitution": 0.0
|
| 571 |
+
},
|
| 572 |
+
"ratio": 1.0
|
| 573 |
+
},
|
| 574 |
+
"primitive_params": null
|
| 575 |
+
},
|
| 576 |
+
"type_specific": {
|
| 577 |
+
"linear_velocity": [
|
| 578 |
+
3.1475801964830907e-09,
|
| 579 |
+
1.251616410513634e-08,
|
| 580 |
+
7.450580596923828e-09
|
| 581 |
+
],
|
| 582 |
+
"angular_velocity": [
|
| 583 |
+
-2.77174791563084e-07,
|
| 584 |
+
1.6830107085752388e-07,
|
| 585 |
+
-8.570921750106208e-08
|
| 586 |
+
]
|
| 587 |
+
}
|
| 588 |
+
},
|
| 589 |
+
{
|
| 590 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 591 |
+
"pose": {
|
| 592 |
+
"pos": [
|
| 593 |
+
-0.008312225341796875,
|
| 594 |
+
0.4500007629394531,
|
| 595 |
+
0.8999999761581421
|
| 596 |
+
],
|
| 597 |
+
"ori": [
|
| 598 |
+
1.0,
|
| 599 |
+
-6.565719967710493e-09,
|
| 600 |
+
4.230602979049536e-09,
|
| 601 |
+
-4.39083521541761e-07
|
| 602 |
+
],
|
| 603 |
+
"scale": [
|
| 604 |
+
1.0,
|
| 605 |
+
1.0,
|
| 606 |
+
1.0
|
| 607 |
+
]
|
| 608 |
+
},
|
| 609 |
+
"dr": {
|
| 610 |
+
"visual": {
|
| 611 |
+
"kind": null,
|
| 612 |
+
"value": null,
|
| 613 |
+
"visible": true
|
| 614 |
+
},
|
| 615 |
+
"physics": {
|
| 616 |
+
"type": "rigid",
|
| 617 |
+
"mass": 0.5,
|
| 618 |
+
"physics_material": {
|
| 619 |
+
"static_friction": 0.9,
|
| 620 |
+
"dynamic_friction": 0.9,
|
| 621 |
+
"restitution": 0.0
|
| 622 |
+
},
|
| 623 |
+
"ratio": 1.0
|
| 624 |
+
},
|
| 625 |
+
"primitive_params": null
|
| 626 |
+
},
|
| 627 |
+
"type_specific": {
|
| 628 |
+
"linear_velocity": [
|
| 629 |
+
-1.6311368922217184e-10,
|
| 630 |
+
2.2726653892135573e-09,
|
| 631 |
+
3.725290298461914e-09
|
| 632 |
+
],
|
| 633 |
+
"angular_velocity": [
|
| 634 |
+
-2.570560013737122e-07,
|
| 635 |
+
-2.1756559220875715e-08,
|
| 636 |
+
-1.4393974012705257e-08
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
{
|
| 641 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 642 |
+
"pose": {
|
| 643 |
+
"pos": [
|
| 644 |
+
1.6675453186035156,
|
| 645 |
+
0.943359375,
|
| 646 |
+
0.8999999761581421
|
| 647 |
+
],
|
| 648 |
+
"ori": [
|
| 649 |
+
0.5439833402633667,
|
| 650 |
+
-1.3532215348277532e-08,
|
| 651 |
+
8.861884737143555e-08,
|
| 652 |
+
0.8390961289405823
|
| 653 |
+
],
|
| 654 |
+
"scale": [
|
| 655 |
+
1.0,
|
| 656 |
+
1.0,
|
| 657 |
+
1.0
|
| 658 |
+
]
|
| 659 |
+
},
|
| 660 |
+
"dr": {
|
| 661 |
+
"visual": {
|
| 662 |
+
"kind": null,
|
| 663 |
+
"value": null,
|
| 664 |
+
"visible": true
|
| 665 |
+
},
|
| 666 |
+
"physics": {
|
| 667 |
+
"type": "rigid",
|
| 668 |
+
"mass": 0.5,
|
| 669 |
+
"physics_material": {
|
| 670 |
+
"static_friction": 0.9,
|
| 671 |
+
"dynamic_friction": 0.9,
|
| 672 |
+
"restitution": 0.0
|
| 673 |
+
},
|
| 674 |
+
"ratio": 1.0
|
| 675 |
+
},
|
| 676 |
+
"primitive_params": null
|
| 677 |
+
},
|
| 678 |
+
"type_specific": {
|
| 679 |
+
"linear_velocity": [
|
| 680 |
+
-5.425800919667267e-10,
|
| 681 |
+
-2.5827470717665335e-10,
|
| 682 |
+
0.0
|
| 683 |
+
],
|
| 684 |
+
"angular_velocity": [
|
| 685 |
+
1.1110259379165655e-09,
|
| 686 |
+
-1.2072964850062817e-08,
|
| 687 |
+
5.449937834356433e-09
|
| 688 |
+
]
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
],
|
| 692 |
+
"plate": [
|
| 693 |
+
{
|
| 694 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
|
| 695 |
+
"pose": {
|
| 696 |
+
"pos": [
|
| 697 |
+
-1.3816194534301758,
|
| 698 |
+
0.7228593826293945,
|
| 699 |
+
0.9179999828338623
|
| 700 |
+
],
|
| 701 |
+
"ori": [
|
| 702 |
+
-0.8128343820571899,
|
| 703 |
+
-6.825065668181196e-08,
|
| 704 |
+
-1.251792554057829e-07,
|
| 705 |
+
0.5824949145317078
|
| 706 |
+
],
|
| 707 |
+
"scale": [
|
| 708 |
+
1.0,
|
| 709 |
+
1.0,
|
| 710 |
+
1.0
|
| 711 |
+
]
|
| 712 |
+
},
|
| 713 |
+
"dr": {
|
| 714 |
+
"visual": {
|
| 715 |
+
"kind": null,
|
| 716 |
+
"value": null,
|
| 717 |
+
"visible": true
|
| 718 |
+
},
|
| 719 |
+
"physics": {
|
| 720 |
+
"type": "rigid",
|
| 721 |
+
"collision": true,
|
| 722 |
+
"mass": "asset",
|
| 723 |
+
"max_depenetration_velocity": 1.0,
|
| 724 |
+
"physics_material": {
|
| 725 |
+
"static_friction": 0.5,
|
| 726 |
+
"dynamic_friction": 0.45,
|
| 727 |
+
"restitution": 0.0,
|
| 728 |
+
"friction_combine_mode": "average"
|
| 729 |
+
},
|
| 730 |
+
"ratio": 1.0
|
| 731 |
+
},
|
| 732 |
+
"primitive_params": null
|
| 733 |
+
},
|
| 734 |
+
"type_specific": {
|
| 735 |
+
"linear_velocity": [
|
| 736 |
+
-6.087216775085835e-08,
|
| 737 |
+
1.553104489460111e-08,
|
| 738 |
+
1.4156103134155273e-07
|
| 739 |
+
],
|
| 740 |
+
"angular_velocity": [
|
| 741 |
+
-1.3650159189637634e-06,
|
| 742 |
+
-3.150795237161219e-06,
|
| 743 |
+
-2.2739338589872204e-07
|
| 744 |
+
]
|
| 745 |
+
}
|
| 746 |
+
},
|
| 747 |
+
{
|
| 748 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
|
| 749 |
+
"pose": {
|
| 750 |
+
"pos": [
|
| 751 |
+
0.6088943481445312,
|
| 752 |
+
1.1496601104736328,
|
| 753 |
+
0.9180000424385071
|
| 754 |
+
],
|
| 755 |
+
"ori": [
|
| 756 |
+
0.08516406267881393,
|
| 757 |
+
-1.8836374682251744e-09,
|
| 758 |
+
-1.0190983612545779e-09,
|
| 759 |
+
0.9963670372962952
|
| 760 |
+
],
|
| 761 |
+
"scale": [
|
| 762 |
+
1.0,
|
| 763 |
+
1.0,
|
| 764 |
+
1.0
|
| 765 |
+
]
|
| 766 |
+
},
|
| 767 |
+
"dr": {
|
| 768 |
+
"visual": {
|
| 769 |
+
"kind": null,
|
| 770 |
+
"value": null,
|
| 771 |
+
"visible": true
|
| 772 |
+
},
|
| 773 |
+
"physics": {
|
| 774 |
+
"type": "rigid",
|
| 775 |
+
"collision": true,
|
| 776 |
+
"mass": "asset",
|
| 777 |
+
"max_depenetration_velocity": 1.0,
|
| 778 |
+
"physics_material": {
|
| 779 |
+
"static_friction": 0.5,
|
| 780 |
+
"dynamic_friction": 0.45,
|
| 781 |
+
"restitution": 0.0,
|
| 782 |
+
"friction_combine_mode": "average"
|
| 783 |
+
},
|
| 784 |
+
"ratio": 1.0
|
| 785 |
+
},
|
| 786 |
+
"primitive_params": null
|
| 787 |
+
},
|
| 788 |
+
"type_specific": {
|
| 789 |
+
"linear_velocity": [
|
| 790 |
+
3.431016892818661e-08,
|
| 791 |
+
1.0039890696589282e-07,
|
| 792 |
+
-5.125999450683594e-06
|
| 793 |
+
],
|
| 794 |
+
"angular_velocity": [
|
| 795 |
+
-1.4776600210097968e-06,
|
| 796 |
+
2.1772518721263623e-06,
|
| 797 |
+
-3.6968987160435063e-07
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
{
|
| 802 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
|
| 803 |
+
"pose": {
|
| 804 |
+
"pos": [
|
| 805 |
+
0.003589630126953125,
|
| 806 |
+
0.46169281005859375,
|
| 807 |
+
0.9180000424385071
|
| 808 |
+
],
|
| 809 |
+
"ori": [
|
| 810 |
+
0.9977601766586304,
|
| 811 |
+
-6.0080402874973515e-09,
|
| 812 |
+
4.0916381394140444e-09,
|
| 813 |
+
-0.06689317524433136
|
| 814 |
+
],
|
| 815 |
+
"scale": [
|
| 816 |
+
1.0,
|
| 817 |
+
1.0,
|
| 818 |
+
1.0
|
| 819 |
+
]
|
| 820 |
+
},
|
| 821 |
+
"dr": {
|
| 822 |
+
"visual": {
|
| 823 |
+
"kind": null,
|
| 824 |
+
"value": null,
|
| 825 |
+
"visible": true
|
| 826 |
+
},
|
| 827 |
+
"physics": {
|
| 828 |
+
"type": "rigid",
|
| 829 |
+
"collision": true,
|
| 830 |
+
"mass": "asset",
|
| 831 |
+
"max_depenetration_velocity": 1.0,
|
| 832 |
+
"physics_material": {
|
| 833 |
+
"static_friction": 0.5,
|
| 834 |
+
"dynamic_friction": 0.45,
|
| 835 |
+
"restitution": 0.0,
|
| 836 |
+
"friction_combine_mode": "average"
|
| 837 |
+
},
|
| 838 |
+
"ratio": 1.0
|
| 839 |
+
},
|
| 840 |
+
"primitive_params": null
|
| 841 |
+
},
|
| 842 |
+
"type_specific": {
|
| 843 |
+
"linear_velocity": [
|
| 844 |
+
-1.4245538970669713e-08,
|
| 845 |
+
2.164349410804789e-08,
|
| 846 |
+
-6.020069122314453e-06
|
| 847 |
+
],
|
| 848 |
+
"angular_velocity": [
|
| 849 |
+
-5.576647765792586e-08,
|
| 850 |
+
-1.1466611340438249e-06,
|
| 851 |
+
1.1101053587481147e-07
|
| 852 |
+
]
|
| 853 |
+
}
|
| 854 |
+
},
|
| 855 |
+
{
|
| 856 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
|
| 857 |
+
"pose": {
|
| 858 |
+
"pos": [
|
| 859 |
+
1.6572256088256836,
|
| 860 |
+
0.9447765350341797,
|
| 861 |
+
0.9179999828338623
|
| 862 |
+
],
|
| 863 |
+
"ori": [
|
| 864 |
+
0.5240848064422607,
|
| 865 |
+
-9.444192983210087e-09,
|
| 866 |
+
9.127981570600241e-08,
|
| 867 |
+
0.8516661524772644
|
| 868 |
+
],
|
| 869 |
+
"scale": [
|
| 870 |
+
1.0,
|
| 871 |
+
1.0,
|
| 872 |
+
1.0
|
| 873 |
+
]
|
| 874 |
+
},
|
| 875 |
+
"dr": {
|
| 876 |
+
"visual": {
|
| 877 |
+
"kind": null,
|
| 878 |
+
"value": null,
|
| 879 |
+
"visible": true
|
| 880 |
+
},
|
| 881 |
+
"physics": {
|
| 882 |
+
"type": "rigid",
|
| 883 |
+
"collision": true,
|
| 884 |
+
"mass": "asset",
|
| 885 |
+
"max_depenetration_velocity": 1.0,
|
| 886 |
+
"physics_material": {
|
| 887 |
+
"static_friction": 0.5,
|
| 888 |
+
"dynamic_friction": 0.45,
|
| 889 |
+
"restitution": 0.0,
|
| 890 |
+
"friction_combine_mode": "average"
|
| 891 |
+
},
|
| 892 |
+
"ratio": 1.0
|
| 893 |
+
},
|
| 894 |
+
"primitive_params": null
|
| 895 |
+
},
|
| 896 |
+
"type_specific": {
|
| 897 |
+
"linear_velocity": [
|
| 898 |
+
1.1777279240732241e-07,
|
| 899 |
+
-9.94197790760154e-08,
|
| 900 |
+
-9.57399606704712e-07
|
| 901 |
+
],
|
| 902 |
+
"angular_velocity": [
|
| 903 |
+
2.8013264454784803e-06,
|
| 904 |
+
4.254578016116284e-06,
|
| 905 |
+
1.5271712072717492e-07
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
}
|
| 909 |
+
],
|
| 910 |
+
"deco_hub_west": [
|
| 911 |
+
{
|
| 912 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 913 |
+
"pose": {
|
| 914 |
+
"pos": [
|
| 915 |
+
-3.36,
|
| 916 |
+
0.0,
|
| 917 |
+
0.0
|
| 918 |
+
],
|
| 919 |
+
"ori": [
|
| 920 |
+
1.0,
|
| 921 |
+
0.0,
|
| 922 |
+
0.0,
|
| 923 |
+
0.0
|
| 924 |
+
],
|
| 925 |
+
"scale": [
|
| 926 |
+
1.0,
|
| 927 |
+
1.0,
|
| 928 |
+
1.0
|
| 929 |
+
]
|
| 930 |
+
},
|
| 931 |
+
"dr": {
|
| 932 |
+
"visual": {
|
| 933 |
+
"kind": null,
|
| 934 |
+
"value": null,
|
| 935 |
+
"visible": true
|
| 936 |
+
},
|
| 937 |
+
"physics": {
|
| 938 |
+
"type": "geometry",
|
| 939 |
+
"collision": false,
|
| 940 |
+
"ratio": 1.0
|
| 941 |
+
},
|
| 942 |
+
"primitive_params": null
|
| 943 |
+
},
|
| 944 |
+
"type_specific": {}
|
| 945 |
+
}
|
| 946 |
+
],
|
| 947 |
+
"deco_hub_east": [
|
| 948 |
+
{
|
| 949 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 950 |
+
"pose": {
|
| 951 |
+
"pos": [
|
| 952 |
+
3.36,
|
| 953 |
+
0.0,
|
| 954 |
+
0.0
|
| 955 |
+
],
|
| 956 |
+
"ori": [
|
| 957 |
+
1.0,
|
| 958 |
+
0.0,
|
| 959 |
+
0.0,
|
| 960 |
+
0.0
|
| 961 |
+
],
|
| 962 |
+
"scale": [
|
| 963 |
+
1.0,
|
| 964 |
+
1.0,
|
| 965 |
+
1.0
|
| 966 |
+
]
|
| 967 |
+
},
|
| 968 |
+
"dr": {
|
| 969 |
+
"visual": {
|
| 970 |
+
"kind": null,
|
| 971 |
+
"value": null,
|
| 972 |
+
"visible": true
|
| 973 |
+
},
|
| 974 |
+
"physics": {
|
| 975 |
+
"type": "geometry",
|
| 976 |
+
"collision": false,
|
| 977 |
+
"ratio": 1.0
|
| 978 |
+
},
|
| 979 |
+
"primitive_params": null
|
| 980 |
+
},
|
| 981 |
+
"type_specific": {}
|
| 982 |
+
}
|
| 983 |
+
],
|
| 984 |
+
"deco_hub_back": [
|
| 985 |
+
{
|
| 986 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
|
| 987 |
+
"pose": {
|
| 988 |
+
"pos": [
|
| 989 |
+
-3.0,
|
| 990 |
+
-2.1,
|
| 991 |
+
0.0
|
| 992 |
+
],
|
| 993 |
+
"ori": [
|
| 994 |
+
1.0,
|
| 995 |
+
0.0,
|
| 996 |
+
0.0,
|
| 997 |
+
0.0
|
| 998 |
+
],
|
| 999 |
+
"scale": [
|
| 1000 |
+
1.0,
|
| 1001 |
+
1.0,
|
| 1002 |
+
1.0
|
| 1003 |
+
]
|
| 1004 |
+
},
|
| 1005 |
+
"dr": {
|
| 1006 |
+
"visual": {
|
| 1007 |
+
"kind": null,
|
| 1008 |
+
"value": null,
|
| 1009 |
+
"visible": true
|
| 1010 |
+
},
|
| 1011 |
+
"physics": {
|
| 1012 |
+
"type": "geometry",
|
| 1013 |
+
"collision": false,
|
| 1014 |
+
"ratio": 1.0
|
| 1015 |
+
},
|
| 1016 |
+
"primitive_params": null
|
| 1017 |
+
},
|
| 1018 |
+
"type_specific": {}
|
| 1019 |
+
}
|
| 1020 |
+
],
|
| 1021 |
+
"deco_bench_east": [
|
| 1022 |
+
{
|
| 1023 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1024 |
+
"pose": {
|
| 1025 |
+
"pos": [
|
| 1026 |
+
2.6,
|
| 1027 |
+
-2.5,
|
| 1028 |
+
0.0
|
| 1029 |
+
],
|
| 1030 |
+
"ori": [
|
| 1031 |
+
6.123234262925839e-17,
|
| 1032 |
+
0.0,
|
| 1033 |
+
0.0,
|
| 1034 |
+
1.0
|
| 1035 |
+
],
|
| 1036 |
+
"scale": [
|
| 1037 |
+
1.0,
|
| 1038 |
+
1.0,
|
| 1039 |
+
1.0
|
| 1040 |
+
]
|
| 1041 |
+
},
|
| 1042 |
+
"dr": {
|
| 1043 |
+
"visual": {
|
| 1044 |
+
"kind": null,
|
| 1045 |
+
"value": null,
|
| 1046 |
+
"visible": true
|
| 1047 |
+
},
|
| 1048 |
+
"physics": {
|
| 1049 |
+
"type": "geometry",
|
| 1050 |
+
"collision": false,
|
| 1051 |
+
"ratio": 1.0
|
| 1052 |
+
},
|
| 1053 |
+
"primitive_params": null
|
| 1054 |
+
},
|
| 1055 |
+
"type_specific": {}
|
| 1056 |
+
}
|
| 1057 |
+
],
|
| 1058 |
+
"deco_bench_gap": [
|
| 1059 |
+
{
|
| 1060 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1061 |
+
"pose": {
|
| 1062 |
+
"pos": [
|
| 1063 |
+
-0.1,
|
| 1064 |
+
-2.9,
|
| 1065 |
+
0.0
|
| 1066 |
+
],
|
| 1067 |
+
"ori": [
|
| 1068 |
+
1.0,
|
| 1069 |
+
0.0,
|
| 1070 |
+
0.0,
|
| 1071 |
+
0.0
|
| 1072 |
+
],
|
| 1073 |
+
"scale": [
|
| 1074 |
+
1.0,
|
| 1075 |
+
1.0,
|
| 1076 |
+
1.0
|
| 1077 |
+
]
|
| 1078 |
+
},
|
| 1079 |
+
"dr": {
|
| 1080 |
+
"visual": {
|
| 1081 |
+
"kind": null,
|
| 1082 |
+
"value": null,
|
| 1083 |
+
"visible": true
|
| 1084 |
+
},
|
| 1085 |
+
"physics": {
|
| 1086 |
+
"type": "geometry",
|
| 1087 |
+
"collision": false,
|
| 1088 |
+
"ratio": 1.0
|
| 1089 |
+
},
|
| 1090 |
+
"primitive_params": null
|
| 1091 |
+
},
|
| 1092 |
+
"type_specific": {}
|
| 1093 |
+
}
|
| 1094 |
+
]
|
| 1095 |
+
},
|
| 1096 |
+
{},
|
| 1097 |
+
{},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
{
|
| 1103 |
+
"t": 1.1399999999999977,
|
| 1104 |
+
"step": 228,
|
| 1105 |
+
"counter": 0,
|
| 1106 |
+
"devices": {
|
| 1107 |
+
"a4s_sealer_1": {
|
| 1108 |
+
"mode": "auto",
|
| 1109 |
+
"units": {
|
| 1110 |
+
"drawer": {
|
| 1111 |
+
"state": "at_out",
|
| 1112 |
+
"active": null,
|
| 1113 |
+
"target": 0.0,
|
| 1114 |
+
"goal_name": "out",
|
| 1115 |
+
"profile": null,
|
| 1116 |
+
"q_start": null,
|
| 1117 |
+
"reversing": false,
|
| 1118 |
+
"blocked_for": 0.0,
|
| 1119 |
+
"settled_for": 0.0,
|
| 1120 |
+
"last_q": 5.719082325772451e-12
|
| 1121 |
+
},
|
| 1122 |
+
"heater": {
|
| 1123 |
+
"state": "ready",
|
| 1124 |
+
"active": null,
|
| 1125 |
+
"duration": 0.0,
|
| 1126 |
+
"t_start": null,
|
| 1127 |
+
"elapsed": 0.0
|
| 1128 |
+
}
|
| 1129 |
+
},
|
| 1130 |
+
"queues": {},
|
| 1131 |
+
"program": null,
|
| 1132 |
+
"sensors": {
|
| 1133 |
+
"plate_present": {
|
| 1134 |
+
"occupants": [],
|
| 1135 |
+
"pending": {}
|
| 1136 |
+
}
|
| 1137 |
+
},
|
| 1138 |
+
"interlocks": {}
|
| 1139 |
+
},
|
| 1140 |
+
"conveyor_1": {
|
| 1141 |
+
"mode": "auto",
|
| 1142 |
+
"units": {
|
| 1143 |
+
"belt": {
|
| 1144 |
+
"state": "at_station",
|
| 1145 |
+
"active": null,
|
| 1146 |
+
"controller": {
|
| 1147 |
+
"speed": 0.17890474031639514,
|
| 1148 |
+
"holds": [],
|
| 1149 |
+
"station": "pick",
|
| 1150 |
+
"rider": "carrier_3",
|
| 1151 |
+
"arrived": true,
|
| 1152 |
+
"settle_count": 109,
|
| 1153 |
+
"released": {
|
| 1154 |
+
"pick": []
|
| 1155 |
+
},
|
| 1156 |
+
"last_pos": {
|
| 1157 |
+
"carrier_1": [
|
| 1158 |
+
-1.5357984602451324,
|
| 1159 |
+
0.2605293393135071,
|
| 1160 |
+
0.0
|
| 1161 |
+
],
|
| 1162 |
+
"carrier_2": [
|
| 1163 |
+
0.4546991288661957,
|
| 1164 |
+
0.7006881833076477,
|
| 1165 |
+
0.0
|
| 1166 |
+
],
|
| 1167 |
+
"carrier_3": [
|
| 1168 |
+
-0.15831223130226135,
|
| 1169 |
+
7.748603820800781e-07,
|
| 1170 |
+
0.0
|
| 1171 |
+
],
|
| 1172 |
+
"carrier_4": [
|
| 1173 |
+
1.5175453126430511,
|
| 1174 |
+
0.49335938692092896,
|
| 1175 |
+
0.0
|
| 1176 |
+
]
|
| 1177 |
+
},
|
| 1178 |
+
"command": 0.0
|
| 1179 |
+
},
|
| 1180 |
+
"belt": {
|
| 1181 |
+
"target_speed": 0.0,
|
| 1182 |
+
"command_speed": 0.0
|
| 1183 |
+
},
|
| 1184 |
+
"seen": {
|
| 1185 |
+
"state": "at_station",
|
| 1186 |
+
"station": "pick",
|
| 1187 |
+
"rider": "carrier_3",
|
| 1188 |
+
"arrived": true
|
| 1189 |
+
}
|
| 1190 |
+
}
|
| 1191 |
+
},
|
| 1192 |
+
"queues": {},
|
| 1193 |
+
"program": null,
|
| 1194 |
+
"sensors": {},
|
| 1195 |
+
"interlocks": {}
|
| 1196 |
+
}
|
| 1197 |
+
},
|
| 1198 |
+
"zones": {},
|
| 1199 |
+
"labware": {
|
| 1200 |
+
"plate_1": {
|
| 1201 |
+
"sealed": false
|
| 1202 |
+
},
|
| 1203 |
+
"plate_2": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_3": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_4": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
}
|
| 1212 |
+
},
|
| 1213 |
+
"rules": {},
|
| 1214 |
+
"records": [],
|
| 1215 |
+
"bus": {
|
| 1216 |
+
"seq": 3,
|
| 1217 |
+
"queue": []
|
| 1218 |
+
}
|
| 1219 |
+
},
|
| 1220 |
+
null,
|
| 1221 |
+
null,
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
{},
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{
|
| 1233 |
+
"ceiling": {
|
| 1234 |
+
"type": "rect",
|
| 1235 |
+
"pose": {
|
| 1236 |
+
"pos": [
|
| 1237 |
+
-0.420033161446405,
|
| 1238 |
+
0.012049710215346732,
|
| 1239 |
+
3.0219204367675014
|
| 1240 |
+
],
|
| 1241 |
+
"ori": [
|
| 1242 |
+
-5.980566134089546,
|
| 1243 |
+
-12.072811469200381,
|
| 1244 |
+
19.124801296380966
|
| 1245 |
+
],
|
| 1246 |
+
"scale": [
|
| 1247 |
+
1.0,
|
| 1248 |
+
1.0,
|
| 1249 |
+
1.0
|
| 1250 |
+
]
|
| 1251 |
+
},
|
| 1252 |
+
"dr": {
|
| 1253 |
+
"color_temperature": 5661.588170530128,
|
| 1254 |
+
"color": [
|
| 1255 |
+
0.8833241759961253,
|
| 1256 |
+
0.8307220058821626,
|
| 1257 |
+
0.8053265043706593
|
| 1258 |
+
],
|
| 1259 |
+
"intensity": 4500.798119399024,
|
| 1260 |
+
"width": 2.6486071983060677,
|
| 1261 |
+
"height": 1.5879289496803235
|
| 1262 |
+
}
|
| 1263 |
+
},
|
| 1264 |
+
"key": {
|
| 1265 |
+
"type": "disk",
|
| 1266 |
+
"pose": {
|
| 1267 |
+
"pos": [
|
| 1268 |
+
0.003852540986563291,
|
| 1269 |
+
-0.39449377317658074,
|
| 1270 |
+
2.661244034766933
|
| 1271 |
+
],
|
| 1272 |
+
"ori": [
|
| 1273 |
+
-5.297616327653827,
|
| 1274 |
+
-5.542427413469696,
|
| 1275 |
+
-2.787801656240717
|
| 1276 |
+
],
|
| 1277 |
+
"scale": [
|
| 1278 |
+
1.0,
|
| 1279 |
+
1.0,
|
| 1280 |
+
1.0
|
| 1281 |
+
]
|
| 1282 |
+
},
|
| 1283 |
+
"dr": {
|
| 1284 |
+
"color_temperature": 7049.6458431973315,
|
| 1285 |
+
"color": [
|
| 1286 |
+
0.835864855550503,
|
| 1287 |
+
0.89425437599592,
|
| 1288 |
+
0.9227054928844273
|
| 1289 |
+
],
|
| 1290 |
+
"intensity": 7721.795068951212,
|
| 1291 |
+
"radius": 0.49923905973681104
|
| 1292 |
+
}
|
| 1293 |
+
}
|
| 1294 |
+
},
|
| 1295 |
+
{},
|
| 1296 |
+
{},
|
| 1297 |
+
{}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 1541.714532149518,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
0.914100706577301,
|
| 1394 |
+
-1.7193981409072876,
|
| 1395 |
+
2.090498924255371,
|
| 1396 |
+
-1.9419000148773193,
|
| 1397 |
+
-1.5707999467849731,
|
| 1398 |
+
2.4848999977111816,
|
| 1399 |
+
0.017999999225139618,
|
| 1400 |
+
0.017999999225139618
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
0.91410231590271,
|
| 1404 |
+
-1.7193983793258667,
|
| 1405 |
+
2.0904996395111084,
|
| 1406 |
+
-1.9419008493423462,
|
| 1407 |
+
-1.5707999467849731,
|
| 1408 |
+
2.4849002361297607,
|
| 1409 |
+
0.01799999736249447,
|
| 1410 |
+
0.018000001087784767
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
1.3510336875915527,
|
| 1414 |
+
-1.5274134874343872,
|
| 1415 |
+
2.2029483318328857,
|
| 1416 |
+
-2.2530014514923096,
|
| 1417 |
+
-1.570845127105713,
|
| 1418 |
+
6.04457426071167,
|
| 1419 |
+
0.007675581611692905,
|
| 1420 |
+
0.007088909391313791
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
0.8426114916801453,
|
| 1424 |
+
-1.2645002603530884,
|
| 1425 |
+
2.223748207092285,
|
| 1426 |
+
-2.530057430267334,
|
| 1427 |
+
-1.5707852840423584,
|
| 1428 |
+
2.4950644969940186,
|
| 1429 |
+
0.0076715657487511635,
|
| 1430 |
+
0.007023918908089399
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
2.1748459050684848e-38,
|
| 1436 |
+
-2.1523431536791247e-38,
|
| 1437 |
+
-1.8302561029525299e-38,
|
| 1438 |
+
-3.3283017827086123e-37,
|
| 1439 |
+
5.753322987989379e-37,
|
| 1440 |
+
3.3372021579307407e-37,
|
| 1441 |
+
3.079939678631259e-38,
|
| 1442 |
+
-3.447786130710381e-38
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.0,
|
| 1446 |
+
0.0,
|
| 1447 |
+
-1.6020496033627618e-38,
|
| 1448 |
+
-5.13063034357878e-37,
|
| 1449 |
+
7.998997271703438e-38,
|
| 1450 |
+
-4.039186098854449e-37,
|
| 1451 |
+
2.5990376073536936e-08,
|
| 1452 |
+
-2.5990399166175848e-08
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
-0.00016640756803099066,
|
| 1456 |
+
0.011180710047483444,
|
| 1457 |
+
0.007259041536599398,
|
| 1458 |
+
-0.017121784389019012,
|
| 1459 |
+
-3.300153912277892e-05,
|
| 1460 |
+
0.0002156248374376446,
|
| 1461 |
+
-0.00736981350928545,
|
| 1462 |
+
0.00029361777706071734
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
2.512106584617868e-05,
|
| 1466 |
+
-8.637422979518306e-06,
|
| 1467 |
+
-0.000170824583619833,
|
| 1468 |
+
-0.00025141536025330424,
|
| 1469 |
+
0.00033754893229342997,
|
| 1470 |
+
0.0009942648466676474,
|
| 1471 |
+
-0.008359966799616814,
|
| 1472 |
+
0.00025782198645174503
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.05000447481870651,
|
| 1482 |
+
0.00041084043914452195,
|
| 1483 |
+
-0.02907060645520687,
|
| 1484 |
+
-0.2787928879261017,
|
| 1485 |
+
0.6479879021644592,
|
| 1486 |
+
0.6516602039337158,
|
| 1487 |
+
-0.27879226207733154
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04670039936900139,
|
| 1491 |
+
-0.002995421877130866,
|
| 1492 |
+
-0.029476627707481384,
|
| 1493 |
+
-0.2788248062133789,
|
| 1494 |
+
0.6477481126785278,
|
| 1495 |
+
0.6486109495162964,
|
| 1496 |
+
-0.28632667660713196
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.048417218029499054,
|
| 1500 |
+
0.003238092875108123,
|
| 1501 |
+
-0.029882341623306274,
|
| 1502 |
+
-0.2849976122379303,
|
| 1503 |
+
0.6534081101417542,
|
| 1504 |
+
0.6367092132568359,
|
| 1505 |
+
-0.2939993143081665
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04825015366077423,
|
| 1509 |
+
-0.0019204238196834922,
|
| 1510 |
+
-0.03143993020057678,
|
| 1511 |
+
-0.2829456329345703,
|
| 1512 |
+
0.6465311646461487,
|
| 1513 |
+
0.6535542607307434,
|
| 1514 |
+
-0.2735070288181305
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.03674947842955589,
|
| 1520 |
+
0.559922993183136,
|
| 1521 |
+
1.9668701887130737,
|
| 1522 |
+
0.039797473698854446,
|
| 1523 |
+
0.004011505749076605,
|
| 1524 |
+
0.27370306849479675,
|
| 1525 |
+
0.9609821438789368
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.048871126025915146,
|
| 1529 |
+
0.6036928296089172,
|
| 1530 |
+
1.9269394874572754,
|
| 1531 |
+
0.04500925540924072,
|
| 1532 |
+
0.02208622731268406,
|
| 1533 |
+
0.2572290897369385,
|
| 1534 |
+
0.9650489687919617
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.0673273503780365,
|
| 1538 |
+
0.59356689453125,
|
| 1539 |
+
1.947079062461853,
|
| 1540 |
+
0.03892413154244423,
|
| 1541 |
+
0.027481237426400185,
|
| 1542 |
+
0.26986294984817505,
|
| 1543 |
+
0.9617191553115845
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.03318255767226219,
|
| 1547 |
+
0.5799187421798706,
|
| 1548 |
+
1.9323108196258545,
|
| 1549 |
+
0.027694419026374817,
|
| 1550 |
+
0.005669896490871906,
|
| 1551 |
+
0.27219539880752563,
|
| 1552 |
+
0.9618266820907593
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p010_e021/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7fbf2ac164133b5d26d652544d4a17f2792937a856d88d369a232601e842a305
|
| 3 |
+
size 8655698
|
episodes/c7_p010_e022/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:26ecdcde648c48210575364dcc7f071a7673f7f4b9005898d2cf61e09aedb209
|
| 3 |
+
size 200567
|
episodes/c7_p010_e022/device_events.jsonl
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 1, "seq": 1, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 1, "seq": 3, "step": 76, "t": 0.38, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 2106, "t": 10.53, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 5 |
+
{"env_id": 1, "seq": 5, "step": 6727, "t": 33.635, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 6 |
+
{"env_id": 1, "seq": 6, "step": 7340, "t": 36.7, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 7340, "t": 36.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8239028042810164}, "cause": "task-1-1"}
|
| 8 |
+
{"env_id": 1, "seq": 8, "step": 7340, "t": 36.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"}
|
| 9 |
+
{"env_id": 1, "seq": 9, "step": 7340, "t": 36.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 10 |
+
{"env_id": 1, "seq": 10, "step": 7340, "t": 36.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
|
| 11 |
+
{"env_id": 1, "seq": 11, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 12 |
+
{"env_id": 1, "seq": 12, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 13 |
+
{"env_id": 1, "seq": 13, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 14 |
+
{"env_id": 1, "seq": 14, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
|
| 15 |
+
{"env_id": 1, "seq": 15, "step": 7759, "t": 38.795, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
|
| 16 |
+
{"env_id": 1, "seq": 16, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
|
| 17 |
+
{"env_id": 1, "seq": 17, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
|
| 18 |
+
{"env_id": 1, "seq": 18, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 19 |
+
{"env_id": 1, "seq": 19, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8239028042810164}, "cause": "program-1-3"}
|
| 20 |
+
{"env_id": 1, "seq": 20, "step": 8324, "t": 41.62, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 21 |
+
{"env_id": 1, "seq": 21, "step": 8324, "t": 41.62, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8250000000014452}, "cause": "program-1-3"}
|
| 22 |
+
{"env_id": 1, "seq": 22, "step": 8324, "t": 41.62, "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": 2.8250000000014452}}, "cause": "program-1-3"}
|
| 23 |
+
{"env_id": 1, "seq": 23, "step": 8324, "t": 41.62, "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"}
|
| 24 |
+
{"env_id": 1, "seq": 24, "step": 8324, "t": 41.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 25 |
+
{"env_id": 1, "seq": 25, "step": 8324, "t": 41.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
|
| 26 |
+
{"env_id": 1, "seq": 26, "step": 8744, "t": 43.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 27 |
+
{"env_id": 1, "seq": 27, "step": 8744, "t": 43.72, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.803722195693808e-10}, "cause": "program-1-4"}
|
| 28 |
+
{"env_id": 1, "seq": 28, "step": 8744, "t": 43.72, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.803722195693808e-10}, "cause": "program-1-4"}
|
| 29 |
+
{"env_id": 1, "seq": 29, "step": 8744, "t": 43.72, "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"}
|
| 30 |
+
{"env_id": 1, "seq": 30, "step": 8744, "t": 43.72, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 31 |
+
{"env_id": 1, "seq": 31, "step": 8744, "t": 43.72, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 32 |
+
{"env_id": 1, "seq": 32, "step": 9323, "t": 46.615, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 33 |
+
{"env_id": 1, "seq": 33, "step": 11572, "t": 57.86, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 34 |
+
{"env_id": 1, "seq": 34, "step": 11572, "t": 57.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
|
| 35 |
+
{"env_id": 1, "seq": 35, "step": 11572, "t": 57.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 36 |
+
{"env_id": 1, "seq": 36, "step": 11572, "t": 57.86, "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"}
|
episodes/c7_p010_e022/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:98bee16f2162f6d190df29779f7392a82fe77faf36e5d2ed01af36745e13e652
|
| 3 |
+
size 1286670
|
episodes/c7_p010_e022/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p010/magicsim/22",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1244,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1244,
|
| 8 |
+
"env": 1244
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p010_e022/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 22,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c7_p010",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
+
1.0,
|
| 81 |
+
1.0,
|
| 82 |
+
1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
+
0.9
|
| 119 |
+
],
|
| 120 |
+
"ori": [
|
| 121 |
+
6.123234262925839e-17,
|
| 122 |
+
0.0,
|
| 123 |
+
0.0,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
"scale": [
|
| 127 |
+
1.0,
|
| 128 |
+
1.0,
|
| 129 |
+
1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dr": {
|
| 133 |
+
"visual": {
|
| 134 |
+
"kind": null,
|
| 135 |
+
"value": null,
|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
+
1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
"value": null,
|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
+
1.0285
|
| 196 |
+
],
|
| 197 |
+
"ori": [
|
| 198 |
+
6.123234262925839e-17,
|
| 199 |
+
0.0,
|
| 200 |
+
0.0,
|
| 201 |
+
1.0
|
| 202 |
+
],
|
| 203 |
+
"scale": [
|
| 204 |
+
1.0,
|
| 205 |
+
1.0,
|
| 206 |
+
1.0
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
"dr": {
|
| 210 |
+
"visual": {
|
| 211 |
+
"kind": null,
|
| 212 |
+
"value": null,
|
| 213 |
+
"visible": true
|
| 214 |
+
},
|
| 215 |
+
"physics": {
|
| 216 |
+
"type": "geometry",
|
| 217 |
+
"collision": false,
|
| 218 |
+
"ratio": 1.0
|
| 219 |
+
},
|
| 220 |
+
"primitive_params": null
|
| 221 |
+
},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 226 |
+
"pose": {
|
| 227 |
+
"pos": [
|
| 228 |
+
-0.6,
|
| 229 |
+
0.02,
|
| 230 |
+
1.0965
|
| 231 |
+
],
|
| 232 |
+
"ori": [
|
| 233 |
+
1.0,
|
| 234 |
+
0.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0
|
| 237 |
+
],
|
| 238 |
+
"scale": [
|
| 239 |
+
1.0,
|
| 240 |
+
1.0,
|
| 241 |
+
1.0
|
| 242 |
+
]
|
| 243 |
+
},
|
| 244 |
+
"dr": {
|
| 245 |
+
"visual": {
|
| 246 |
+
"kind": null,
|
| 247 |
+
"value": null,
|
| 248 |
+
"visible": true
|
| 249 |
+
},
|
| 250 |
+
"physics": {
|
| 251 |
+
"type": "geometry",
|
| 252 |
+
"collision": false,
|
| 253 |
+
"ratio": 1.0
|
| 254 |
+
},
|
| 255 |
+
"primitive_params": null
|
| 256 |
+
},
|
| 257 |
+
"type_specific": {}
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 261 |
+
"pose": {
|
| 262 |
+
"pos": [
|
| 263 |
+
-0.6,
|
| 264 |
+
0.02,
|
| 265 |
+
1.1645
|
| 266 |
+
],
|
| 267 |
+
"ori": [
|
| 268 |
+
6.123234262925839e-17,
|
| 269 |
+
0.0,
|
| 270 |
+
0.0,
|
| 271 |
+
1.0
|
| 272 |
+
],
|
| 273 |
+
"scale": [
|
| 274 |
+
1.0,
|
| 275 |
+
1.0,
|
| 276 |
+
1.0
|
| 277 |
+
]
|
| 278 |
+
},
|
| 279 |
+
"dr": {
|
| 280 |
+
"visual": {
|
| 281 |
+
"kind": null,
|
| 282 |
+
"value": null,
|
| 283 |
+
"visible": true
|
| 284 |
+
},
|
| 285 |
+
"physics": {
|
| 286 |
+
"type": "geometry",
|
| 287 |
+
"collision": false,
|
| 288 |
+
"ratio": 1.0
|
| 289 |
+
},
|
| 290 |
+
"primitive_params": null
|
| 291 |
+
},
|
| 292 |
+
"type_specific": {}
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 296 |
+
"pose": {
|
| 297 |
+
"pos": [
|
| 298 |
+
-0.6,
|
| 299 |
+
0.02,
|
| 300 |
+
1.2325
|
| 301 |
+
],
|
| 302 |
+
"ori": [
|
| 303 |
+
1.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0,
|
| 306 |
+
0.0
|
| 307 |
+
],
|
| 308 |
+
"scale": [
|
| 309 |
+
1.0,
|
| 310 |
+
1.0,
|
| 311 |
+
1.0
|
| 312 |
+
]
|
| 313 |
+
},
|
| 314 |
+
"dr": {
|
| 315 |
+
"visual": {
|
| 316 |
+
"kind": null,
|
| 317 |
+
"value": null,
|
| 318 |
+
"visible": true
|
| 319 |
+
},
|
| 320 |
+
"physics": {
|
| 321 |
+
"type": "geometry",
|
| 322 |
+
"collision": false,
|
| 323 |
+
"ratio": 1.0
|
| 324 |
+
},
|
| 325 |
+
"primitive_params": null
|
| 326 |
+
},
|
| 327 |
+
"type_specific": {}
|
| 328 |
+
}
|
| 329 |
+
],
|
| 330 |
+
"a4s_sealer": [
|
| 331 |
+
{
|
| 332 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 333 |
+
"pose": {
|
| 334 |
+
"pos": [
|
| 335 |
+
0.4943122863769531,
|
| 336 |
+
0.12484455108642578,
|
| 337 |
+
0.8999999761581421
|
| 338 |
+
],
|
| 339 |
+
"ori": [
|
| 340 |
+
-0.6890893578529358,
|
| 341 |
+
0.0,
|
| 342 |
+
0.0,
|
| 343 |
+
0.7246763706207275
|
| 344 |
+
],
|
| 345 |
+
"scale": [
|
| 346 |
+
1.0,
|
| 347 |
+
1.0,
|
| 348 |
+
1.0
|
| 349 |
+
]
|
| 350 |
+
},
|
| 351 |
+
"dr": {
|
| 352 |
+
"visual": {
|
| 353 |
+
"kind": null,
|
| 354 |
+
"value": null,
|
| 355 |
+
"visible": true
|
| 356 |
+
},
|
| 357 |
+
"physics": {
|
| 358 |
+
"type": "articulation",
|
| 359 |
+
"solver_position_iteration_count": 16.0,
|
| 360 |
+
"solver_velocity_iteration_count": 1.0,
|
| 361 |
+
"enabled_self_collisions": false,
|
| 362 |
+
"ratio": 1.0
|
| 363 |
+
},
|
| 364 |
+
"primitive_params": null
|
| 365 |
+
},
|
| 366 |
+
"type_specific": {
|
| 367 |
+
"joint_position": [
|
| 368 |
+
1.6820820994759011e-12
|
| 369 |
+
],
|
| 370 |
+
"joint_velocity": [
|
| 371 |
+
0.0
|
| 372 |
+
],
|
| 373 |
+
"linear_velocity": [
|
| 374 |
+
0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
+
"angular_velocity": [
|
| 379 |
+
0.0,
|
| 380 |
+
0.0,
|
| 381 |
+
0.0
|
| 382 |
+
]
|
| 383 |
+
}
|
| 384 |
+
}
|
| 385 |
+
],
|
| 386 |
+
"conveyor": [
|
| 387 |
+
{
|
| 388 |
+
"asset": "Cube",
|
| 389 |
+
"pose": {
|
| 390 |
+
"pos": [
|
| 391 |
+
0.15,
|
| 392 |
+
0.45,
|
| 393 |
+
0.9
|
| 394 |
+
],
|
| 395 |
+
"ori": [
|
| 396 |
+
1.0,
|
| 397 |
+
0.0,
|
| 398 |
+
0.0,
|
| 399 |
+
0.0
|
| 400 |
+
],
|
| 401 |
+
"scale": [
|
| 402 |
+
1.0,
|
| 403 |
+
1.0,
|
| 404 |
+
1.0
|
| 405 |
+
]
|
| 406 |
+
},
|
| 407 |
+
"dr": {
|
| 408 |
+
"visual": {
|
| 409 |
+
"kind": null,
|
| 410 |
+
"value": null,
|
| 411 |
+
"visible": true
|
| 412 |
+
},
|
| 413 |
+
"physics": {
|
| 414 |
+
"type": "conveyor",
|
| 415 |
+
"physics_material": {
|
| 416 |
+
"static_friction": 0.9,
|
| 417 |
+
"dynamic_friction": 0.9
|
| 418 |
+
},
|
| 419 |
+
"ratio": 1.0
|
| 420 |
+
},
|
| 421 |
+
"primitive_params": {
|
| 422 |
+
"size": [
|
| 423 |
+
2.4,
|
| 424 |
+
0.076,
|
| 425 |
+
0.03
|
| 426 |
+
]
|
| 427 |
+
},
|
| 428 |
+
"conveyor": {
|
| 429 |
+
"speed": 0.22029997180755873,
|
| 430 |
+
"direction": [
|
| 431 |
+
1.0,
|
| 432 |
+
0.0,
|
| 433 |
+
0.0
|
| 434 |
+
],
|
| 435 |
+
"enabled": true,
|
| 436 |
+
"drive": "surface_velocity",
|
| 437 |
+
"lines": null,
|
| 438 |
+
"station_line": null,
|
| 439 |
+
"riders": [
|
| 440 |
+
"carrier"
|
| 441 |
+
],
|
| 442 |
+
"stations": {
|
| 443 |
+
"pick": {
|
| 444 |
+
"position": -0.16705217044672785,
|
| 445 |
+
"slow_distance": 0.03,
|
| 446 |
+
"slow_speed": 0.03
|
| 447 |
+
}
|
| 448 |
+
},
|
| 449 |
+
"rails": {
|
| 450 |
+
"height": 0.01,
|
| 451 |
+
"thickness": 0.01,
|
| 452 |
+
"gap": 0.001,
|
| 453 |
+
"friction": 0.05
|
| 454 |
+
},
|
| 455 |
+
"legs": 0.87,
|
| 456 |
+
"loop": {
|
| 457 |
+
"radius": 0.35,
|
| 458 |
+
"side": "left",
|
| 459 |
+
"curve_extra_width": 0.0,
|
| 460 |
+
"segments": 18,
|
| 461 |
+
"curve_rails": "both"
|
| 462 |
+
},
|
| 463 |
+
"snap_distance": 0.1,
|
| 464 |
+
"junction_snap": 0.02,
|
| 465 |
+
"collision_approximation": "auto",
|
| 466 |
+
"plate_mass": 1.0,
|
| 467 |
+
"lift_drop": 0.004,
|
| 468 |
+
"accel": 0.0,
|
| 469 |
+
"decel": 0.0,
|
| 470 |
+
"drive_damping": 1000000.0,
|
| 471 |
+
"drive_max_force": 1000000000.0
|
| 472 |
+
}
|
| 473 |
+
},
|
| 474 |
+
"type_specific": {
|
| 475 |
+
"controller": {
|
| 476 |
+
"state": "at_station",
|
| 477 |
+
"speed": 0.22029997180755873,
|
| 478 |
+
"holds": [],
|
| 479 |
+
"station": "pick",
|
| 480 |
+
"rider": "carrier_1",
|
| 481 |
+
"arrived": true,
|
| 482 |
+
"applied_speed": 0.0
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
],
|
| 487 |
+
"carrier": [
|
| 488 |
+
{
|
| 489 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 490 |
+
"pose": {
|
| 491 |
+
"pos": [
|
| 492 |
+
-0.0172119140625,
|
| 493 |
+
0.4499969482421875,
|
| 494 |
+
0.8999999761581421
|
| 495 |
+
],
|
| 496 |
+
"ori": [
|
| 497 |
+
1.0,
|
| 498 |
+
1.486714751308682e-09,
|
| 499 |
+
-4.134392384003149e-09,
|
| 500 |
+
-1.9716064798558364e-06
|
| 501 |
+
],
|
| 502 |
+
"scale": [
|
| 503 |
+
1.0,
|
| 504 |
+
1.0,
|
| 505 |
+
1.0
|
| 506 |
+
]
|
| 507 |
+
},
|
| 508 |
+
"dr": {
|
| 509 |
+
"visual": {
|
| 510 |
+
"kind": null,
|
| 511 |
+
"value": null,
|
| 512 |
+
"visible": true
|
| 513 |
+
},
|
| 514 |
+
"physics": {
|
| 515 |
+
"type": "rigid",
|
| 516 |
+
"mass": 0.5,
|
| 517 |
+
"physics_material": {
|
| 518 |
+
"static_friction": 0.9,
|
| 519 |
+
"dynamic_friction": 0.9,
|
| 520 |
+
"restitution": 0.0
|
| 521 |
+
},
|
| 522 |
+
"ratio": 1.0
|
| 523 |
+
},
|
| 524 |
+
"primitive_params": null
|
| 525 |
+
},
|
| 526 |
+
"type_specific": {
|
| 527 |
+
"linear_velocity": [
|
| 528 |
+
1.3802726739342575e-09,
|
| 529 |
+
2.4700924639020627e-10,
|
| 530 |
+
7.450580596923828e-09
|
| 531 |
+
],
|
| 532 |
+
"angular_velocity": [
|
| 533 |
+
1.2097347124040425e-08,
|
| 534 |
+
1.2136503357851325e-07,
|
| 535 |
+
-1.1357488283181283e-08
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
{
|
| 540 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 541 |
+
"pose": {
|
| 542 |
+
"pos": [
|
| 543 |
+
-1.3844709396362305,
|
| 544 |
+
0.893035888671875,
|
| 545 |
+
0.8999999761581421
|
| 546 |
+
],
|
| 547 |
+
"ori": [
|
| 548 |
+
-0.5930531620979309,
|
| 549 |
+
2.331440640546134e-08,
|
| 550 |
+
7.408067048686462e-09,
|
| 551 |
+
0.8051633834838867
|
| 552 |
+
],
|
| 553 |
+
"scale": [
|
| 554 |
+
1.0,
|
| 555 |
+
1.0,
|
| 556 |
+
1.0
|
| 557 |
+
]
|
| 558 |
+
},
|
| 559 |
+
"dr": {
|
| 560 |
+
"visual": {
|
| 561 |
+
"kind": null,
|
| 562 |
+
"value": null,
|
| 563 |
+
"visible": true
|
| 564 |
+
},
|
| 565 |
+
"physics": {
|
| 566 |
+
"type": "rigid",
|
| 567 |
+
"mass": 0.5,
|
| 568 |
+
"physics_material": {
|
| 569 |
+
"static_friction": 0.9,
|
| 570 |
+
"dynamic_friction": 0.9,
|
| 571 |
+
"restitution": 0.0
|
| 572 |
+
},
|
| 573 |
+
"ratio": 1.0
|
| 574 |
+
},
|
| 575 |
+
"primitive_params": null
|
| 576 |
+
},
|
| 577 |
+
"type_specific": {
|
| 578 |
+
"linear_velocity": [
|
| 579 |
+
2.031700363502864e-10,
|
| 580 |
+
2.337819660080953e-10,
|
| 581 |
+
0.0
|
| 582 |
+
],
|
| 583 |
+
"angular_velocity": [
|
| 584 |
+
-2.361527506877792e-08,
|
| 585 |
+
3.825779515409522e-08,
|
| 586 |
+
-5.722837759236654e-09
|
| 587 |
+
]
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
{
|
| 591 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 592 |
+
"pose": {
|
| 593 |
+
"pos": [
|
| 594 |
+
0.31180381774902344,
|
| 595 |
+
1.149998664855957,
|
| 596 |
+
0.8999999761581421
|
| 597 |
+
],
|
| 598 |
+
"ori": [
|
| 599 |
+
-3.052389365620911e-05,
|
| 600 |
+
-4.503231121333329e-12,
|
| 601 |
+
4.1885490631443645e-09,
|
| 602 |
+
1.0
|
| 603 |
+
],
|
| 604 |
+
"scale": [
|
| 605 |
+
1.0,
|
| 606 |
+
1.0,
|
| 607 |
+
1.0
|
| 608 |
+
]
|
| 609 |
+
},
|
| 610 |
+
"dr": {
|
| 611 |
+
"visual": {
|
| 612 |
+
"kind": null,
|
| 613 |
+
"value": null,
|
| 614 |
+
"visible": true
|
| 615 |
+
},
|
| 616 |
+
"physics": {
|
| 617 |
+
"type": "rigid",
|
| 618 |
+
"mass": 0.5,
|
| 619 |
+
"physics_material": {
|
| 620 |
+
"static_friction": 0.9,
|
| 621 |
+
"dynamic_friction": 0.9,
|
| 622 |
+
"restitution": 0.0
|
| 623 |
+
},
|
| 624 |
+
"ratio": 1.0
|
| 625 |
+
},
|
| 626 |
+
"primitive_params": null
|
| 627 |
+
},
|
| 628 |
+
"type_specific": {
|
| 629 |
+
"linear_velocity": [
|
| 630 |
+
-8.073276491771253e-10,
|
| 631 |
+
-1.2235862323350943e-09,
|
| 632 |
+
3.725290298461914e-09
|
| 633 |
+
],
|
| 634 |
+
"angular_velocity": [
|
| 635 |
+
8.381260130363444e-08,
|
| 636 |
+
-6.955048093004734e-08,
|
| 637 |
+
-7.2171340015358965e-09
|
| 638 |
+
]
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 643 |
+
"pose": {
|
| 644 |
+
"pos": [
|
| 645 |
+
1.6779546737670898,
|
| 646 |
+
0.9194707870483398,
|
| 647 |
+
0.8999999761581421
|
| 648 |
+
],
|
| 649 |
+
"ori": [
|
| 650 |
+
0.5746945738792419,
|
| 651 |
+
6.533344532044794e-08,
|
| 652 |
+
-7.145516889295322e-08,
|
| 653 |
+
0.8183679580688477
|
| 654 |
+
],
|
| 655 |
+
"scale": [
|
| 656 |
+
1.0,
|
| 657 |
+
1.0,
|
| 658 |
+
1.0
|
| 659 |
+
]
|
| 660 |
+
},
|
| 661 |
+
"dr": {
|
| 662 |
+
"visual": {
|
| 663 |
+
"kind": null,
|
| 664 |
+
"value": null,
|
| 665 |
+
"visible": true
|
| 666 |
+
},
|
| 667 |
+
"physics": {
|
| 668 |
+
"type": "rigid",
|
| 669 |
+
"mass": 0.5,
|
| 670 |
+
"physics_material": {
|
| 671 |
+
"static_friction": 0.9,
|
| 672 |
+
"dynamic_friction": 0.9,
|
| 673 |
+
"restitution": 0.0
|
| 674 |
+
},
|
| 675 |
+
"ratio": 1.0
|
| 676 |
+
},
|
| 677 |
+
"primitive_params": null
|
| 678 |
+
},
|
| 679 |
+
"type_specific": {
|
| 680 |
+
"linear_velocity": [
|
| 681 |
+
-1.3464403814111847e-08,
|
| 682 |
+
5.498558941496867e-09,
|
| 683 |
+
5.21540641784668e-08
|
| 684 |
+
],
|
| 685 |
+
"angular_velocity": [
|
| 686 |
+
-6.924232707206102e-07,
|
| 687 |
+
-3.195915212472755e-07,
|
| 688 |
+
-1.658834918316643e-07
|
| 689 |
+
]
|
| 690 |
+
}
|
| 691 |
+
}
|
| 692 |
+
],
|
| 693 |
+
"plate": [
|
| 694 |
+
{
|
| 695 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
|
| 696 |
+
"pose": {
|
| 697 |
+
"pos": [
|
| 698 |
+
-0.03211688995361328,
|
| 699 |
+
0.4517478942871094,
|
| 700 |
+
0.9179999828338623
|
| 701 |
+
],
|
| 702 |
+
"ori": [
|
| 703 |
+
0.9987186193466187,
|
| 704 |
+
3.5990566082944042e-09,
|
| 705 |
+
-5.7986921930819335e-09,
|
| 706 |
+
0.05060886964201927
|
| 707 |
+
],
|
| 708 |
+
"scale": [
|
| 709 |
+
1.0,
|
| 710 |
+
1.0,
|
| 711 |
+
1.0
|
| 712 |
+
]
|
| 713 |
+
},
|
| 714 |
+
"dr": {
|
| 715 |
+
"visual": {
|
| 716 |
+
"kind": null,
|
| 717 |
+
"value": null,
|
| 718 |
+
"visible": true
|
| 719 |
+
},
|
| 720 |
+
"physics": {
|
| 721 |
+
"type": "rigid",
|
| 722 |
+
"collision": true,
|
| 723 |
+
"mass": "asset",
|
| 724 |
+
"max_depenetration_velocity": 1.0,
|
| 725 |
+
"physics_material": {
|
| 726 |
+
"static_friction": 0.5,
|
| 727 |
+
"dynamic_friction": 0.45,
|
| 728 |
+
"restitution": 0.0,
|
| 729 |
+
"friction_combine_mode": "average"
|
| 730 |
+
},
|
| 731 |
+
"ratio": 1.0
|
| 732 |
+
},
|
| 733 |
+
"primitive_params": null
|
| 734 |
+
},
|
| 735 |
+
"type_specific": {
|
| 736 |
+
"linear_velocity": [
|
| 737 |
+
-8.008369078993383e-09,
|
| 738 |
+
-8.974866183564245e-09,
|
| 739 |
+
1.564621925354004e-07
|
| 740 |
+
],
|
| 741 |
+
"angular_velocity": [
|
| 742 |
+
1.3095204849378206e-06,
|
| 743 |
+
-1.7332935158265173e-06,
|
| 744 |
+
-6.338736113775667e-08
|
| 745 |
+
]
|
| 746 |
+
}
|
| 747 |
+
},
|
| 748 |
+
{
|
| 749 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
|
| 750 |
+
"pose": {
|
| 751 |
+
"pos": [
|
| 752 |
+
-1.3747529983520508,
|
| 753 |
+
0.9060535430908203,
|
| 754 |
+
0.9180000424385071
|
| 755 |
+
],
|
| 756 |
+
"ori": [
|
| 757 |
+
-0.5382240414619446,
|
| 758 |
+
2.4168823387071825e-08,
|
| 759 |
+
9.232633324529615e-09,
|
| 760 |
+
0.8428019285202026
|
| 761 |
+
],
|
| 762 |
+
"scale": [
|
| 763 |
+
1.0,
|
| 764 |
+
1.0,
|
| 765 |
+
1.0
|
| 766 |
+
]
|
| 767 |
+
},
|
| 768 |
+
"dr": {
|
| 769 |
+
"visual": {
|
| 770 |
+
"kind": null,
|
| 771 |
+
"value": null,
|
| 772 |
+
"visible": true
|
| 773 |
+
},
|
| 774 |
+
"physics": {
|
| 775 |
+
"type": "rigid",
|
| 776 |
+
"collision": true,
|
| 777 |
+
"mass": "asset",
|
| 778 |
+
"max_depenetration_velocity": 1.0,
|
| 779 |
+
"physics_material": {
|
| 780 |
+
"static_friction": 0.5,
|
| 781 |
+
"dynamic_friction": 0.45,
|
| 782 |
+
"restitution": 0.0,
|
| 783 |
+
"friction_combine_mode": "average"
|
| 784 |
+
},
|
| 785 |
+
"ratio": 1.0
|
| 786 |
+
},
|
| 787 |
+
"primitive_params": null
|
| 788 |
+
},
|
| 789 |
+
"type_specific": {
|
| 790 |
+
"linear_velocity": [
|
| 791 |
+
5.681595638407089e-09,
|
| 792 |
+
8.358689740362024e-09,
|
| 793 |
+
-6.381422281265259e-06
|
| 794 |
+
],
|
| 795 |
+
"angular_velocity": [
|
| 796 |
+
-9.508607377028966e-07,
|
| 797 |
+
-9.628051600429899e-08,
|
| 798 |
+
4.985665214007895e-08
|
| 799 |
+
]
|
| 800 |
+
}
|
| 801 |
+
},
|
| 802 |
+
{
|
| 803 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
|
| 804 |
+
"pose": {
|
| 805 |
+
"pos": [
|
| 806 |
+
0.30582714080810547,
|
| 807 |
+
1.1452932357788086,
|
| 808 |
+
0.9179999828338623
|
| 809 |
+
],
|
| 810 |
+
"ori": [
|
| 811 |
+
0.07261929661035538,
|
| 812 |
+
-5.247850487499761e-10,
|
| 813 |
+
4.714071799583053e-09,
|
| 814 |
+
0.9973598122596741
|
| 815 |
+
],
|
| 816 |
+
"scale": [
|
| 817 |
+
1.0,
|
| 818 |
+
1.0,
|
| 819 |
+
1.0
|
| 820 |
+
]
|
| 821 |
+
},
|
| 822 |
+
"dr": {
|
| 823 |
+
"visual": {
|
| 824 |
+
"kind": null,
|
| 825 |
+
"value": null,
|
| 826 |
+
"visible": true
|
| 827 |
+
},
|
| 828 |
+
"physics": {
|
| 829 |
+
"type": "rigid",
|
| 830 |
+
"collision": true,
|
| 831 |
+
"mass": "asset",
|
| 832 |
+
"max_depenetration_velocity": 1.0,
|
| 833 |
+
"physics_material": {
|
| 834 |
+
"static_friction": 0.5,
|
| 835 |
+
"dynamic_friction": 0.45,
|
| 836 |
+
"restitution": 0.0,
|
| 837 |
+
"friction_combine_mode": "average"
|
| 838 |
+
},
|
| 839 |
+
"ratio": 1.0
|
| 840 |
+
},
|
| 841 |
+
"primitive_params": null
|
| 842 |
+
},
|
| 843 |
+
"type_specific": {
|
| 844 |
+
"linear_velocity": [
|
| 845 |
+
5.501763489235145e-09,
|
| 846 |
+
-1.0729195309977513e-08,
|
| 847 |
+
-5.491077899932861e-06
|
| 848 |
+
],
|
| 849 |
+
"angular_velocity": [
|
| 850 |
+
-1.6938643909725215e-07,
|
| 851 |
+
1.6008515331122908e-06,
|
| 852 |
+
1.487097023300521e-08
|
| 853 |
+
]
|
| 854 |
+
}
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
|
| 858 |
+
"pose": {
|
| 859 |
+
"pos": [
|
| 860 |
+
1.6720647811889648,
|
| 861 |
+
0.9294414520263672,
|
| 862 |
+
0.9179999828338623
|
| 863 |
+
],
|
| 864 |
+
"ori": [
|
| 865 |
+
0.5808513760566711,
|
| 866 |
+
6.50711484695421e-08,
|
| 867 |
+
-7.112667788078397e-08,
|
| 868 |
+
0.8140096664428711
|
| 869 |
+
],
|
| 870 |
+
"scale": [
|
| 871 |
+
1.0,
|
| 872 |
+
1.0,
|
| 873 |
+
1.0
|
| 874 |
+
]
|
| 875 |
+
},
|
| 876 |
+
"dr": {
|
| 877 |
+
"visual": {
|
| 878 |
+
"kind": null,
|
| 879 |
+
"value": null,
|
| 880 |
+
"visible": true
|
| 881 |
+
},
|
| 882 |
+
"physics": {
|
| 883 |
+
"type": "rigid",
|
| 884 |
+
"collision": true,
|
| 885 |
+
"mass": "asset",
|
| 886 |
+
"max_depenetration_velocity": 1.0,
|
| 887 |
+
"physics_material": {
|
| 888 |
+
"static_friction": 0.5,
|
| 889 |
+
"dynamic_friction": 0.45,
|
| 890 |
+
"restitution": 0.0,
|
| 891 |
+
"friction_combine_mode": "average"
|
| 892 |
+
},
|
| 893 |
+
"ratio": 1.0
|
| 894 |
+
},
|
| 895 |
+
"primitive_params": null
|
| 896 |
+
},
|
| 897 |
+
"type_specific": {
|
| 898 |
+
"linear_velocity": [
|
| 899 |
+
-2.740117643895701e-08,
|
| 900 |
+
-1.1111080056025457e-08,
|
| 901 |
+
3.5390257835388184e-07
|
| 902 |
+
],
|
| 903 |
+
"angular_velocity": [
|
| 904 |
+
2.4951100385806058e-06,
|
| 905 |
+
1.6694683608875494e-06,
|
| 906 |
+
-2.6069886871482595e-07
|
| 907 |
+
]
|
| 908 |
+
}
|
| 909 |
+
}
|
| 910 |
+
],
|
| 911 |
+
"deco_hub_west": [
|
| 912 |
+
{
|
| 913 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 914 |
+
"pose": {
|
| 915 |
+
"pos": [
|
| 916 |
+
-3.36,
|
| 917 |
+
0.0,
|
| 918 |
+
0.0
|
| 919 |
+
],
|
| 920 |
+
"ori": [
|
| 921 |
+
1.0,
|
| 922 |
+
0.0,
|
| 923 |
+
0.0,
|
| 924 |
+
0.0
|
| 925 |
+
],
|
| 926 |
+
"scale": [
|
| 927 |
+
1.0,
|
| 928 |
+
1.0,
|
| 929 |
+
1.0
|
| 930 |
+
]
|
| 931 |
+
},
|
| 932 |
+
"dr": {
|
| 933 |
+
"visual": {
|
| 934 |
+
"kind": null,
|
| 935 |
+
"value": null,
|
| 936 |
+
"visible": true
|
| 937 |
+
},
|
| 938 |
+
"physics": {
|
| 939 |
+
"type": "geometry",
|
| 940 |
+
"collision": false,
|
| 941 |
+
"ratio": 1.0
|
| 942 |
+
},
|
| 943 |
+
"primitive_params": null
|
| 944 |
+
},
|
| 945 |
+
"type_specific": {}
|
| 946 |
+
}
|
| 947 |
+
],
|
| 948 |
+
"deco_hub_east": [
|
| 949 |
+
{
|
| 950 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
|
| 951 |
+
"pose": {
|
| 952 |
+
"pos": [
|
| 953 |
+
3.36,
|
| 954 |
+
0.0,
|
| 955 |
+
0.0
|
| 956 |
+
],
|
| 957 |
+
"ori": [
|
| 958 |
+
1.0,
|
| 959 |
+
0.0,
|
| 960 |
+
0.0,
|
| 961 |
+
0.0
|
| 962 |
+
],
|
| 963 |
+
"scale": [
|
| 964 |
+
1.0,
|
| 965 |
+
1.0,
|
| 966 |
+
1.0
|
| 967 |
+
]
|
| 968 |
+
},
|
| 969 |
+
"dr": {
|
| 970 |
+
"visual": {
|
| 971 |
+
"kind": null,
|
| 972 |
+
"value": null,
|
| 973 |
+
"visible": true
|
| 974 |
+
},
|
| 975 |
+
"physics": {
|
| 976 |
+
"type": "geometry",
|
| 977 |
+
"collision": false,
|
| 978 |
+
"ratio": 1.0
|
| 979 |
+
},
|
| 980 |
+
"primitive_params": null
|
| 981 |
+
},
|
| 982 |
+
"type_specific": {}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"deco_hub_back": [
|
| 986 |
+
{
|
| 987 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 988 |
+
"pose": {
|
| 989 |
+
"pos": [
|
| 990 |
+
-3.0,
|
| 991 |
+
-2.1,
|
| 992 |
+
0.0
|
| 993 |
+
],
|
| 994 |
+
"ori": [
|
| 995 |
+
1.0,
|
| 996 |
+
0.0,
|
| 997 |
+
0.0,
|
| 998 |
+
0.0
|
| 999 |
+
],
|
| 1000 |
+
"scale": [
|
| 1001 |
+
1.0,
|
| 1002 |
+
1.0,
|
| 1003 |
+
1.0
|
| 1004 |
+
]
|
| 1005 |
+
},
|
| 1006 |
+
"dr": {
|
| 1007 |
+
"visual": {
|
| 1008 |
+
"kind": null,
|
| 1009 |
+
"value": null,
|
| 1010 |
+
"visible": true
|
| 1011 |
+
},
|
| 1012 |
+
"physics": {
|
| 1013 |
+
"type": "geometry",
|
| 1014 |
+
"collision": false,
|
| 1015 |
+
"ratio": 1.0
|
| 1016 |
+
},
|
| 1017 |
+
"primitive_params": null
|
| 1018 |
+
},
|
| 1019 |
+
"type_specific": {}
|
| 1020 |
+
}
|
| 1021 |
+
],
|
| 1022 |
+
"deco_bench_east": [
|
| 1023 |
+
{
|
| 1024 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
|
| 1025 |
+
"pose": {
|
| 1026 |
+
"pos": [
|
| 1027 |
+
2.6,
|
| 1028 |
+
-2.5,
|
| 1029 |
+
0.0
|
| 1030 |
+
],
|
| 1031 |
+
"ori": [
|
| 1032 |
+
6.123234262925839e-17,
|
| 1033 |
+
0.0,
|
| 1034 |
+
0.0,
|
| 1035 |
+
1.0
|
| 1036 |
+
],
|
| 1037 |
+
"scale": [
|
| 1038 |
+
1.0,
|
| 1039 |
+
1.0,
|
| 1040 |
+
1.0
|
| 1041 |
+
]
|
| 1042 |
+
},
|
| 1043 |
+
"dr": {
|
| 1044 |
+
"visual": {
|
| 1045 |
+
"kind": null,
|
| 1046 |
+
"value": null,
|
| 1047 |
+
"visible": true
|
| 1048 |
+
},
|
| 1049 |
+
"physics": {
|
| 1050 |
+
"type": "geometry",
|
| 1051 |
+
"collision": false,
|
| 1052 |
+
"ratio": 1.0
|
| 1053 |
+
},
|
| 1054 |
+
"primitive_params": null
|
| 1055 |
+
},
|
| 1056 |
+
"type_specific": {}
|
| 1057 |
+
}
|
| 1058 |
+
],
|
| 1059 |
+
"deco_bench_gap": [
|
| 1060 |
+
{
|
| 1061 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1062 |
+
"pose": {
|
| 1063 |
+
"pos": [
|
| 1064 |
+
-0.1,
|
| 1065 |
+
-2.9,
|
| 1066 |
+
0.0
|
| 1067 |
+
],
|
| 1068 |
+
"ori": [
|
| 1069 |
+
1.0,
|
| 1070 |
+
0.0,
|
| 1071 |
+
0.0,
|
| 1072 |
+
0.0
|
| 1073 |
+
],
|
| 1074 |
+
"scale": [
|
| 1075 |
+
1.0,
|
| 1076 |
+
1.0,
|
| 1077 |
+
1.0
|
| 1078 |
+
]
|
| 1079 |
+
},
|
| 1080 |
+
"dr": {
|
| 1081 |
+
"visual": {
|
| 1082 |
+
"kind": null,
|
| 1083 |
+
"value": null,
|
| 1084 |
+
"visible": true
|
| 1085 |
+
},
|
| 1086 |
+
"physics": {
|
| 1087 |
+
"type": "geometry",
|
| 1088 |
+
"collision": false,
|
| 1089 |
+
"ratio": 1.0
|
| 1090 |
+
},
|
| 1091 |
+
"primitive_params": null
|
| 1092 |
+
},
|
| 1093 |
+
"type_specific": {}
|
| 1094 |
+
}
|
| 1095 |
+
]
|
| 1096 |
+
},
|
| 1097 |
+
{},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
{
|
| 1104 |
+
"t": 8.299999999999898,
|
| 1105 |
+
"step": 1660,
|
| 1106 |
+
"counter": 0,
|
| 1107 |
+
"devices": {
|
| 1108 |
+
"a4s_sealer_1": {
|
| 1109 |
+
"mode": "auto",
|
| 1110 |
+
"units": {
|
| 1111 |
+
"drawer": {
|
| 1112 |
+
"state": "at_out",
|
| 1113 |
+
"active": null,
|
| 1114 |
+
"target": 0.0,
|
| 1115 |
+
"goal_name": "out",
|
| 1116 |
+
"profile": null,
|
| 1117 |
+
"q_start": null,
|
| 1118 |
+
"reversing": false,
|
| 1119 |
+
"blocked_for": 0.0,
|
| 1120 |
+
"settled_for": 0.0,
|
| 1121 |
+
"last_q": 1.6820820994759011e-12
|
| 1122 |
+
},
|
| 1123 |
+
"heater": {
|
| 1124 |
+
"state": "ready",
|
| 1125 |
+
"active": null,
|
| 1126 |
+
"duration": 0.0,
|
| 1127 |
+
"t_start": null,
|
| 1128 |
+
"elapsed": 0.0
|
| 1129 |
+
}
|
| 1130 |
+
},
|
| 1131 |
+
"queues": {},
|
| 1132 |
+
"program": null,
|
| 1133 |
+
"sensors": {
|
| 1134 |
+
"plate_present": {
|
| 1135 |
+
"occupants": [],
|
| 1136 |
+
"pending": {}
|
| 1137 |
+
}
|
| 1138 |
+
},
|
| 1139 |
+
"interlocks": {}
|
| 1140 |
+
},
|
| 1141 |
+
"conveyor_1": {
|
| 1142 |
+
"mode": "auto",
|
| 1143 |
+
"units": {
|
| 1144 |
+
"belt": {
|
| 1145 |
+
"state": "at_station",
|
| 1146 |
+
"active": null,
|
| 1147 |
+
"controller": {
|
| 1148 |
+
"speed": 0.22029997180755873,
|
| 1149 |
+
"holds": [],
|
| 1150 |
+
"station": "pick",
|
| 1151 |
+
"rider": "carrier_1",
|
| 1152 |
+
"arrived": true,
|
| 1153 |
+
"settle_count": 1588,
|
| 1154 |
+
"released": {
|
| 1155 |
+
"pick": []
|
| 1156 |
+
},
|
| 1157 |
+
"last_pos": {
|
| 1158 |
+
"carrier_1": [
|
| 1159 |
+
-0.16721192002296448,
|
| 1160 |
+
-3.039836883544922e-06,
|
| 1161 |
+
0.0
|
| 1162 |
+
],
|
| 1163 |
+
"carrier_2": [
|
| 1164 |
+
-1.534470945596695,
|
| 1165 |
+
0.44303590059280396,
|
| 1166 |
+
0.0
|
| 1167 |
+
],
|
| 1168 |
+
"carrier_3": [
|
| 1169 |
+
0.16180381178855896,
|
| 1170 |
+
0.699998676776886,
|
| 1171 |
+
0.0
|
| 1172 |
+
],
|
| 1173 |
+
"carrier_4": [
|
| 1174 |
+
1.5279546678066254,
|
| 1175 |
+
0.4694707989692688,
|
| 1176 |
+
0.0
|
| 1177 |
+
]
|
| 1178 |
+
},
|
| 1179 |
+
"command": 0.0
|
| 1180 |
+
},
|
| 1181 |
+
"belt": {
|
| 1182 |
+
"target_speed": 0.0,
|
| 1183 |
+
"command_speed": 0.0
|
| 1184 |
+
},
|
| 1185 |
+
"seen": {
|
| 1186 |
+
"state": "at_station",
|
| 1187 |
+
"station": "pick",
|
| 1188 |
+
"rider": "carrier_1",
|
| 1189 |
+
"arrived": true
|
| 1190 |
+
}
|
| 1191 |
+
}
|
| 1192 |
+
},
|
| 1193 |
+
"queues": {},
|
| 1194 |
+
"program": null,
|
| 1195 |
+
"sensors": {},
|
| 1196 |
+
"interlocks": {}
|
| 1197 |
+
}
|
| 1198 |
+
},
|
| 1199 |
+
"zones": {},
|
| 1200 |
+
"labware": {
|
| 1201 |
+
"plate_1": {
|
| 1202 |
+
"sealed": false
|
| 1203 |
+
},
|
| 1204 |
+
"plate_2": {
|
| 1205 |
+
"sealed": false
|
| 1206 |
+
},
|
| 1207 |
+
"plate_3": {
|
| 1208 |
+
"sealed": false
|
| 1209 |
+
},
|
| 1210 |
+
"plate_4": {
|
| 1211 |
+
"sealed": false
|
| 1212 |
+
}
|
| 1213 |
+
},
|
| 1214 |
+
"rules": {},
|
| 1215 |
+
"records": [],
|
| 1216 |
+
"bus": {
|
| 1217 |
+
"seq": 3,
|
| 1218 |
+
"queue": []
|
| 1219 |
+
}
|
| 1220 |
+
},
|
| 1221 |
+
null,
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
{},
|
| 1227 |
+
null,
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{
|
| 1234 |
+
"ceiling": {
|
| 1235 |
+
"type": "rect",
|
| 1236 |
+
"pose": {
|
| 1237 |
+
"pos": [
|
| 1238 |
+
-0.1806682565838577,
|
| 1239 |
+
-0.4625518768321249,
|
| 1240 |
+
2.831678380199508
|
| 1241 |
+
],
|
| 1242 |
+
"ori": [
|
| 1243 |
+
-4.361472350429059,
|
| 1244 |
+
10.527823614086067,
|
| 1245 |
+
16.524805547666432
|
| 1246 |
+
],
|
| 1247 |
+
"scale": [
|
| 1248 |
+
1.0,
|
| 1249 |
+
1.0,
|
| 1250 |
+
1.0
|
| 1251 |
+
]
|
| 1252 |
+
},
|
| 1253 |
+
"dr": {
|
| 1254 |
+
"color_temperature": 5061.983807240512,
|
| 1255 |
+
"color": [
|
| 1256 |
+
0.9261263415546046,
|
| 1257 |
+
0.8822596783711149,
|
| 1258 |
+
0.8943499389902355
|
| 1259 |
+
],
|
| 1260 |
+
"intensity": 5342.063866978446,
|
| 1261 |
+
"width": 1.8933813425390968,
|
| 1262 |
+
"height": 1.4982772098120671
|
| 1263 |
+
}
|
| 1264 |
+
},
|
| 1265 |
+
"key": {
|
| 1266 |
+
"type": "disk",
|
| 1267 |
+
"pose": {
|
| 1268 |
+
"pos": [
|
| 1269 |
+
-0.4938335259884392,
|
| 1270 |
+
0.080963960068962,
|
| 1271 |
+
1.6964859779549009
|
| 1272 |
+
],
|
| 1273 |
+
"ori": [
|
| 1274 |
+
-6.963633726878626,
|
| 1275 |
+
19.64799383974355,
|
| 1276 |
+
22.255838613419343
|
| 1277 |
+
],
|
| 1278 |
+
"scale": [
|
| 1279 |
+
1.0,
|
| 1280 |
+
1.0,
|
| 1281 |
+
1.0
|
| 1282 |
+
]
|
| 1283 |
+
},
|
| 1284 |
+
"dr": {
|
| 1285 |
+
"color_temperature": 6843.418847896744,
|
| 1286 |
+
"color": [
|
| 1287 |
+
0.9548584719031589,
|
| 1288 |
+
0.8822496471276096,
|
| 1289 |
+
0.8282918201705344
|
| 1290 |
+
],
|
| 1291 |
+
"intensity": 8983.850630022367,
|
| 1292 |
+
"radius": 0.481358607220421
|
| 1293 |
+
}
|
| 1294 |
+
}
|
| 1295 |
+
},
|
| 1296 |
+
{},
|
| 1297 |
+
{}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 1541.714532149518,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
0.9693700671195984,
|
| 1394 |
+
-1.2768054008483887,
|
| 1395 |
+
2.2429678440093994,
|
| 1396 |
+
-2.5369343757629395,
|
| 1397 |
+
-1.5708084106445312,
|
| 1398 |
+
2.6739959716796875,
|
| 1399 |
+
0.007259042002260685,
|
| 1400 |
+
0.006660819053649902
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
0.91410231590271,
|
| 1404 |
+
-1.7193983793258667,
|
| 1405 |
+
2.0904996395111084,
|
| 1406 |
+
-1.9419008493423462,
|
| 1407 |
+
-1.5707999467849731,
|
| 1408 |
+
2.4849002361297607,
|
| 1409 |
+
0.01799999736249447,
|
| 1410 |
+
0.018000001087784767
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
1.3526885509490967,
|
| 1414 |
+
-1.4690845012664795,
|
| 1415 |
+
2.2297115325927734,
|
| 1416 |
+
-2.331185817718506,
|
| 1417 |
+
-1.5714442729949951,
|
| 1418 |
+
6.0483503341674805,
|
| 1419 |
+
0.0180000439286232,
|
| 1420 |
+
0.017999956384301186
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
0.8421021699905396,
|
| 1424 |
+
-1.503479242324829,
|
| 1425 |
+
2.0985941886901855,
|
| 1426 |
+
-2.1662867069244385,
|
| 1427 |
+
-1.5710114240646362,
|
| 1428 |
+
2.4949872493743896,
|
| 1429 |
+
0.006910486146807671,
|
| 1430 |
+
0.0076994518749415874
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
-1.683698246779386e-05,
|
| 1436 |
+
-2.2433352569350973e-05,
|
| 1437 |
+
-0.0002952085924334824,
|
| 1438 |
+
-0.0006894731195643544,
|
| 1439 |
+
0.0005536646349355578,
|
| 1440 |
+
0.0025994526222348213,
|
| 1441 |
+
-0.008226844482123852,
|
| 1442 |
+
0.0001863869692897424
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.0,
|
| 1446 |
+
0.0,
|
| 1447 |
+
-1.6020496033627618e-38,
|
| 1448 |
+
-5.13063034357878e-37,
|
| 1449 |
+
7.998997271703438e-38,
|
| 1450 |
+
-4.039186098854449e-37,
|
| 1451 |
+
2.5990376073536936e-08,
|
| 1452 |
+
-2.5990399166175848e-08
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
0.00014946919691283256,
|
| 1456 |
+
-0.01761380396783352,
|
| 1457 |
+
-0.009786002337932587,
|
| 1458 |
+
0.026121480390429497,
|
| 1459 |
+
-5.962634531897493e-06,
|
| 1460 |
+
2.6541625629761256e-05,
|
| 1461 |
+
-8.177480594895314e-06,
|
| 1462 |
+
8.1539783423068e-06
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
0.00447302870452404,
|
| 1466 |
+
0.002258818596601486,
|
| 1467 |
+
0.004838661290705204,
|
| 1468 |
+
0.0033968696370720863,
|
| 1469 |
+
0.0004692197253461927,
|
| 1470 |
+
0.0021260748617351055,
|
| 1471 |
+
-0.008482229895889759,
|
| 1472 |
+
0.00018748818547464907
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.05170748755335808,
|
| 1482 |
+
2.8963534077774966e-06,
|
| 1483 |
+
-0.02899727039039135,
|
| 1484 |
+
-0.27911901473999023,
|
| 1485 |
+
0.6542388200759888,
|
| 1486 |
+
0.645080029964447,
|
| 1487 |
+
-0.27916988730430603
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04798022657632828,
|
| 1491 |
+
-0.00046895164996385574,
|
| 1492 |
+
-0.029747378081083298,
|
| 1493 |
+
-0.27733564376831055,
|
| 1494 |
+
0.6479749083518982,
|
| 1495 |
+
0.6492795944213867,
|
| 1496 |
+
-0.2857436537742615
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.04908662289381027,
|
| 1500 |
+
0.0018258080817759037,
|
| 1501 |
+
-0.03250785171985626,
|
| 1502 |
+
-0.2798290252685547,
|
| 1503 |
+
0.6606771349906921,
|
| 1504 |
+
0.6329367160797119,
|
| 1505 |
+
-0.29084786772727966
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.0478699654340744,
|
| 1509 |
+
-0.0017702134791761637,
|
| 1510 |
+
-0.028870858252048492,
|
| 1511 |
+
-0.28769418597221375,
|
| 1512 |
+
0.6465973854064941,
|
| 1513 |
+
0.6515528559684753,
|
| 1514 |
+
-0.2731717824935913
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.03674947842955589,
|
| 1520 |
+
0.559922993183136,
|
| 1521 |
+
1.9668701887130737,
|
| 1522 |
+
0.039797473698854446,
|
| 1523 |
+
0.004011505749076605,
|
| 1524 |
+
0.27370306849479675,
|
| 1525 |
+
0.9609821438789368
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.048871126025915146,
|
| 1529 |
+
0.6036928296089172,
|
| 1530 |
+
1.9269394874572754,
|
| 1531 |
+
0.04500925540924072,
|
| 1532 |
+
0.02208622731268406,
|
| 1533 |
+
0.2572290897369385,
|
| 1534 |
+
0.9650489687919617
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.0673273503780365,
|
| 1538 |
+
0.59356689453125,
|
| 1539 |
+
1.947079062461853,
|
| 1540 |
+
0.03892413154244423,
|
| 1541 |
+
0.027481237426400185,
|
| 1542 |
+
0.26986294984817505,
|
| 1543 |
+
0.9617191553115845
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.03318255767226219,
|
| 1547 |
+
0.5799187421798706,
|
| 1548 |
+
1.9323108196258545,
|
| 1549 |
+
0.027694419026374817,
|
| 1550 |
+
0.005669896490871906,
|
| 1551 |
+
0.27219539880752563,
|
| 1552 |
+
0.9618266820907593
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p010_e022/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83e6eed72b2397f4fc21541827ddac58e182364fd404c177e92a4209f85e75c5
|
| 3 |
+
size 7192282
|
episodes/c7_p010_e023/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b3235fee0b52c3849d5303c52e6d2504a2416fcc582e3082dc495f7643123d13
|
| 3 |
+
size 190132
|
episodes/c7_p010_e023/device_events.jsonl
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 2, "seq": 1, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 2, "seq": 2, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 2, "seq": 3, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 1202, "t": 6.01, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 1214, "t": 6.07, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 1243, "t": 6.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 7 |
+
{"env_id": 2, "seq": 7, "step": 1284, "t": 6.42, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 8 |
+
{"env_id": 2, "seq": 8, "step": 1300, "t": 6.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 9 |
+
{"env_id": 2, "seq": 9, "step": 1348, "t": 6.74, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 10 |
+
{"env_id": 2, "seq": 10, "step": 1364, "t": 6.82, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 11 |
+
{"env_id": 2, "seq": 11, "step": 1396, "t": 6.98, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 12 |
+
{"env_id": 2, "seq": 12, "step": 6038, "t": 30.19, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 13 |
+
{"env_id": 2, "seq": 13, "step": 6644, "t": 33.22, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 14 |
+
{"env_id": 2, "seq": 14, "step": 6644, "t": 33.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.303907366083385}, "cause": "task-2-1"}
|
| 15 |
+
{"env_id": 2, "seq": 15, "step": 6644, "t": 33.22, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
|
| 16 |
+
{"env_id": 2, "seq": 16, "step": 6644, "t": 33.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 17 |
+
{"env_id": 2, "seq": 17, "step": 6644, "t": 33.22, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 18 |
+
{"env_id": 2, "seq": 18, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 19 |
+
{"env_id": 2, "seq": 19, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 20 |
+
{"env_id": 2, "seq": 20, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 21 |
+
{"env_id": 2, "seq": 21, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
|
| 22 |
+
{"env_id": 2, "seq": 22, "step": 7063, "t": 35.315, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
|
| 23 |
+
{"env_id": 2, "seq": 23, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"}
|
| 24 |
+
{"env_id": 2, "seq": 24, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
|
| 25 |
+
{"env_id": 2, "seq": 25, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 26 |
+
{"env_id": 2, "seq": 26, "step": 7063, "t": 35.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.303907366083385}, "cause": "program-2-3"}
|
| 27 |
+
{"env_id": 2, "seq": 27, "step": 7924, "t": 39.62, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 28 |
+
{"env_id": 2, "seq": 28, "step": 7924, "t": 39.62, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.305000000002202}, "cause": "program-2-3"}
|
| 29 |
+
{"env_id": 2, "seq": 29, "step": 7924, "t": 39.62, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.305000000002202}}, "cause": "program-2-3"}
|
| 30 |
+
{"env_id": 2, "seq": 30, "step": 7924, "t": 39.62, "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"}
|
| 31 |
+
{"env_id": 2, "seq": 31, "step": 7924, "t": 39.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 32 |
+
{"env_id": 2, "seq": 32, "step": 7924, "t": 39.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 33 |
+
{"env_id": 2, "seq": 33, "step": 8344, "t": 41.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 34 |
+
{"env_id": 2, "seq": 34, "step": 8344, "t": 41.72, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.366161404118941e-10}, "cause": "program-2-4"}
|
| 35 |
+
{"env_id": 2, "seq": 35, "step": 8344, "t": 41.72, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.366161404118941e-10}, "cause": "program-2-4"}
|
| 36 |
+
{"env_id": 2, "seq": 36, "step": 8344, "t": 41.72, "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"}
|
| 37 |
+
{"env_id": 2, "seq": 37, "step": 8344, "t": 41.72, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 38 |
+
{"env_id": 2, "seq": 38, "step": 8344, "t": 41.72, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 39 |
+
{"env_id": 2, "seq": 39, "step": 8919, "t": 44.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 40 |
+
{"env_id": 2, "seq": 40, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 41 |
+
{"env_id": 2, "seq": 41, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"}
|
| 42 |
+
{"env_id": 2, "seq": 42, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 43 |
+
{"env_id": 2, "seq": 43, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
|
episodes/c7_p010_e023/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9bcc562fc8d5021bbb4122abe2769f3795e1f79a5d68b4c2462819d22303433c
|
| 3 |
+
size 1224751
|
episodes/c7_p010_e023/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p010/magicsim/23",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1240,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1240,
|
| 8 |
+
"env": 1240
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p010_e023/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 23,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c7_p010",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
+
1.0,
|
| 129 |
+
1.0,
|
| 130 |
+
1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
+
0.9605
|
| 162 |
+
],
|
| 163 |
+
"ori": [
|
| 164 |
+
1.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
"scale": [
|
| 170 |
+
1.0,
|
| 171 |
+
1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
"visual": {
|
| 177 |
+
"kind": null,
|
| 178 |
+
"value": null,
|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
+
-0.6,
|
| 195 |
+
0.02,
|
| 196 |
+
1.0285
|
| 197 |
+
],
|
| 198 |
+
"ori": [
|
| 199 |
+
6.123234262925839e-17,
|
| 200 |
+
0.0,
|
| 201 |
+
0.0,
|
| 202 |
+
1.0
|
| 203 |
+
],
|
| 204 |
+
"scale": [
|
| 205 |
+
1.0,
|
| 206 |
+
1.0,
|
| 207 |
+
1.0
|
| 208 |
+
]
|
| 209 |
+
},
|
| 210 |
+
"dr": {
|
| 211 |
+
"visual": {
|
| 212 |
+
"kind": null,
|
| 213 |
+
"value": null,
|
| 214 |
+
"visible": true
|
| 215 |
+
},
|
| 216 |
+
"physics": {
|
| 217 |
+
"type": "geometry",
|
| 218 |
+
"collision": false,
|
| 219 |
+
"ratio": 1.0
|
| 220 |
+
},
|
| 221 |
+
"primitive_params": null
|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 227 |
+
"pose": {
|
| 228 |
+
"pos": [
|
| 229 |
+
-0.6,
|
| 230 |
+
0.02,
|
| 231 |
+
1.0965
|
| 232 |
+
],
|
| 233 |
+
"ori": [
|
| 234 |
+
1.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0
|
| 238 |
+
],
|
| 239 |
+
"scale": [
|
| 240 |
+
1.0,
|
| 241 |
+
1.0,
|
| 242 |
+
1.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"dr": {
|
| 246 |
+
"visual": {
|
| 247 |
+
"kind": null,
|
| 248 |
+
"value": null,
|
| 249 |
+
"visible": true
|
| 250 |
+
},
|
| 251 |
+
"physics": {
|
| 252 |
+
"type": "geometry",
|
| 253 |
+
"collision": false,
|
| 254 |
+
"ratio": 1.0
|
| 255 |
+
},
|
| 256 |
+
"primitive_params": null
|
| 257 |
+
},
|
| 258 |
+
"type_specific": {}
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 262 |
+
"pose": {
|
| 263 |
+
"pos": [
|
| 264 |
+
-0.6,
|
| 265 |
+
0.02,
|
| 266 |
+
1.1645
|
| 267 |
+
],
|
| 268 |
+
"ori": [
|
| 269 |
+
6.123234262925839e-17,
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
1.0
|
| 273 |
+
],
|
| 274 |
+
"scale": [
|
| 275 |
+
1.0,
|
| 276 |
+
1.0,
|
| 277 |
+
1.0
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"dr": {
|
| 281 |
+
"visual": {
|
| 282 |
+
"kind": null,
|
| 283 |
+
"value": null,
|
| 284 |
+
"visible": true
|
| 285 |
+
},
|
| 286 |
+
"physics": {
|
| 287 |
+
"type": "geometry",
|
| 288 |
+
"collision": false,
|
| 289 |
+
"ratio": 1.0
|
| 290 |
+
},
|
| 291 |
+
"primitive_params": null
|
| 292 |
+
},
|
| 293 |
+
"type_specific": {}
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 297 |
+
"pose": {
|
| 298 |
+
"pos": [
|
| 299 |
+
-0.6,
|
| 300 |
+
0.02,
|
| 301 |
+
1.2325
|
| 302 |
+
],
|
| 303 |
+
"ori": [
|
| 304 |
+
1.0,
|
| 305 |
+
0.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0
|
| 308 |
+
],
|
| 309 |
+
"scale": [
|
| 310 |
+
1.0,
|
| 311 |
+
1.0,
|
| 312 |
+
1.0
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
"dr": {
|
| 316 |
+
"visual": {
|
| 317 |
+
"kind": null,
|
| 318 |
+
"value": null,
|
| 319 |
+
"visible": true
|
| 320 |
+
},
|
| 321 |
+
"physics": {
|
| 322 |
+
"type": "geometry",
|
| 323 |
+
"collision": false,
|
| 324 |
+
"ratio": 1.0
|
| 325 |
+
},
|
| 326 |
+
"primitive_params": null
|
| 327 |
+
},
|
| 328 |
+
"type_specific": {}
|
| 329 |
+
}
|
| 330 |
+
],
|
| 331 |
+
"a4s_sealer": [
|
| 332 |
+
{
|
| 333 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 334 |
+
"pose": {
|
| 335 |
+
"pos": [
|
| 336 |
+
0.4654064178466797,
|
| 337 |
+
0.08583927154541016,
|
| 338 |
+
0.8999999761581421
|
| 339 |
+
],
|
| 340 |
+
"ori": [
|
| 341 |
+
0.7158191800117493,
|
| 342 |
+
0.0,
|
| 343 |
+
0.0,
|
| 344 |
+
-0.698285698890686
|
| 345 |
+
],
|
| 346 |
+
"scale": [
|
| 347 |
+
1.0,
|
| 348 |
+
1.0,
|
| 349 |
+
1.0
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"dr": {
|
| 353 |
+
"visual": {
|
| 354 |
+
"kind": null,
|
| 355 |
+
"value": null,
|
| 356 |
+
"visible": true
|
| 357 |
+
},
|
| 358 |
+
"physics": {
|
| 359 |
+
"type": "articulation",
|
| 360 |
+
"solver_position_iteration_count": 16.0,
|
| 361 |
+
"solver_velocity_iteration_count": 1.0,
|
| 362 |
+
"enabled_self_collisions": false,
|
| 363 |
+
"ratio": 1.0
|
| 364 |
+
},
|
| 365 |
+
"primitive_params": null
|
| 366 |
+
},
|
| 367 |
+
"type_specific": {
|
| 368 |
+
"joint_position": [
|
| 369 |
+
3.0277486247343166e-12
|
| 370 |
+
],
|
| 371 |
+
"joint_velocity": [
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"linear_velocity": [
|
| 375 |
+
0.0,
|
| 376 |
+
0.0,
|
| 377 |
+
0.0
|
| 378 |
+
],
|
| 379 |
+
"angular_velocity": [
|
| 380 |
+
0.0,
|
| 381 |
+
0.0,
|
| 382 |
+
0.0
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
}
|
| 386 |
+
],
|
| 387 |
+
"conveyor": [
|
| 388 |
+
{
|
| 389 |
+
"asset": "Cube",
|
| 390 |
+
"pose": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.15,
|
| 393 |
+
0.45,
|
| 394 |
+
0.9
|
| 395 |
+
],
|
| 396 |
+
"ori": [
|
| 397 |
+
1.0,
|
| 398 |
+
0.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0
|
| 401 |
+
],
|
| 402 |
+
"scale": [
|
| 403 |
+
1.0,
|
| 404 |
+
1.0,
|
| 405 |
+
1.0
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"dr": {
|
| 409 |
+
"visual": {
|
| 410 |
+
"kind": null,
|
| 411 |
+
"value": null,
|
| 412 |
+
"visible": true
|
| 413 |
+
},
|
| 414 |
+
"physics": {
|
| 415 |
+
"type": "conveyor",
|
| 416 |
+
"physics_material": {
|
| 417 |
+
"static_friction": 0.9,
|
| 418 |
+
"dynamic_friction": 0.9
|
| 419 |
+
},
|
| 420 |
+
"ratio": 1.0
|
| 421 |
+
},
|
| 422 |
+
"primitive_params": {
|
| 423 |
+
"size": [
|
| 424 |
+
2.4,
|
| 425 |
+
0.076,
|
| 426 |
+
0.03
|
| 427 |
+
]
|
| 428 |
+
},
|
| 429 |
+
"conveyor": {
|
| 430 |
+
"speed": 0.19800365475179207,
|
| 431 |
+
"direction": [
|
| 432 |
+
1.0,
|
| 433 |
+
0.0,
|
| 434 |
+
0.0
|
| 435 |
+
],
|
| 436 |
+
"enabled": true,
|
| 437 |
+
"drive": "surface_velocity",
|
| 438 |
+
"lines": null,
|
| 439 |
+
"station_line": null,
|
| 440 |
+
"riders": [
|
| 441 |
+
"carrier"
|
| 442 |
+
],
|
| 443 |
+
"stations": {
|
| 444 |
+
"pick": {
|
| 445 |
+
"position": -0.051711839092765416,
|
| 446 |
+
"slow_distance": 0.03,
|
| 447 |
+
"slow_speed": 0.03
|
| 448 |
+
}
|
| 449 |
+
},
|
| 450 |
+
"rails": {
|
| 451 |
+
"height": 0.01,
|
| 452 |
+
"thickness": 0.01,
|
| 453 |
+
"gap": 0.001,
|
| 454 |
+
"friction": 0.05
|
| 455 |
+
},
|
| 456 |
+
"legs": 0.87,
|
| 457 |
+
"loop": {
|
| 458 |
+
"radius": 0.35,
|
| 459 |
+
"side": "left",
|
| 460 |
+
"curve_extra_width": 0.0,
|
| 461 |
+
"segments": 18,
|
| 462 |
+
"curve_rails": "both"
|
| 463 |
+
},
|
| 464 |
+
"snap_distance": 0.1,
|
| 465 |
+
"junction_snap": 0.02,
|
| 466 |
+
"collision_approximation": "auto",
|
| 467 |
+
"plate_mass": 1.0,
|
| 468 |
+
"lift_drop": 0.004,
|
| 469 |
+
"accel": 0.0,
|
| 470 |
+
"decel": 0.0,
|
| 471 |
+
"drive_damping": 1000000.0,
|
| 472 |
+
"drive_max_force": 1000000000.0
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"type_specific": {
|
| 476 |
+
"controller": {
|
| 477 |
+
"state": "at_station",
|
| 478 |
+
"speed": 0.19800365475179207,
|
| 479 |
+
"holds": [],
|
| 480 |
+
"station": "pick",
|
| 481 |
+
"rider": "carrier_3",
|
| 482 |
+
"arrived": true,
|
| 483 |
+
"applied_speed": 0.0
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
],
|
| 488 |
+
"carrier": [
|
| 489 |
+
{
|
| 490 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 491 |
+
"pose": {
|
| 492 |
+
"pos": [
|
| 493 |
+
1.676234245300293,
|
| 494 |
+
0.6814899444580078,
|
| 495 |
+
0.8999999761581421
|
| 496 |
+
],
|
| 497 |
+
"ori": [
|
| 498 |
+
0.8222046494483948,
|
| 499 |
+
-6.935424323728512e-08,
|
| 500 |
+
6.161631205259255e-08,
|
| 501 |
+
0.5691919922828674
|
| 502 |
+
],
|
| 503 |
+
"scale": [
|
| 504 |
+
1.0,
|
| 505 |
+
1.0,
|
| 506 |
+
1.0
|
| 507 |
+
]
|
| 508 |
+
},
|
| 509 |
+
"dr": {
|
| 510 |
+
"visual": {
|
| 511 |
+
"kind": null,
|
| 512 |
+
"value": null,
|
| 513 |
+
"visible": true
|
| 514 |
+
},
|
| 515 |
+
"physics": {
|
| 516 |
+
"type": "rigid",
|
| 517 |
+
"mass": 0.5,
|
| 518 |
+
"physics_material": {
|
| 519 |
+
"static_friction": 0.9,
|
| 520 |
+
"dynamic_friction": 0.9,
|
| 521 |
+
"restitution": 0.0
|
| 522 |
+
},
|
| 523 |
+
"ratio": 1.0
|
| 524 |
+
},
|
| 525 |
+
"primitive_params": null
|
| 526 |
+
},
|
| 527 |
+
"type_specific": {
|
| 528 |
+
"linear_velocity": [
|
| 529 |
+
-1.8562786863185465e-09,
|
| 530 |
+
-4.6270542952697724e-10,
|
| 531 |
+
1.4901161193847656e-08
|
| 532 |
+
],
|
| 533 |
+
"angular_velocity": [
|
| 534 |
+
-1.141379470936954e-07,
|
| 535 |
+
-6.877598934806883e-09,
|
| 536 |
+
-3.0431465347646736e-08
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
{
|
| 541 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 542 |
+
"pose": {
|
| 543 |
+
"pos": [
|
| 544 |
+
-1.3219327926635742,
|
| 545 |
+
1.015523910522461,
|
| 546 |
+
0.8999999761581421
|
| 547 |
+
],
|
| 548 |
+
"ori": [
|
| 549 |
+
-0.4314194321632385,
|
| 550 |
+
-1.3682337396403454e-07,
|
| 551 |
+
3.3631962992330955e-08,
|
| 552 |
+
0.9021514058113098
|
| 553 |
+
],
|
| 554 |
+
"scale": [
|
| 555 |
+
1.0,
|
| 556 |
+
1.0,
|
| 557 |
+
1.0
|
| 558 |
+
]
|
| 559 |
+
},
|
| 560 |
+
"dr": {
|
| 561 |
+
"visual": {
|
| 562 |
+
"kind": null,
|
| 563 |
+
"value": null,
|
| 564 |
+
"visible": true
|
| 565 |
+
},
|
| 566 |
+
"physics": {
|
| 567 |
+
"type": "rigid",
|
| 568 |
+
"mass": 0.5,
|
| 569 |
+
"physics_material": {
|
| 570 |
+
"static_friction": 0.9,
|
| 571 |
+
"dynamic_friction": 0.9,
|
| 572 |
+
"restitution": 0.0
|
| 573 |
+
},
|
| 574 |
+
"ratio": 1.0
|
| 575 |
+
},
|
| 576 |
+
"primitive_params": null
|
| 577 |
+
},
|
| 578 |
+
"type_specific": {
|
| 579 |
+
"linear_velocity": [
|
| 580 |
+
2.7348168174512466e-10,
|
| 581 |
+
7.720548089729107e-10,
|
| 582 |
+
3.725290298461914e-09
|
| 583 |
+
],
|
| 584 |
+
"angular_velocity": [
|
| 585 |
+
-7.19808355142959e-08,
|
| 586 |
+
1.1365354879444567e-08,
|
| 587 |
+
2.784136032829565e-09
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
{
|
| 592 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 593 |
+
"pose": {
|
| 594 |
+
"pos": [
|
| 595 |
+
0.09801006317138672,
|
| 596 |
+
0.45000362396240234,
|
| 597 |
+
0.8999999761581421
|
| 598 |
+
],
|
| 599 |
+
"ori": [
|
| 600 |
+
1.0,
|
| 601 |
+
4.0803769252306665e-09,
|
| 602 |
+
-4.571997003210981e-09,
|
| 603 |
+
-4.836983134737238e-05
|
| 604 |
+
],
|
| 605 |
+
"scale": [
|
| 606 |
+
1.0,
|
| 607 |
+
1.0,
|
| 608 |
+
1.0
|
| 609 |
+
]
|
| 610 |
+
},
|
| 611 |
+
"dr": {
|
| 612 |
+
"visual": {
|
| 613 |
+
"kind": null,
|
| 614 |
+
"value": null,
|
| 615 |
+
"visible": true
|
| 616 |
+
},
|
| 617 |
+
"physics": {
|
| 618 |
+
"type": "rigid",
|
| 619 |
+
"mass": 0.5,
|
| 620 |
+
"physics_material": {
|
| 621 |
+
"static_friction": 0.9,
|
| 622 |
+
"dynamic_friction": 0.9,
|
| 623 |
+
"restitution": 0.0
|
| 624 |
+
},
|
| 625 |
+
"ratio": 1.0
|
| 626 |
+
},
|
| 627 |
+
"primitive_params": null
|
| 628 |
+
},
|
| 629 |
+
"type_specific": {
|
| 630 |
+
"linear_velocity": [
|
| 631 |
+
2.3139583582576506e-09,
|
| 632 |
+
1.9918631188886593e-09,
|
| 633 |
+
7.450580596923828e-09
|
| 634 |
+
],
|
| 635 |
+
"angular_velocity": [
|
| 636 |
+
-1.411736292311616e-07,
|
| 637 |
+
2.1869283273190376e-07,
|
| 638 |
+
-1.1950826106499335e-08
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 644 |
+
"pose": {
|
| 645 |
+
"pos": [
|
| 646 |
+
0.24895191192626953,
|
| 647 |
+
1.1500024795532227,
|
| 648 |
+
0.8999999761581421
|
| 649 |
+
],
|
| 650 |
+
"ori": [
|
| 651 |
+
2.3445098122465424e-05,
|
| 652 |
+
6.63858878979795e-09,
|
| 653 |
+
4.318020607740891e-09,
|
| 654 |
+
1.0
|
| 655 |
+
],
|
| 656 |
+
"scale": [
|
| 657 |
+
1.0,
|
| 658 |
+
1.0,
|
| 659 |
+
1.0
|
| 660 |
+
]
|
| 661 |
+
},
|
| 662 |
+
"dr": {
|
| 663 |
+
"visual": {
|
| 664 |
+
"kind": null,
|
| 665 |
+
"value": null,
|
| 666 |
+
"visible": true
|
| 667 |
+
},
|
| 668 |
+
"physics": {
|
| 669 |
+
"type": "rigid",
|
| 670 |
+
"mass": 0.5,
|
| 671 |
+
"physics_material": {
|
| 672 |
+
"static_friction": 0.9,
|
| 673 |
+
"dynamic_friction": 0.9,
|
| 674 |
+
"restitution": 0.0
|
| 675 |
+
},
|
| 676 |
+
"ratio": 1.0
|
| 677 |
+
},
|
| 678 |
+
"primitive_params": null
|
| 679 |
+
},
|
| 680 |
+
"type_specific": {
|
| 681 |
+
"linear_velocity": [
|
| 682 |
+
-3.353903821334825e-09,
|
| 683 |
+
-2.168756729759025e-09,
|
| 684 |
+
2.2351741790771484e-08
|
| 685 |
+
],
|
| 686 |
+
"angular_velocity": [
|
| 687 |
+
1.482365945548736e-07,
|
| 688 |
+
-3.0272923368102056e-07,
|
| 689 |
+
-1.604888844042307e-08
|
| 690 |
+
]
|
| 691 |
+
}
|
| 692 |
+
}
|
| 693 |
+
],
|
| 694 |
+
"plate": [
|
| 695 |
+
{
|
| 696 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
|
| 697 |
+
"pose": {
|
| 698 |
+
"pos": [
|
| 699 |
+
1.6744718551635742,
|
| 700 |
+
0.6837396621704102,
|
| 701 |
+
0.9179999828338623
|
| 702 |
+
],
|
| 703 |
+
"ori": [
|
| 704 |
+
0.8763260245323181,
|
| 705 |
+
-7.364756271499573e-08,
|
| 706 |
+
5.6309637841422955e-08,
|
| 707 |
+
0.48171865940093994
|
| 708 |
+
],
|
| 709 |
+
"scale": [
|
| 710 |
+
1.0,
|
| 711 |
+
1.0,
|
| 712 |
+
1.0
|
| 713 |
+
]
|
| 714 |
+
},
|
| 715 |
+
"dr": {
|
| 716 |
+
"visual": {
|
| 717 |
+
"kind": null,
|
| 718 |
+
"value": null,
|
| 719 |
+
"visible": true
|
| 720 |
+
},
|
| 721 |
+
"physics": {
|
| 722 |
+
"type": "rigid",
|
| 723 |
+
"collision": true,
|
| 724 |
+
"mass": "asset",
|
| 725 |
+
"max_depenetration_velocity": 1.0,
|
| 726 |
+
"physics_material": {
|
| 727 |
+
"static_friction": 0.5,
|
| 728 |
+
"dynamic_friction": 0.45,
|
| 729 |
+
"restitution": 0.0,
|
| 730 |
+
"friction_combine_mode": "average"
|
| 731 |
+
},
|
| 732 |
+
"ratio": 1.0
|
| 733 |
+
},
|
| 734 |
+
"primitive_params": null
|
| 735 |
+
},
|
| 736 |
+
"type_specific": {
|
| 737 |
+
"linear_velocity": [
|
| 738 |
+
-1.2706209417956416e-09,
|
| 739 |
+
-3.324703357066028e-08,
|
| 740 |
+
1.862645149230957e-07
|
| 741 |
+
],
|
| 742 |
+
"angular_velocity": [
|
| 743 |
+
2.894230419769883e-06,
|
| 744 |
+
-1.201588020194322e-07,
|
| 745 |
+
-2.2982180780672934e-07
|
| 746 |
+
]
|
| 747 |
+
}
|
| 748 |
+
},
|
| 749 |
+
{
|
| 750 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
|
| 751 |
+
"pose": {
|
| 752 |
+
"pos": [
|
| 753 |
+
-1.3137235641479492,
|
| 754 |
+
1.013422966003418,
|
| 755 |
+
0.9180000424385071
|
| 756 |
+
],
|
| 757 |
+
"ori": [
|
| 758 |
+
-0.3396140933036804,
|
| 759 |
+
-1.3888511318782548e-07,
|
| 760 |
+
2.0067542294555096e-08,
|
| 761 |
+
0.9405649304389954
|
| 762 |
+
],
|
| 763 |
+
"scale": [
|
| 764 |
+
1.0,
|
| 765 |
+
1.0,
|
| 766 |
+
1.0
|
| 767 |
+
]
|
| 768 |
+
},
|
| 769 |
+
"dr": {
|
| 770 |
+
"visual": {
|
| 771 |
+
"kind": null,
|
| 772 |
+
"value": null,
|
| 773 |
+
"visible": true
|
| 774 |
+
},
|
| 775 |
+
"physics": {
|
| 776 |
+
"type": "rigid",
|
| 777 |
+
"collision": true,
|
| 778 |
+
"mass": "asset",
|
| 779 |
+
"max_depenetration_velocity": 1.0,
|
| 780 |
+
"physics_material": {
|
| 781 |
+
"static_friction": 0.5,
|
| 782 |
+
"dynamic_friction": 0.45,
|
| 783 |
+
"restitution": 0.0,
|
| 784 |
+
"friction_combine_mode": "average"
|
| 785 |
+
},
|
| 786 |
+
"ratio": 1.0
|
| 787 |
+
},
|
| 788 |
+
"primitive_params": null
|
| 789 |
+
},
|
| 790 |
+
"type_specific": {
|
| 791 |
+
"linear_velocity": [
|
| 792 |
+
1.4276022142212241e-08,
|
| 793 |
+
2.944711496866148e-08,
|
| 794 |
+
-5.2638351917266846e-06
|
| 795 |
+
],
|
| 796 |
+
"angular_velocity": [
|
| 797 |
+
-2.564492660894757e-06,
|
| 798 |
+
9.08477090888482e-07,
|
| 799 |
+
-1.7206062352670415e-08
|
| 800 |
+
]
|
| 801 |
+
}
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
|
| 805 |
+
"pose": {
|
| 806 |
+
"pos": [
|
| 807 |
+
0.10790252685546875,
|
| 808 |
+
0.45514488220214844,
|
| 809 |
+
0.9180000424385071
|
| 810 |
+
],
|
| 811 |
+
"ori": [
|
| 812 |
+
0.9987925887107849,
|
| 813 |
+
5.635688804517258e-09,
|
| 814 |
+
-5.277609016474116e-09,
|
| 815 |
+
-0.04912722855806351
|
| 816 |
+
],
|
| 817 |
+
"scale": [
|
| 818 |
+
1.0,
|
| 819 |
+
1.0,
|
| 820 |
+
1.0
|
| 821 |
+
]
|
| 822 |
+
},
|
| 823 |
+
"dr": {
|
| 824 |
+
"visual": {
|
| 825 |
+
"kind": null,
|
| 826 |
+
"value": null,
|
| 827 |
+
"visible": true
|
| 828 |
+
},
|
| 829 |
+
"physics": {
|
| 830 |
+
"type": "rigid",
|
| 831 |
+
"collision": true,
|
| 832 |
+
"mass": "asset",
|
| 833 |
+
"max_depenetration_velocity": 1.0,
|
| 834 |
+
"physics_material": {
|
| 835 |
+
"static_friction": 0.5,
|
| 836 |
+
"dynamic_friction": 0.45,
|
| 837 |
+
"restitution": 0.0,
|
| 838 |
+
"friction_combine_mode": "average"
|
| 839 |
+
},
|
| 840 |
+
"ratio": 1.0
|
| 841 |
+
},
|
| 842 |
+
"primitive_params": null
|
| 843 |
+
},
|
| 844 |
+
"type_specific": {
|
| 845 |
+
"linear_velocity": [
|
| 846 |
+
-4.771115058588293e-09,
|
| 847 |
+
7.775327048875624e-09,
|
| 848 |
+
-5.2638351917266846e-06
|
| 849 |
+
],
|
| 850 |
+
"angular_velocity": [
|
| 851 |
+
3.99111968363286e-07,
|
| 852 |
+
-1.8095782934324234e-06,
|
| 853 |
+
-2.3465393184096683e-08
|
| 854 |
+
]
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
{
|
| 858 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
|
| 859 |
+
"pose": {
|
| 860 |
+
"pos": [
|
| 861 |
+
0.26325130462646484,
|
| 862 |
+
1.154449462890625,
|
| 863 |
+
0.9179999828338623
|
| 864 |
+
],
|
| 865 |
+
"ori": [
|
| 866 |
+
0.08084242045879364,
|
| 867 |
+
6.324518686540159e-09,
|
| 868 |
+
3.870679776696306e-09,
|
| 869 |
+
0.996726930141449
|
| 870 |
+
],
|
| 871 |
+
"scale": [
|
| 872 |
+
1.0,
|
| 873 |
+
1.0,
|
| 874 |
+
1.0
|
| 875 |
+
]
|
| 876 |
+
},
|
| 877 |
+
"dr": {
|
| 878 |
+
"visual": {
|
| 879 |
+
"kind": null,
|
| 880 |
+
"value": null,
|
| 881 |
+
"visible": true
|
| 882 |
+
},
|
| 883 |
+
"physics": {
|
| 884 |
+
"type": "rigid",
|
| 885 |
+
"collision": true,
|
| 886 |
+
"mass": "asset",
|
| 887 |
+
"max_depenetration_velocity": 1.0,
|
| 888 |
+
"physics_material": {
|
| 889 |
+
"static_friction": 0.5,
|
| 890 |
+
"dynamic_friction": 0.45,
|
| 891 |
+
"restitution": 0.0,
|
| 892 |
+
"friction_combine_mode": "average"
|
| 893 |
+
},
|
| 894 |
+
"ratio": 1.0
|
| 895 |
+
},
|
| 896 |
+
"primitive_params": null
|
| 897 |
+
},
|
| 898 |
+
"type_specific": {
|
| 899 |
+
"linear_velocity": [
|
| 900 |
+
7.760009523849476e-09,
|
| 901 |
+
-1.0049626908426035e-08,
|
| 902 |
+
-1.0095536708831787e-06
|
| 903 |
+
],
|
| 904 |
+
"angular_velocity": [
|
| 905 |
+
-2.980556246257038e-08,
|
| 906 |
+
1.7788923969419557e-06,
|
| 907 |
+
-1.2064732857197669e-07
|
| 908 |
+
]
|
| 909 |
+
}
|
| 910 |
+
}
|
| 911 |
+
],
|
| 912 |
+
"deco_hub_west": [
|
| 913 |
+
{
|
| 914 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
|
| 915 |
+
"pose": {
|
| 916 |
+
"pos": [
|
| 917 |
+
-3.36,
|
| 918 |
+
0.0,
|
| 919 |
+
0.0
|
| 920 |
+
],
|
| 921 |
+
"ori": [
|
| 922 |
+
1.0,
|
| 923 |
+
0.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0
|
| 926 |
+
],
|
| 927 |
+
"scale": [
|
| 928 |
+
1.0,
|
| 929 |
+
1.0,
|
| 930 |
+
1.0
|
| 931 |
+
]
|
| 932 |
+
},
|
| 933 |
+
"dr": {
|
| 934 |
+
"visual": {
|
| 935 |
+
"kind": null,
|
| 936 |
+
"value": null,
|
| 937 |
+
"visible": true
|
| 938 |
+
},
|
| 939 |
+
"physics": {
|
| 940 |
+
"type": "geometry",
|
| 941 |
+
"collision": false,
|
| 942 |
+
"ratio": 1.0
|
| 943 |
+
},
|
| 944 |
+
"primitive_params": null
|
| 945 |
+
},
|
| 946 |
+
"type_specific": {}
|
| 947 |
+
}
|
| 948 |
+
],
|
| 949 |
+
"deco_hub_east": [
|
| 950 |
+
{
|
| 951 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 952 |
+
"pose": {
|
| 953 |
+
"pos": [
|
| 954 |
+
3.36,
|
| 955 |
+
0.0,
|
| 956 |
+
0.0
|
| 957 |
+
],
|
| 958 |
+
"ori": [
|
| 959 |
+
1.0,
|
| 960 |
+
0.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0
|
| 963 |
+
],
|
| 964 |
+
"scale": [
|
| 965 |
+
1.0,
|
| 966 |
+
1.0,
|
| 967 |
+
1.0
|
| 968 |
+
]
|
| 969 |
+
},
|
| 970 |
+
"dr": {
|
| 971 |
+
"visual": {
|
| 972 |
+
"kind": null,
|
| 973 |
+
"value": null,
|
| 974 |
+
"visible": true
|
| 975 |
+
},
|
| 976 |
+
"physics": {
|
| 977 |
+
"type": "geometry",
|
| 978 |
+
"collision": false,
|
| 979 |
+
"ratio": 1.0
|
| 980 |
+
},
|
| 981 |
+
"primitive_params": null
|
| 982 |
+
},
|
| 983 |
+
"type_specific": {}
|
| 984 |
+
}
|
| 985 |
+
],
|
| 986 |
+
"deco_hub_back": [
|
| 987 |
+
{
|
| 988 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 989 |
+
"pose": {
|
| 990 |
+
"pos": [
|
| 991 |
+
-3.0,
|
| 992 |
+
-2.1,
|
| 993 |
+
0.0
|
| 994 |
+
],
|
| 995 |
+
"ori": [
|
| 996 |
+
1.0,
|
| 997 |
+
0.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0
|
| 1000 |
+
],
|
| 1001 |
+
"scale": [
|
| 1002 |
+
1.0,
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0
|
| 1005 |
+
]
|
| 1006 |
+
},
|
| 1007 |
+
"dr": {
|
| 1008 |
+
"visual": {
|
| 1009 |
+
"kind": null,
|
| 1010 |
+
"value": null,
|
| 1011 |
+
"visible": true
|
| 1012 |
+
},
|
| 1013 |
+
"physics": {
|
| 1014 |
+
"type": "geometry",
|
| 1015 |
+
"collision": false,
|
| 1016 |
+
"ratio": 1.0
|
| 1017 |
+
},
|
| 1018 |
+
"primitive_params": null
|
| 1019 |
+
},
|
| 1020 |
+
"type_specific": {}
|
| 1021 |
+
}
|
| 1022 |
+
],
|
| 1023 |
+
"deco_bench_east": [
|
| 1024 |
+
{
|
| 1025 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1026 |
+
"pose": {
|
| 1027 |
+
"pos": [
|
| 1028 |
+
2.6,
|
| 1029 |
+
-2.5,
|
| 1030 |
+
0.0
|
| 1031 |
+
],
|
| 1032 |
+
"ori": [
|
| 1033 |
+
6.123234262925839e-17,
|
| 1034 |
+
0.0,
|
| 1035 |
+
0.0,
|
| 1036 |
+
1.0
|
| 1037 |
+
],
|
| 1038 |
+
"scale": [
|
| 1039 |
+
1.0,
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0
|
| 1042 |
+
]
|
| 1043 |
+
},
|
| 1044 |
+
"dr": {
|
| 1045 |
+
"visual": {
|
| 1046 |
+
"kind": null,
|
| 1047 |
+
"value": null,
|
| 1048 |
+
"visible": true
|
| 1049 |
+
},
|
| 1050 |
+
"physics": {
|
| 1051 |
+
"type": "geometry",
|
| 1052 |
+
"collision": false,
|
| 1053 |
+
"ratio": 1.0
|
| 1054 |
+
},
|
| 1055 |
+
"primitive_params": null
|
| 1056 |
+
},
|
| 1057 |
+
"type_specific": {}
|
| 1058 |
+
}
|
| 1059 |
+
],
|
| 1060 |
+
"deco_bench_gap": [
|
| 1061 |
+
{
|
| 1062 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1063 |
+
"pose": {
|
| 1064 |
+
"pos": [
|
| 1065 |
+
-0.1,
|
| 1066 |
+
-2.9,
|
| 1067 |
+
0.0
|
| 1068 |
+
],
|
| 1069 |
+
"ori": [
|
| 1070 |
+
1.0,
|
| 1071 |
+
0.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0
|
| 1074 |
+
],
|
| 1075 |
+
"scale": [
|
| 1076 |
+
1.0,
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0
|
| 1079 |
+
]
|
| 1080 |
+
},
|
| 1081 |
+
"dr": {
|
| 1082 |
+
"visual": {
|
| 1083 |
+
"kind": null,
|
| 1084 |
+
"value": null,
|
| 1085 |
+
"visible": true
|
| 1086 |
+
},
|
| 1087 |
+
"physics": {
|
| 1088 |
+
"type": "geometry",
|
| 1089 |
+
"collision": false,
|
| 1090 |
+
"ratio": 1.0
|
| 1091 |
+
},
|
| 1092 |
+
"primitive_params": null
|
| 1093 |
+
},
|
| 1094 |
+
"type_specific": {}
|
| 1095 |
+
}
|
| 1096 |
+
]
|
| 1097 |
+
},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
{
|
| 1105 |
+
"t": 3.8799999999999395,
|
| 1106 |
+
"step": 776,
|
| 1107 |
+
"counter": 0,
|
| 1108 |
+
"devices": {
|
| 1109 |
+
"a4s_sealer_1": {
|
| 1110 |
+
"mode": "auto",
|
| 1111 |
+
"units": {
|
| 1112 |
+
"drawer": {
|
| 1113 |
+
"state": "at_out",
|
| 1114 |
+
"active": null,
|
| 1115 |
+
"target": 0.0,
|
| 1116 |
+
"goal_name": "out",
|
| 1117 |
+
"profile": null,
|
| 1118 |
+
"q_start": null,
|
| 1119 |
+
"reversing": false,
|
| 1120 |
+
"blocked_for": 0.0,
|
| 1121 |
+
"settled_for": 0.0,
|
| 1122 |
+
"last_q": 3.0277486247343166e-12
|
| 1123 |
+
},
|
| 1124 |
+
"heater": {
|
| 1125 |
+
"state": "ready",
|
| 1126 |
+
"active": null,
|
| 1127 |
+
"duration": 0.0,
|
| 1128 |
+
"t_start": null,
|
| 1129 |
+
"elapsed": 0.0
|
| 1130 |
+
}
|
| 1131 |
+
},
|
| 1132 |
+
"queues": {},
|
| 1133 |
+
"program": null,
|
| 1134 |
+
"sensors": {
|
| 1135 |
+
"plate_present": {
|
| 1136 |
+
"occupants": [],
|
| 1137 |
+
"pending": {}
|
| 1138 |
+
}
|
| 1139 |
+
},
|
| 1140 |
+
"interlocks": {}
|
| 1141 |
+
},
|
| 1142 |
+
"conveyor_1": {
|
| 1143 |
+
"mode": "auto",
|
| 1144 |
+
"units": {
|
| 1145 |
+
"belt": {
|
| 1146 |
+
"state": "at_station",
|
| 1147 |
+
"active": null,
|
| 1148 |
+
"controller": {
|
| 1149 |
+
"speed": 0.19800365475179207,
|
| 1150 |
+
"holds": [],
|
| 1151 |
+
"station": "pick",
|
| 1152 |
+
"rider": "carrier_3",
|
| 1153 |
+
"arrived": true,
|
| 1154 |
+
"settle_count": 647,
|
| 1155 |
+
"released": {
|
| 1156 |
+
"pick": []
|
| 1157 |
+
},
|
| 1158 |
+
"last_pos": {
|
| 1159 |
+
"carrier_1": [
|
| 1160 |
+
1.5262342393398285,
|
| 1161 |
+
0.23148995637893677,
|
| 1162 |
+
0.0
|
| 1163 |
+
],
|
| 1164 |
+
"carrier_2": [
|
| 1165 |
+
-1.4719327986240387,
|
| 1166 |
+
0.5655239224433899,
|
| 1167 |
+
0.0
|
| 1168 |
+
],
|
| 1169 |
+
"carrier_3": [
|
| 1170 |
+
-0.05198994278907776,
|
| 1171 |
+
3.635883331298828e-06,
|
| 1172 |
+
0.0
|
| 1173 |
+
],
|
| 1174 |
+
"carrier_4": [
|
| 1175 |
+
0.09895190596580505,
|
| 1176 |
+
0.7000024914741516,
|
| 1177 |
+
0.0
|
| 1178 |
+
]
|
| 1179 |
+
},
|
| 1180 |
+
"command": 0.0
|
| 1181 |
+
},
|
| 1182 |
+
"belt": {
|
| 1183 |
+
"target_speed": 0.0,
|
| 1184 |
+
"command_speed": 0.0
|
| 1185 |
+
},
|
| 1186 |
+
"seen": {
|
| 1187 |
+
"state": "at_station",
|
| 1188 |
+
"station": "pick",
|
| 1189 |
+
"rider": "carrier_3",
|
| 1190 |
+
"arrived": true
|
| 1191 |
+
}
|
| 1192 |
+
}
|
| 1193 |
+
},
|
| 1194 |
+
"queues": {},
|
| 1195 |
+
"program": null,
|
| 1196 |
+
"sensors": {},
|
| 1197 |
+
"interlocks": {}
|
| 1198 |
+
}
|
| 1199 |
+
},
|
| 1200 |
+
"zones": {},
|
| 1201 |
+
"labware": {
|
| 1202 |
+
"plate_1": {
|
| 1203 |
+
"sealed": false
|
| 1204 |
+
},
|
| 1205 |
+
"plate_2": {
|
| 1206 |
+
"sealed": false
|
| 1207 |
+
},
|
| 1208 |
+
"plate_3": {
|
| 1209 |
+
"sealed": false
|
| 1210 |
+
},
|
| 1211 |
+
"plate_4": {
|
| 1212 |
+
"sealed": false
|
| 1213 |
+
}
|
| 1214 |
+
},
|
| 1215 |
+
"rules": {},
|
| 1216 |
+
"records": [],
|
| 1217 |
+
"bus": {
|
| 1218 |
+
"seq": 3,
|
| 1219 |
+
"queue": []
|
| 1220 |
+
}
|
| 1221 |
+
},
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
{},
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{
|
| 1235 |
+
"ceiling": {
|
| 1236 |
+
"type": "rect",
|
| 1237 |
+
"pose": {
|
| 1238 |
+
"pos": [
|
| 1239 |
+
-0.5989539780856705,
|
| 1240 |
+
0.05634697895527008,
|
| 1241 |
+
2.919159392580822
|
| 1242 |
+
],
|
| 1243 |
+
"ori": [
|
| 1244 |
+
7.148145865593062,
|
| 1245 |
+
6.221554901015473,
|
| 1246 |
+
-29.574115636163665
|
| 1247 |
+
],
|
| 1248 |
+
"scale": [
|
| 1249 |
+
1.0,
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0
|
| 1252 |
+
]
|
| 1253 |
+
},
|
| 1254 |
+
"dr": {
|
| 1255 |
+
"color_temperature": 4139.143990619027,
|
| 1256 |
+
"color": [
|
| 1257 |
+
0.8830909532568536,
|
| 1258 |
+
0.9946119911048864,
|
| 1259 |
+
0.8236495441293673
|
| 1260 |
+
],
|
| 1261 |
+
"intensity": 12611.985743680414,
|
| 1262 |
+
"width": 2.788214113665708,
|
| 1263 |
+
"height": 1.6441711010909086
|
| 1264 |
+
}
|
| 1265 |
+
},
|
| 1266 |
+
"key": {
|
| 1267 |
+
"type": "sphere",
|
| 1268 |
+
"pose": {
|
| 1269 |
+
"pos": [
|
| 1270 |
+
1.7711778414660748,
|
| 1271 |
+
-0.14185765854329624,
|
| 1272 |
+
1.7252640045565537
|
| 1273 |
+
],
|
| 1274 |
+
"ori": [
|
| 1275 |
+
-11.02029003131106,
|
| 1276 |
+
36.54708701565737,
|
| 1277 |
+
30.487137304955183
|
| 1278 |
+
],
|
| 1279 |
+
"scale": [
|
| 1280 |
+
1.0,
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0
|
| 1283 |
+
]
|
| 1284 |
+
},
|
| 1285 |
+
"dr": {
|
| 1286 |
+
"color_temperature": 4691.800995503371,
|
| 1287 |
+
"color": [
|
| 1288 |
+
0.9024228514008683,
|
| 1289 |
+
0.8147538734068838,
|
| 1290 |
+
0.8424832126871484
|
| 1291 |
+
],
|
| 1292 |
+
"intensity": 5814.207426661884,
|
| 1293 |
+
"radius": 0.07886606246169035
|
| 1294 |
+
}
|
| 1295 |
+
}
|
| 1296 |
+
},
|
| 1297 |
+
{}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 1541.714532149518,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
2.1223652362823486,
|
| 1394 |
+
-2.333230972290039,
|
| 1395 |
+
2.266817092895508,
|
| 1396 |
+
-1.5031394958496094,
|
| 1397 |
+
-1.5705287456512451,
|
| 1398 |
+
3.7189974784851074,
|
| 1399 |
+
0.006995038129389286,
|
| 1400 |
+
0.006864847149699926
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
1.0623120069503784,
|
| 1404 |
+
-1.48964262008667,
|
| 1405 |
+
2.084311008453369,
|
| 1406 |
+
-2.1646616458892822,
|
| 1407 |
+
-1.5708160400390625,
|
| 1408 |
+
2.531728744506836,
|
| 1409 |
+
0.006641454994678497,
|
| 1410 |
+
0.008232462219893932
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.914100170135498,
|
| 1414 |
+
-1.7193982601165771,
|
| 1415 |
+
2.0904998779296875,
|
| 1416 |
+
-1.9419008493423462,
|
| 1417 |
+
-1.5707999467849731,
|
| 1418 |
+
2.4848999977111816,
|
| 1419 |
+
0.01799999736249447,
|
| 1420 |
+
0.018000001087784767
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
2.8029699325561523,
|
| 1424 |
+
-1.3972669839859009,
|
| 1425 |
+
2.2237491607666016,
|
| 1426 |
+
-2.3928439617156982,
|
| 1427 |
+
-1.5696054697036743,
|
| 1428 |
+
4.371720314025879,
|
| 1429 |
+
0.007693649269640446,
|
| 1430 |
+
0.006891203112900257
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.05455627664923668,
|
| 1436 |
+
-0.03862886130809784,
|
| 1437 |
+
0.008925792761147022,
|
| 1438 |
+
0.033513180911540985,
|
| 1439 |
+
0.0023229788057506084,
|
| 1440 |
+
0.037756677716970444,
|
| 1441 |
+
-0.007845776155591011,
|
| 1442 |
+
-0.0008424629922956228
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
-0.0005410485318861902,
|
| 1446 |
+
-0.0007574919727630913,
|
| 1447 |
+
-0.0028111739084124565,
|
| 1448 |
+
0.0007575859199278057,
|
| 1449 |
+
-0.0008228212827816606,
|
| 1450 |
+
-0.003954302053898573,
|
| 1451 |
+
-0.00605119951069355,
|
| 1452 |
+
0.00019796994456555694
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
2.882488877736492e-38,
|
| 1456 |
+
-1.6181449175239967e-38,
|
| 1457 |
+
-2.606653644642788e-38,
|
| 1458 |
+
-5.2449359408719125e-37,
|
| 1459 |
+
2.0540842735164843e-37,
|
| 1460 |
+
-2.8989138894004133e-37,
|
| 1461 |
+
2.5990388508034812e-08,
|
| 1462 |
+
-2.5990386731677972e-08
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
0.002386377891525626,
|
| 1466 |
+
0.007508056238293648,
|
| 1467 |
+
-0.010634065605700016,
|
| 1468 |
+
0.002830296754837036,
|
| 1469 |
+
7.68231984693557e-06,
|
| 1470 |
+
0.0030266419053077698,
|
| 1471 |
+
-0.010097106918692589,
|
| 1472 |
+
0.0003701846580952406
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.050475992262363434,
|
| 1482 |
+
-0.0025516091845929623,
|
| 1483 |
+
-0.027311084792017937,
|
| 1484 |
+
-0.2808140218257904,
|
| 1485 |
+
0.6492722630500793,
|
| 1486 |
+
0.6474834084510803,
|
| 1487 |
+
-0.2834682762622833
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04667968302965164,
|
| 1491 |
+
-0.0009965095669031143,
|
| 1492 |
+
-0.02948485128581524,
|
| 1493 |
+
-0.28552672266960144,
|
| 1494 |
+
0.6449255347251892,
|
| 1495 |
+
0.6471837759017944,
|
| 1496 |
+
-0.28930723667144775
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.0494035929441452,
|
| 1500 |
+
0.002007098635658622,
|
| 1501 |
+
-0.030162086710333824,
|
| 1502 |
+
-0.27254077792167664,
|
| 1503 |
+
0.6547250151634216,
|
| 1504 |
+
0.6485460996627808,
|
| 1505 |
+
-0.27648624777793884
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04903369024395943,
|
| 1509 |
+
-0.0018682745285332203,
|
| 1510 |
+
-0.030923863872885704,
|
| 1511 |
+
-0.28311657905578613,
|
| 1512 |
+
0.6420548558235168,
|
| 1513 |
+
0.6590637564659119,
|
| 1514 |
+
-0.2706390917301178
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.03674947842955589,
|
| 1520 |
+
0.559922993183136,
|
| 1521 |
+
1.9668701887130737,
|
| 1522 |
+
0.039797473698854446,
|
| 1523 |
+
0.004011505749076605,
|
| 1524 |
+
0.27370306849479675,
|
| 1525 |
+
0.9609821438789368
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.048871126025915146,
|
| 1529 |
+
0.6036928296089172,
|
| 1530 |
+
1.9269394874572754,
|
| 1531 |
+
0.04500925540924072,
|
| 1532 |
+
0.02208622731268406,
|
| 1533 |
+
0.2572290897369385,
|
| 1534 |
+
0.9650489687919617
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.04315219819545746,
|
| 1538 |
+
0.5671351552009583,
|
| 1539 |
+
1.9646466970443726,
|
| 1540 |
+
0.03181353211402893,
|
| 1541 |
+
0.01987640932202339,
|
| 1542 |
+
0.2604776620864868,
|
| 1543 |
+
0.9647508859634399
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.03318255767226219,
|
| 1547 |
+
0.5799187421798706,
|
| 1548 |
+
1.9323108196258545,
|
| 1549 |
+
0.027694419026374817,
|
| 1550 |
+
0.005669896490871906,
|
| 1551 |
+
0.27219539880752563,
|
| 1552 |
+
0.9618266820907593
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p010_e023/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c019d696638dcb14d82112d973f0f103d8de98e72c630fc7e61293e98edc5014
|
| 3 |
+
size 7608547
|
episodes/c8_p010_e024/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83c7da2917f22f56bc141c87072c0025feaeb7242f08358df40492185c426980
|
| 3 |
+
size 190090
|
episodes/c8_p010_e024/device_events.jsonl
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 3, "seq": 1, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 1190, "t": 5.95, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 5938, "t": 29.69, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 6548, "t": 32.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 6548, "t": 32.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.511741791599485}, "cause": "task-3-1"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 6548, "t": 32.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 6548, "t": 32.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 10 |
+
{"env_id": 3, "seq": 10, "step": 6548, "t": 32.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 11 |
+
{"env_id": 3, "seq": 11, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 12 |
+
{"env_id": 3, "seq": 12, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 13 |
+
{"env_id": 3, "seq": 13, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 6967, "t": 34.835, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 16 |
+
{"env_id": 3, "seq": 16, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 6967, "t": 34.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.511741791599485}, "cause": "program-3-3"}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 7870, "t": 39.35, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 7870, "t": 39.35, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.51500000000231}, "cause": "program-3-3"}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 7870, "t": 39.35, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.51500000000231}}, "cause": "program-3-3"}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 7870, "t": 39.35, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 7870, "t": 39.35, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 7870, "t": 39.35, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 26 |
+
{"env_id": 3, "seq": 26, "step": 8290, "t": 41.45, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 27 |
+
{"env_id": 3, "seq": 27, "step": 8290, "t": 41.45, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.8089407749499742e-09}, "cause": "program-3-4"}
|
| 28 |
+
{"env_id": 3, "seq": 28, "step": 8290, "t": 41.45, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.8089407749499742e-09}, "cause": "program-3-4"}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 8290, "t": 41.45, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 8290, "t": 41.45, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 8290, "t": 41.45, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 32 |
+
{"env_id": 3, "seq": 32, "step": 8871, "t": 44.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 10640, "t": 53.2, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 10640, "t": 53.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 10640, "t": 53.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 36 |
+
{"env_id": 3, "seq": 36, "step": 10640, "t": 53.2, "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"}
|
episodes/c8_p010_e024/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1cbbde4c54aef65ecf20d34379d848b90a1cb118e1e141ed2b4df892ec80107b
|
| 3 |
+
size 1253812
|
episodes/c8_p010_e024/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c8_p010/magicsim/24",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1250,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1250,
|
| 8 |
+
"env": 1250
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c8_p010_e024/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 24,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c8_p010",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
+
0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
| 123 |
+
6.123234262925839e-17,
|
| 124 |
+
0.0,
|
| 125 |
+
0.0,
|
| 126 |
+
1.0
|
| 127 |
+
],
|
| 128 |
+
"scale": [
|
| 129 |
+
1.0,
|
| 130 |
+
1.0,
|
| 131 |
+
1.0
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"dr": {
|
| 135 |
+
"visual": {
|
| 136 |
+
"kind": null,
|
| 137 |
+
"value": null,
|
| 138 |
+
"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
+
-0.6,
|
| 161 |
+
0.02,
|
| 162 |
+
0.9605
|
| 163 |
+
],
|
| 164 |
+
"ori": [
|
| 165 |
+
1.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
"scale": [
|
| 171 |
+
1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"dr": {
|
| 177 |
+
"visual": {
|
| 178 |
+
"kind": null,
|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
+
-0.6,
|
| 196 |
+
0.02,
|
| 197 |
+
1.0285
|
| 198 |
+
],
|
| 199 |
+
"ori": [
|
| 200 |
+
6.123234262925839e-17,
|
| 201 |
+
0.0,
|
| 202 |
+
0.0,
|
| 203 |
+
1.0
|
| 204 |
+
],
|
| 205 |
+
"scale": [
|
| 206 |
+
1.0,
|
| 207 |
+
1.0,
|
| 208 |
+
1.0
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"dr": {
|
| 212 |
+
"visual": {
|
| 213 |
+
"kind": null,
|
| 214 |
+
"value": null,
|
| 215 |
+
"visible": true
|
| 216 |
+
},
|
| 217 |
+
"physics": {
|
| 218 |
+
"type": "geometry",
|
| 219 |
+
"collision": false,
|
| 220 |
+
"ratio": 1.0
|
| 221 |
+
},
|
| 222 |
+
"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 228 |
+
"pose": {
|
| 229 |
+
"pos": [
|
| 230 |
+
-0.6,
|
| 231 |
+
0.02,
|
| 232 |
+
1.0965
|
| 233 |
+
],
|
| 234 |
+
"ori": [
|
| 235 |
+
1.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0,
|
| 238 |
+
0.0
|
| 239 |
+
],
|
| 240 |
+
"scale": [
|
| 241 |
+
1.0,
|
| 242 |
+
1.0,
|
| 243 |
+
1.0
|
| 244 |
+
]
|
| 245 |
+
},
|
| 246 |
+
"dr": {
|
| 247 |
+
"visual": {
|
| 248 |
+
"kind": null,
|
| 249 |
+
"value": null,
|
| 250 |
+
"visible": true
|
| 251 |
+
},
|
| 252 |
+
"physics": {
|
| 253 |
+
"type": "geometry",
|
| 254 |
+
"collision": false,
|
| 255 |
+
"ratio": 1.0
|
| 256 |
+
},
|
| 257 |
+
"primitive_params": null
|
| 258 |
+
},
|
| 259 |
+
"type_specific": {}
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 263 |
+
"pose": {
|
| 264 |
+
"pos": [
|
| 265 |
+
-0.6,
|
| 266 |
+
0.02,
|
| 267 |
+
1.1645
|
| 268 |
+
],
|
| 269 |
+
"ori": [
|
| 270 |
+
6.123234262925839e-17,
|
| 271 |
+
0.0,
|
| 272 |
+
0.0,
|
| 273 |
+
1.0
|
| 274 |
+
],
|
| 275 |
+
"scale": [
|
| 276 |
+
1.0,
|
| 277 |
+
1.0,
|
| 278 |
+
1.0
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"dr": {
|
| 282 |
+
"visual": {
|
| 283 |
+
"kind": null,
|
| 284 |
+
"value": null,
|
| 285 |
+
"visible": true
|
| 286 |
+
},
|
| 287 |
+
"physics": {
|
| 288 |
+
"type": "geometry",
|
| 289 |
+
"collision": false,
|
| 290 |
+
"ratio": 1.0
|
| 291 |
+
},
|
| 292 |
+
"primitive_params": null
|
| 293 |
+
},
|
| 294 |
+
"type_specific": {}
|
| 295 |
+
},
|
| 296 |
+
{
|
| 297 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 298 |
+
"pose": {
|
| 299 |
+
"pos": [
|
| 300 |
+
-0.6,
|
| 301 |
+
0.02,
|
| 302 |
+
1.2325
|
| 303 |
+
],
|
| 304 |
+
"ori": [
|
| 305 |
+
1.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0,
|
| 308 |
+
0.0
|
| 309 |
+
],
|
| 310 |
+
"scale": [
|
| 311 |
+
1.0,
|
| 312 |
+
1.0,
|
| 313 |
+
1.0
|
| 314 |
+
]
|
| 315 |
+
},
|
| 316 |
+
"dr": {
|
| 317 |
+
"visual": {
|
| 318 |
+
"kind": null,
|
| 319 |
+
"value": null,
|
| 320 |
+
"visible": true
|
| 321 |
+
},
|
| 322 |
+
"physics": {
|
| 323 |
+
"type": "geometry",
|
| 324 |
+
"collision": false,
|
| 325 |
+
"ratio": 1.0
|
| 326 |
+
},
|
| 327 |
+
"primitive_params": null
|
| 328 |
+
},
|
| 329 |
+
"type_specific": {}
|
| 330 |
+
}
|
| 331 |
+
],
|
| 332 |
+
"a4s_sealer": [
|
| 333 |
+
{
|
| 334 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 335 |
+
"pose": {
|
| 336 |
+
"pos": [
|
| 337 |
+
0.470947265625,
|
| 338 |
+
0.11478233337402344,
|
| 339 |
+
0.8999999761581421
|
| 340 |
+
],
|
| 341 |
+
"ori": [
|
| 342 |
+
0.7274402976036072,
|
| 343 |
+
0.0,
|
| 344 |
+
0.0,
|
| 345 |
+
-0.6861709952354431
|
| 346 |
+
],
|
| 347 |
+
"scale": [
|
| 348 |
+
1.0,
|
| 349 |
+
1.0,
|
| 350 |
+
1.0
|
| 351 |
+
]
|
| 352 |
+
},
|
| 353 |
+
"dr": {
|
| 354 |
+
"visual": {
|
| 355 |
+
"kind": null,
|
| 356 |
+
"value": null,
|
| 357 |
+
"visible": true
|
| 358 |
+
},
|
| 359 |
+
"physics": {
|
| 360 |
+
"type": "articulation",
|
| 361 |
+
"solver_position_iteration_count": 16.0,
|
| 362 |
+
"solver_velocity_iteration_count": 1.0,
|
| 363 |
+
"enabled_self_collisions": false,
|
| 364 |
+
"ratio": 1.0
|
| 365 |
+
},
|
| 366 |
+
"primitive_params": null
|
| 367 |
+
},
|
| 368 |
+
"type_specific": {
|
| 369 |
+
"joint_position": [
|
| 370 |
+
3.3641670178774508e-12
|
| 371 |
+
],
|
| 372 |
+
"joint_velocity": [
|
| 373 |
+
0.0
|
| 374 |
+
],
|
| 375 |
+
"linear_velocity": [
|
| 376 |
+
0.0,
|
| 377 |
+
0.0,
|
| 378 |
+
0.0
|
| 379 |
+
],
|
| 380 |
+
"angular_velocity": [
|
| 381 |
+
0.0,
|
| 382 |
+
0.0,
|
| 383 |
+
0.0
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
}
|
| 387 |
+
],
|
| 388 |
+
"conveyor": [
|
| 389 |
+
{
|
| 390 |
+
"asset": "Cube",
|
| 391 |
+
"pose": {
|
| 392 |
+
"pos": [
|
| 393 |
+
0.15,
|
| 394 |
+
0.45,
|
| 395 |
+
0.9
|
| 396 |
+
],
|
| 397 |
+
"ori": [
|
| 398 |
+
1.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0,
|
| 401 |
+
0.0
|
| 402 |
+
],
|
| 403 |
+
"scale": [
|
| 404 |
+
1.0,
|
| 405 |
+
1.0,
|
| 406 |
+
1.0
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
"dr": {
|
| 410 |
+
"visual": {
|
| 411 |
+
"kind": null,
|
| 412 |
+
"value": null,
|
| 413 |
+
"visible": true
|
| 414 |
+
},
|
| 415 |
+
"physics": {
|
| 416 |
+
"type": "conveyor",
|
| 417 |
+
"physics_material": {
|
| 418 |
+
"static_friction": 0.9,
|
| 419 |
+
"dynamic_friction": 0.9
|
| 420 |
+
},
|
| 421 |
+
"ratio": 1.0
|
| 422 |
+
},
|
| 423 |
+
"primitive_params": {
|
| 424 |
+
"size": [
|
| 425 |
+
2.4,
|
| 426 |
+
0.076,
|
| 427 |
+
0.03
|
| 428 |
+
]
|
| 429 |
+
},
|
| 430 |
+
"conveyor": {
|
| 431 |
+
"speed": 0.21663834125842985,
|
| 432 |
+
"direction": [
|
| 433 |
+
1.0,
|
| 434 |
+
0.0,
|
| 435 |
+
0.0
|
| 436 |
+
],
|
| 437 |
+
"enabled": true,
|
| 438 |
+
"drive": "surface_velocity",
|
| 439 |
+
"lines": null,
|
| 440 |
+
"station_line": null,
|
| 441 |
+
"riders": [
|
| 442 |
+
"carrier"
|
| 443 |
+
],
|
| 444 |
+
"stations": {
|
| 445 |
+
"pick": {
|
| 446 |
+
"position": -0.2711833571055882,
|
| 447 |
+
"slow_distance": 0.03,
|
| 448 |
+
"slow_speed": 0.03
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"rails": {
|
| 452 |
+
"height": 0.01,
|
| 453 |
+
"thickness": 0.01,
|
| 454 |
+
"gap": 0.001,
|
| 455 |
+
"friction": 0.05
|
| 456 |
+
},
|
| 457 |
+
"legs": 0.87,
|
| 458 |
+
"loop": {
|
| 459 |
+
"radius": 0.35,
|
| 460 |
+
"side": "left",
|
| 461 |
+
"curve_extra_width": 0.0,
|
| 462 |
+
"segments": 18,
|
| 463 |
+
"curve_rails": "both"
|
| 464 |
+
},
|
| 465 |
+
"snap_distance": 0.1,
|
| 466 |
+
"junction_snap": 0.02,
|
| 467 |
+
"collision_approximation": "auto",
|
| 468 |
+
"plate_mass": 1.0,
|
| 469 |
+
"lift_drop": 0.004,
|
| 470 |
+
"accel": 0.0,
|
| 471 |
+
"decel": 0.0,
|
| 472 |
+
"drive_damping": 1000000.0,
|
| 473 |
+
"drive_max_force": 1000000000.0
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"type_specific": {
|
| 477 |
+
"controller": {
|
| 478 |
+
"state": "at_station",
|
| 479 |
+
"speed": 0.21663834125842985,
|
| 480 |
+
"holds": [],
|
| 481 |
+
"station": "pick",
|
| 482 |
+
"rider": "carrier_3",
|
| 483 |
+
"arrived": true,
|
| 484 |
+
"applied_speed": 0.0
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"carrier": [
|
| 490 |
+
{
|
| 491 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 492 |
+
"pose": {
|
| 493 |
+
"pos": [
|
| 494 |
+
1.2821502685546875,
|
| 495 |
+
0.4490547180175781,
|
| 496 |
+
0.8999999761581421
|
| 497 |
+
],
|
| 498 |
+
"ori": [
|
| 499 |
+
0.9999710321426392,
|
| 500 |
+
2.1494031443580752e-08,
|
| 501 |
+
-3.811825965982507e-09,
|
| 502 |
+
0.007617541588842869
|
| 503 |
+
],
|
| 504 |
+
"scale": [
|
| 505 |
+
1.0,
|
| 506 |
+
1.0,
|
| 507 |
+
1.0
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"dr": {
|
| 511 |
+
"visual": {
|
| 512 |
+
"kind": null,
|
| 513 |
+
"value": null,
|
| 514 |
+
"visible": true
|
| 515 |
+
},
|
| 516 |
+
"physics": {
|
| 517 |
+
"type": "rigid",
|
| 518 |
+
"mass": 0.5,
|
| 519 |
+
"physics_material": {
|
| 520 |
+
"static_friction": 0.9,
|
| 521 |
+
"dynamic_friction": 0.9,
|
| 522 |
+
"restitution": 0.0
|
| 523 |
+
},
|
| 524 |
+
"ratio": 1.0
|
| 525 |
+
},
|
| 526 |
+
"primitive_params": null
|
| 527 |
+
},
|
| 528 |
+
"type_specific": {
|
| 529 |
+
"linear_velocity": [
|
| 530 |
+
4.30001634299515e-09,
|
| 531 |
+
4.407357589997218e-09,
|
| 532 |
+
2.60770320892334e-08
|
| 533 |
+
],
|
| 534 |
+
"angular_velocity": [
|
| 535 |
+
-6.574047972662811e-08,
|
| 536 |
+
2.935323379915644e-07,
|
| 537 |
+
-3.422295691279942e-08
|
| 538 |
+
]
|
| 539 |
+
}
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 543 |
+
"pose": {
|
| 544 |
+
"pos": [
|
| 545 |
+
0.6831817626953125,
|
| 546 |
+
1.151707649230957,
|
| 547 |
+
0.8999999761581421
|
| 548 |
+
],
|
| 549 |
+
"ori": [
|
| 550 |
+
-0.014511480927467346,
|
| 551 |
+
8.798628492456828e-10,
|
| 552 |
+
1.810919858513671e-09,
|
| 553 |
+
0.9998947381973267
|
| 554 |
+
],
|
| 555 |
+
"scale": [
|
| 556 |
+
1.0,
|
| 557 |
+
1.0,
|
| 558 |
+
1.0
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
"dr": {
|
| 562 |
+
"visual": {
|
| 563 |
+
"kind": null,
|
| 564 |
+
"value": null,
|
| 565 |
+
"visible": true
|
| 566 |
+
},
|
| 567 |
+
"physics": {
|
| 568 |
+
"type": "rigid",
|
| 569 |
+
"mass": 0.5,
|
| 570 |
+
"physics_material": {
|
| 571 |
+
"static_friction": 0.9,
|
| 572 |
+
"dynamic_friction": 0.9,
|
| 573 |
+
"restitution": 0.0
|
| 574 |
+
},
|
| 575 |
+
"ratio": 1.0
|
| 576 |
+
},
|
| 577 |
+
"primitive_params": null
|
| 578 |
+
},
|
| 579 |
+
"type_specific": {
|
| 580 |
+
"linear_velocity": [
|
| 581 |
+
1.429518725615253e-10,
|
| 582 |
+
-5.275874181975837e-10,
|
| 583 |
+
0.0
|
| 584 |
+
],
|
| 585 |
+
"angular_velocity": [
|
| 586 |
+
3.238738344180092e-08,
|
| 587 |
+
2.3656182790432467e-08,
|
| 588 |
+
-3.346350307964485e-09
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 594 |
+
"pose": {
|
| 595 |
+
"pos": [
|
| 596 |
+
-0.1208200454711914,
|
| 597 |
+
0.45000457763671875,
|
| 598 |
+
0.8999999761581421
|
| 599 |
+
],
|
| 600 |
+
"ori": [
|
| 601 |
+
1.0,
|
| 602 |
+
-1.250531345142747e-10,
|
| 603 |
+
4.337302517143371e-09,
|
| 604 |
+
-6.0509548347909003e-05
|
| 605 |
+
],
|
| 606 |
+
"scale": [
|
| 607 |
+
1.0,
|
| 608 |
+
1.0,
|
| 609 |
+
1.0
|
| 610 |
+
]
|
| 611 |
+
},
|
| 612 |
+
"dr": {
|
| 613 |
+
"visual": {
|
| 614 |
+
"kind": null,
|
| 615 |
+
"value": null,
|
| 616 |
+
"visible": true
|
| 617 |
+
},
|
| 618 |
+
"physics": {
|
| 619 |
+
"type": "rigid",
|
| 620 |
+
"mass": 0.5,
|
| 621 |
+
"physics_material": {
|
| 622 |
+
"static_friction": 0.9,
|
| 623 |
+
"dynamic_friction": 0.9,
|
| 624 |
+
"restitution": 0.0
|
| 625 |
+
},
|
| 626 |
+
"ratio": 1.0
|
| 627 |
+
},
|
| 628 |
+
"primitive_params": null
|
| 629 |
+
},
|
| 630 |
+
"type_specific": {
|
| 631 |
+
"linear_velocity": [
|
| 632 |
+
-2.5115753921056694e-10,
|
| 633 |
+
2.9714319893514585e-10,
|
| 634 |
+
0.0
|
| 635 |
+
],
|
| 636 |
+
"angular_velocity": [
|
| 637 |
+
3.953602600859085e-08,
|
| 638 |
+
-2.9631200604285368e-08,
|
| 639 |
+
5.331625363425019e-09
|
| 640 |
+
]
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
{
|
| 644 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 645 |
+
"pose": {
|
| 646 |
+
"pos": [
|
| 647 |
+
-1.3872175216674805,
|
| 648 |
+
0.7199487686157227,
|
| 649 |
+
0.8999999761581421
|
| 650 |
+
],
|
| 651 |
+
"ori": [
|
| 652 |
+
-0.7848644852638245,
|
| 653 |
+
-9.86302381988935e-08,
|
| 654 |
+
-1.0100212932684371e-07,
|
| 655 |
+
0.6196674704551697
|
| 656 |
+
],
|
| 657 |
+
"scale": [
|
| 658 |
+
1.0,
|
| 659 |
+
1.0,
|
| 660 |
+
1.0
|
| 661 |
+
]
|
| 662 |
+
},
|
| 663 |
+
"dr": {
|
| 664 |
+
"visual": {
|
| 665 |
+
"kind": null,
|
| 666 |
+
"value": null,
|
| 667 |
+
"visible": true
|
| 668 |
+
},
|
| 669 |
+
"physics": {
|
| 670 |
+
"type": "rigid",
|
| 671 |
+
"mass": 0.5,
|
| 672 |
+
"physics_material": {
|
| 673 |
+
"static_friction": 0.9,
|
| 674 |
+
"dynamic_friction": 0.9,
|
| 675 |
+
"restitution": 0.0
|
| 676 |
+
},
|
| 677 |
+
"ratio": 1.0
|
| 678 |
+
},
|
| 679 |
+
"primitive_params": null
|
| 680 |
+
},
|
| 681 |
+
"type_specific": {
|
| 682 |
+
"linear_velocity": [
|
| 683 |
+
1.7206230040756054e-07,
|
| 684 |
+
-1.0925576816589455e-06,
|
| 685 |
+
-3.069639205932617e-06
|
| 686 |
+
],
|
| 687 |
+
"angular_velocity": [
|
| 688 |
+
9.603617945685983e-05,
|
| 689 |
+
1.2176877135061659e-05,
|
| 690 |
+
6.106910177550162e-07
|
| 691 |
+
]
|
| 692 |
+
}
|
| 693 |
+
}
|
| 694 |
+
],
|
| 695 |
+
"plate": [
|
| 696 |
+
{
|
| 697 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
|
| 698 |
+
"pose": {
|
| 699 |
+
"pos": [
|
| 700 |
+
1.2868833541870117,
|
| 701 |
+
0.4475231170654297,
|
| 702 |
+
0.9179999828338623
|
| 703 |
+
],
|
| 704 |
+
"ori": [
|
| 705 |
+
0.9980286955833435,
|
| 706 |
+
5.572684713683884e-08,
|
| 707 |
+
-2.397450682423141e-09,
|
| 708 |
+
-0.06276016682386398
|
| 709 |
+
],
|
| 710 |
+
"scale": [
|
| 711 |
+
1.0,
|
| 712 |
+
1.0,
|
| 713 |
+
1.0
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
"dr": {
|
| 717 |
+
"visual": {
|
| 718 |
+
"kind": null,
|
| 719 |
+
"value": null,
|
| 720 |
+
"visible": true
|
| 721 |
+
},
|
| 722 |
+
"physics": {
|
| 723 |
+
"type": "rigid",
|
| 724 |
+
"collision": true,
|
| 725 |
+
"mass": "asset",
|
| 726 |
+
"max_depenetration_velocity": 1.0,
|
| 727 |
+
"physics_material": {
|
| 728 |
+
"static_friction": 0.5,
|
| 729 |
+
"dynamic_friction": 0.45,
|
| 730 |
+
"restitution": 0.0,
|
| 731 |
+
"friction_combine_mode": "average"
|
| 732 |
+
},
|
| 733 |
+
"ratio": 1.0
|
| 734 |
+
},
|
| 735 |
+
"primitive_params": null
|
| 736 |
+
},
|
| 737 |
+
"type_specific": {
|
| 738 |
+
"linear_velocity": [
|
| 739 |
+
1.334482657711078e-08,
|
| 740 |
+
-2.8568265975081886e-08,
|
| 741 |
+
2.3469328880310059e-07
|
| 742 |
+
],
|
| 743 |
+
"angular_velocity": [
|
| 744 |
+
1.2128774642405915e-06,
|
| 745 |
+
-2.324228944416973e-06,
|
| 746 |
+
-4.927576355839847e-07
|
| 747 |
+
]
|
| 748 |
+
}
|
| 749 |
+
},
|
| 750 |
+
{
|
| 751 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
|
| 752 |
+
"pose": {
|
| 753 |
+
"pos": [
|
| 754 |
+
0.6712932586669922,
|
| 755 |
+
1.1510486602783203,
|
| 756 |
+
0.9180000424385071
|
| 757 |
+
],
|
| 758 |
+
"ori": [
|
| 759 |
+
-0.08892714232206345,
|
| 760 |
+
6.98618940475626e-10,
|
| 761 |
+
3.7019298737561712e-09,
|
| 762 |
+
0.9960381984710693
|
| 763 |
+
],
|
| 764 |
+
"scale": [
|
| 765 |
+
1.0,
|
| 766 |
+
1.0,
|
| 767 |
+
1.0
|
| 768 |
+
]
|
| 769 |
+
},
|
| 770 |
+
"dr": {
|
| 771 |
+
"visual": {
|
| 772 |
+
"kind": null,
|
| 773 |
+
"value": null,
|
| 774 |
+
"visible": true
|
| 775 |
+
},
|
| 776 |
+
"physics": {
|
| 777 |
+
"type": "rigid",
|
| 778 |
+
"collision": true,
|
| 779 |
+
"mass": "asset",
|
| 780 |
+
"max_depenetration_velocity": 1.0,
|
| 781 |
+
"physics_material": {
|
| 782 |
+
"static_friction": 0.5,
|
| 783 |
+
"dynamic_friction": 0.45,
|
| 784 |
+
"restitution": 0.0,
|
| 785 |
+
"friction_combine_mode": "average"
|
| 786 |
+
},
|
| 787 |
+
"ratio": 1.0
|
| 788 |
+
},
|
| 789 |
+
"primitive_params": null
|
| 790 |
+
},
|
| 791 |
+
"type_specific": {
|
| 792 |
+
"linear_velocity": [
|
| 793 |
+
1.9311062970928106e-08,
|
| 794 |
+
-9.747202156518142e-09,
|
| 795 |
+
-5.304813385009766e-06
|
| 796 |
+
],
|
| 797 |
+
"angular_velocity": [
|
| 798 |
+
-4.714260626315081e-07,
|
| 799 |
+
1.6309892316712649e-06,
|
| 800 |
+
9.454033289557628e-08
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
},
|
| 804 |
+
{
|
| 805 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
|
| 806 |
+
"pose": {
|
| 807 |
+
"pos": [
|
| 808 |
+
-0.13046741485595703,
|
| 809 |
+
0.4562520980834961,
|
| 810 |
+
0.9180000424385071
|
| 811 |
+
],
|
| 812 |
+
"ori": [
|
| 813 |
+
0.9988343715667725,
|
| 814 |
+
1.0238707659482316e-09,
|
| 815 |
+
4.0092724695739435e-09,
|
| 816 |
+
0.048269692808389664
|
| 817 |
+
],
|
| 818 |
+
"scale": [
|
| 819 |
+
1.0,
|
| 820 |
+
1.0,
|
| 821 |
+
1.0
|
| 822 |
+
]
|
| 823 |
+
},
|
| 824 |
+
"dr": {
|
| 825 |
+
"visual": {
|
| 826 |
+
"kind": null,
|
| 827 |
+
"value": null,
|
| 828 |
+
"visible": true
|
| 829 |
+
},
|
| 830 |
+
"physics": {
|
| 831 |
+
"type": "rigid",
|
| 832 |
+
"collision": true,
|
| 833 |
+
"mass": "asset",
|
| 834 |
+
"max_depenetration_velocity": 1.0,
|
| 835 |
+
"physics_material": {
|
| 836 |
+
"static_friction": 0.5,
|
| 837 |
+
"dynamic_friction": 0.45,
|
| 838 |
+
"restitution": 0.0,
|
| 839 |
+
"friction_combine_mode": "average"
|
| 840 |
+
},
|
| 841 |
+
"ratio": 1.0
|
| 842 |
+
},
|
| 843 |
+
"primitive_params": null
|
| 844 |
+
},
|
| 845 |
+
"type_specific": {
|
| 846 |
+
"linear_velocity": [
|
| 847 |
+
-1.3258187436804292e-08,
|
| 848 |
+
2.6564594968192523e-09,
|
| 849 |
+
-5.327165126800537e-06
|
| 850 |
+
],
|
| 851 |
+
"angular_velocity": [
|
| 852 |
+
5.385552412917605e-07,
|
| 853 |
+
-1.1619681572483387e-06,
|
| 854 |
+
6.788799566948e-08
|
| 855 |
+
]
|
| 856 |
+
}
|
| 857 |
+
},
|
| 858 |
+
{
|
| 859 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
|
| 860 |
+
"pose": {
|
| 861 |
+
"pos": [
|
| 862 |
+
-1.38555908203125,
|
| 863 |
+
0.7208395004272461,
|
| 864 |
+
0.9179999828338623
|
| 865 |
+
],
|
| 866 |
+
"ori": [
|
| 867 |
+
-0.7812888026237488,
|
| 868 |
+
-6.878043734559469e-08,
|
| 869 |
+
-7.690030656704039e-08,
|
| 870 |
+
0.6241698265075684
|
| 871 |
+
],
|
| 872 |
+
"scale": [
|
| 873 |
+
1.0,
|
| 874 |
+
1.0,
|
| 875 |
+
1.0
|
| 876 |
+
]
|
| 877 |
+
},
|
| 878 |
+
"dr": {
|
| 879 |
+
"visual": {
|
| 880 |
+
"kind": null,
|
| 881 |
+
"value": null,
|
| 882 |
+
"visible": true
|
| 883 |
+
},
|
| 884 |
+
"physics": {
|
| 885 |
+
"type": "rigid",
|
| 886 |
+
"collision": true,
|
| 887 |
+
"mass": "asset",
|
| 888 |
+
"max_depenetration_velocity": 1.0,
|
| 889 |
+
"physics_material": {
|
| 890 |
+
"static_friction": 0.5,
|
| 891 |
+
"dynamic_friction": 0.45,
|
| 892 |
+
"restitution": 0.0,
|
| 893 |
+
"friction_combine_mode": "average"
|
| 894 |
+
},
|
| 895 |
+
"ratio": 1.0
|
| 896 |
+
},
|
| 897 |
+
"primitive_params": null
|
| 898 |
+
},
|
| 899 |
+
"type_specific": {
|
| 900 |
+
"linear_velocity": [
|
| 901 |
+
5.880128242097271e-07,
|
| 902 |
+
-3.2356249448639574e-06,
|
| 903 |
+
-4.8764050006866455e-06
|
| 904 |
+
],
|
| 905 |
+
"angular_velocity": [
|
| 906 |
+
8.619905565865338e-05,
|
| 907 |
+
1.673057340667583e-05,
|
| 908 |
+
8.381354064113111e-07
|
| 909 |
+
]
|
| 910 |
+
}
|
| 911 |
+
}
|
| 912 |
+
],
|
| 913 |
+
"deco_hub_west": [
|
| 914 |
+
{
|
| 915 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 916 |
+
"pose": {
|
| 917 |
+
"pos": [
|
| 918 |
+
-3.36,
|
| 919 |
+
0.0,
|
| 920 |
+
0.0
|
| 921 |
+
],
|
| 922 |
+
"ori": [
|
| 923 |
+
1.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0,
|
| 926 |
+
0.0
|
| 927 |
+
],
|
| 928 |
+
"scale": [
|
| 929 |
+
1.0,
|
| 930 |
+
1.0,
|
| 931 |
+
1.0
|
| 932 |
+
]
|
| 933 |
+
},
|
| 934 |
+
"dr": {
|
| 935 |
+
"visual": {
|
| 936 |
+
"kind": null,
|
| 937 |
+
"value": null,
|
| 938 |
+
"visible": true
|
| 939 |
+
},
|
| 940 |
+
"physics": {
|
| 941 |
+
"type": "geometry",
|
| 942 |
+
"collision": false,
|
| 943 |
+
"ratio": 1.0
|
| 944 |
+
},
|
| 945 |
+
"primitive_params": null
|
| 946 |
+
},
|
| 947 |
+
"type_specific": {}
|
| 948 |
+
}
|
| 949 |
+
],
|
| 950 |
+
"deco_hub_east": [
|
| 951 |
+
{
|
| 952 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 953 |
+
"pose": {
|
| 954 |
+
"pos": [
|
| 955 |
+
3.36,
|
| 956 |
+
0.0,
|
| 957 |
+
0.0
|
| 958 |
+
],
|
| 959 |
+
"ori": [
|
| 960 |
+
1.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0,
|
| 963 |
+
0.0
|
| 964 |
+
],
|
| 965 |
+
"scale": [
|
| 966 |
+
1.0,
|
| 967 |
+
1.0,
|
| 968 |
+
1.0
|
| 969 |
+
]
|
| 970 |
+
},
|
| 971 |
+
"dr": {
|
| 972 |
+
"visual": {
|
| 973 |
+
"kind": null,
|
| 974 |
+
"value": null,
|
| 975 |
+
"visible": true
|
| 976 |
+
},
|
| 977 |
+
"physics": {
|
| 978 |
+
"type": "geometry",
|
| 979 |
+
"collision": false,
|
| 980 |
+
"ratio": 1.0
|
| 981 |
+
},
|
| 982 |
+
"primitive_params": null
|
| 983 |
+
},
|
| 984 |
+
"type_specific": {}
|
| 985 |
+
}
|
| 986 |
+
],
|
| 987 |
+
"deco_hub_back": [
|
| 988 |
+
{
|
| 989 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 990 |
+
"pose": {
|
| 991 |
+
"pos": [
|
| 992 |
+
-3.0,
|
| 993 |
+
-2.1,
|
| 994 |
+
0.0
|
| 995 |
+
],
|
| 996 |
+
"ori": [
|
| 997 |
+
1.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0,
|
| 1000 |
+
0.0
|
| 1001 |
+
],
|
| 1002 |
+
"scale": [
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0,
|
| 1005 |
+
1.0
|
| 1006 |
+
]
|
| 1007 |
+
},
|
| 1008 |
+
"dr": {
|
| 1009 |
+
"visual": {
|
| 1010 |
+
"kind": null,
|
| 1011 |
+
"value": null,
|
| 1012 |
+
"visible": true
|
| 1013 |
+
},
|
| 1014 |
+
"physics": {
|
| 1015 |
+
"type": "geometry",
|
| 1016 |
+
"collision": false,
|
| 1017 |
+
"ratio": 1.0
|
| 1018 |
+
},
|
| 1019 |
+
"primitive_params": null
|
| 1020 |
+
},
|
| 1021 |
+
"type_specific": {}
|
| 1022 |
+
}
|
| 1023 |
+
],
|
| 1024 |
+
"deco_bench_east": [
|
| 1025 |
+
{
|
| 1026 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
|
| 1027 |
+
"pose": {
|
| 1028 |
+
"pos": [
|
| 1029 |
+
2.6,
|
| 1030 |
+
-2.5,
|
| 1031 |
+
0.0
|
| 1032 |
+
],
|
| 1033 |
+
"ori": [
|
| 1034 |
+
6.123234262925839e-17,
|
| 1035 |
+
0.0,
|
| 1036 |
+
0.0,
|
| 1037 |
+
1.0
|
| 1038 |
+
],
|
| 1039 |
+
"scale": [
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0,
|
| 1042 |
+
1.0
|
| 1043 |
+
]
|
| 1044 |
+
},
|
| 1045 |
+
"dr": {
|
| 1046 |
+
"visual": {
|
| 1047 |
+
"kind": null,
|
| 1048 |
+
"value": null,
|
| 1049 |
+
"visible": true
|
| 1050 |
+
},
|
| 1051 |
+
"physics": {
|
| 1052 |
+
"type": "geometry",
|
| 1053 |
+
"collision": false,
|
| 1054 |
+
"ratio": 1.0
|
| 1055 |
+
},
|
| 1056 |
+
"primitive_params": null
|
| 1057 |
+
},
|
| 1058 |
+
"type_specific": {}
|
| 1059 |
+
}
|
| 1060 |
+
],
|
| 1061 |
+
"deco_bench_gap": [
|
| 1062 |
+
{
|
| 1063 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1064 |
+
"pose": {
|
| 1065 |
+
"pos": [
|
| 1066 |
+
-0.1,
|
| 1067 |
+
-2.9,
|
| 1068 |
+
0.0
|
| 1069 |
+
],
|
| 1070 |
+
"ori": [
|
| 1071 |
+
1.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0,
|
| 1074 |
+
0.0
|
| 1075 |
+
],
|
| 1076 |
+
"scale": [
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0,
|
| 1079 |
+
1.0
|
| 1080 |
+
]
|
| 1081 |
+
},
|
| 1082 |
+
"dr": {
|
| 1083 |
+
"visual": {
|
| 1084 |
+
"kind": null,
|
| 1085 |
+
"value": null,
|
| 1086 |
+
"visible": true
|
| 1087 |
+
},
|
| 1088 |
+
"physics": {
|
| 1089 |
+
"type": "geometry",
|
| 1090 |
+
"collision": false,
|
| 1091 |
+
"ratio": 1.0
|
| 1092 |
+
},
|
| 1093 |
+
"primitive_params": null
|
| 1094 |
+
},
|
| 1095 |
+
"type_specific": {}
|
| 1096 |
+
}
|
| 1097 |
+
]
|
| 1098 |
+
}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
null,
|
| 1105 |
+
{
|
| 1106 |
+
"t": 3.3999999999999497,
|
| 1107 |
+
"step": 680,
|
| 1108 |
+
"counter": 0,
|
| 1109 |
+
"devices": {
|
| 1110 |
+
"a4s_sealer_1": {
|
| 1111 |
+
"mode": "auto",
|
| 1112 |
+
"units": {
|
| 1113 |
+
"drawer": {
|
| 1114 |
+
"state": "at_out",
|
| 1115 |
+
"active": null,
|
| 1116 |
+
"target": 0.0,
|
| 1117 |
+
"goal_name": "out",
|
| 1118 |
+
"profile": null,
|
| 1119 |
+
"q_start": null,
|
| 1120 |
+
"reversing": false,
|
| 1121 |
+
"blocked_for": 0.0,
|
| 1122 |
+
"settled_for": 0.0,
|
| 1123 |
+
"last_q": 3.3641670178774508e-12
|
| 1124 |
+
},
|
| 1125 |
+
"heater": {
|
| 1126 |
+
"state": "ready",
|
| 1127 |
+
"active": null,
|
| 1128 |
+
"duration": 0.0,
|
| 1129 |
+
"t_start": null,
|
| 1130 |
+
"elapsed": 0.0
|
| 1131 |
+
}
|
| 1132 |
+
},
|
| 1133 |
+
"queues": {},
|
| 1134 |
+
"program": null,
|
| 1135 |
+
"sensors": {
|
| 1136 |
+
"plate_present": {
|
| 1137 |
+
"occupants": [],
|
| 1138 |
+
"pending": {}
|
| 1139 |
+
}
|
| 1140 |
+
},
|
| 1141 |
+
"interlocks": {}
|
| 1142 |
+
},
|
| 1143 |
+
"conveyor_1": {
|
| 1144 |
+
"mode": "auto",
|
| 1145 |
+
"units": {
|
| 1146 |
+
"belt": {
|
| 1147 |
+
"state": "at_station",
|
| 1148 |
+
"active": null,
|
| 1149 |
+
"controller": {
|
| 1150 |
+
"speed": 0.21663834125842985,
|
| 1151 |
+
"holds": [],
|
| 1152 |
+
"station": "pick",
|
| 1153 |
+
"rider": "carrier_3",
|
| 1154 |
+
"arrived": true,
|
| 1155 |
+
"settle_count": 584,
|
| 1156 |
+
"released": {
|
| 1157 |
+
"pick": []
|
| 1158 |
+
},
|
| 1159 |
+
"last_pos": {
|
| 1160 |
+
"carrier_1": [
|
| 1161 |
+
1.132150262594223,
|
| 1162 |
+
-0.0009452700614929199,
|
| 1163 |
+
0.0
|
| 1164 |
+
],
|
| 1165 |
+
"carrier_2": [
|
| 1166 |
+
0.533181756734848,
|
| 1167 |
+
0.701707661151886,
|
| 1168 |
+
0.0
|
| 1169 |
+
],
|
| 1170 |
+
"carrier_3": [
|
| 1171 |
+
-0.2708200514316559,
|
| 1172 |
+
4.589557647705078e-06,
|
| 1173 |
+
0.0
|
| 1174 |
+
],
|
| 1175 |
+
"carrier_4": [
|
| 1176 |
+
-1.537217527627945,
|
| 1177 |
+
0.2699487805366516,
|
| 1178 |
+
0.0
|
| 1179 |
+
]
|
| 1180 |
+
},
|
| 1181 |
+
"command": 0.0
|
| 1182 |
+
},
|
| 1183 |
+
"belt": {
|
| 1184 |
+
"target_speed": 0.0,
|
| 1185 |
+
"command_speed": 0.0
|
| 1186 |
+
},
|
| 1187 |
+
"seen": {
|
| 1188 |
+
"state": "at_station",
|
| 1189 |
+
"station": "pick",
|
| 1190 |
+
"rider": "carrier_3",
|
| 1191 |
+
"arrived": true
|
| 1192 |
+
}
|
| 1193 |
+
}
|
| 1194 |
+
},
|
| 1195 |
+
"queues": {},
|
| 1196 |
+
"program": null,
|
| 1197 |
+
"sensors": {},
|
| 1198 |
+
"interlocks": {}
|
| 1199 |
+
}
|
| 1200 |
+
},
|
| 1201 |
+
"zones": {},
|
| 1202 |
+
"labware": {
|
| 1203 |
+
"plate_1": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_2": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_3": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
},
|
| 1212 |
+
"plate_4": {
|
| 1213 |
+
"sealed": false
|
| 1214 |
+
}
|
| 1215 |
+
},
|
| 1216 |
+
"rules": {},
|
| 1217 |
+
"records": [],
|
| 1218 |
+
"bus": {
|
| 1219 |
+
"seq": 3,
|
| 1220 |
+
"queue": []
|
| 1221 |
+
}
|
| 1222 |
+
}
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
{}
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{},
|
| 1235 |
+
{
|
| 1236 |
+
"ceiling": {
|
| 1237 |
+
"type": "rect",
|
| 1238 |
+
"pose": {
|
| 1239 |
+
"pos": [
|
| 1240 |
+
-0.35329416033249095,
|
| 1241 |
+
0.05596366905380268,
|
| 1242 |
+
3.1464729260375495
|
| 1243 |
+
],
|
| 1244 |
+
"ori": [
|
| 1245 |
+
11.18972525831811,
|
| 1246 |
+
-5.247419754921989,
|
| 1247 |
+
28.263770000088257
|
| 1248 |
+
],
|
| 1249 |
+
"scale": [
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0,
|
| 1252 |
+
1.0
|
| 1253 |
+
]
|
| 1254 |
+
},
|
| 1255 |
+
"dr": {
|
| 1256 |
+
"color_temperature": 7180.160915807477,
|
| 1257 |
+
"color": [
|
| 1258 |
+
0.9010092688521831,
|
| 1259 |
+
0.9766595759377285,
|
| 1260 |
+
0.910515580685703
|
| 1261 |
+
],
|
| 1262 |
+
"intensity": 7497.969741732704,
|
| 1263 |
+
"width": 2.0810448753478346,
|
| 1264 |
+
"height": 1.7793051230317143
|
| 1265 |
+
}
|
| 1266 |
+
},
|
| 1267 |
+
"key": {
|
| 1268 |
+
"type": "disk",
|
| 1269 |
+
"pose": {
|
| 1270 |
+
"pos": [
|
| 1271 |
+
-1.3306174587436674,
|
| 1272 |
+
0.31202607087174905,
|
| 1273 |
+
1.7548092536204232
|
| 1274 |
+
],
|
| 1275 |
+
"ori": [
|
| 1276 |
+
-36.51729257447143,
|
| 1277 |
+
10.340855282072624,
|
| 1278 |
+
-14.697329182611298
|
| 1279 |
+
],
|
| 1280 |
+
"scale": [
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0,
|
| 1283 |
+
1.0
|
| 1284 |
+
]
|
| 1285 |
+
},
|
| 1286 |
+
"dr": {
|
| 1287 |
+
"color_temperature": 3099.181534793833,
|
| 1288 |
+
"color": [
|
| 1289 |
+
0.7820181759782309,
|
| 1290 |
+
0.9486771698655105,
|
| 1291 |
+
0.8335719321080094
|
| 1292 |
+
],
|
| 1293 |
+
"intensity": 9418.770408269034,
|
| 1294 |
+
"radius": 0.11755313916163211
|
| 1295 |
+
}
|
| 1296 |
+
}
|
| 1297 |
+
}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 1271.4153475652015,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
-0.15358218550682068,
|
| 1394 |
+
-2.200922727584839,
|
| 1395 |
+
2.420090675354004,
|
| 1396 |
+
-1.7900176048278809,
|
| 1397 |
+
-1.5708562135696411,
|
| 1398 |
+
4.519589900970459,
|
| 1399 |
+
0.007770034950226545,
|
| 1400 |
+
0.006551139522343874
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
-0.09304110705852509,
|
| 1404 |
+
-2.072632312774658,
|
| 1405 |
+
2.3702101707458496,
|
| 1406 |
+
-1.8683269023895264,
|
| 1407 |
+
-1.57081139087677,
|
| 1408 |
+
4.572515964508057,
|
| 1409 |
+
0.007274859584867954,
|
| 1410 |
+
0.006482745986431837
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
1.5002021789550781,
|
| 1414 |
+
-1.2916550636291504,
|
| 1415 |
+
2.2516777515411377,
|
| 1416 |
+
-2.53115177154541,
|
| 1417 |
+
-1.571089506149292,
|
| 1418 |
+
6.214523792266846,
|
| 1419 |
+
0.017999986186623573,
|
| 1420 |
+
0.017999986186623573
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
0.9141073822975159,
|
| 1424 |
+
-1.7193961143493652,
|
| 1425 |
+
2.0904977321624756,
|
| 1426 |
+
-1.9419002532958984,
|
| 1427 |
+
-1.5707999467849731,
|
| 1428 |
+
2.4849040508270264,
|
| 1429 |
+
0.01799999736249447,
|
| 1430 |
+
0.018000001087784767
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
-0.00046761412522755563,
|
| 1436 |
+
-0.0004952131421305239,
|
| 1437 |
+
-0.0009051809320226312,
|
| 1438 |
+
0.00032145276782102883,
|
| 1439 |
+
-3.924527482013218e-05,
|
| 1440 |
+
-9.683925600256771e-05,
|
| 1441 |
+
-0.006571115925908089,
|
| 1442 |
+
-0.00016920280177146196
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.022452346980571747,
|
| 1446 |
+
0.008007904514670372,
|
| 1447 |
+
-0.0031619188375771046,
|
| 1448 |
+
-0.00508345989510417,
|
| 1449 |
+
-0.00014153035590425134,
|
| 1450 |
+
0.023109426721930504,
|
| 1451 |
+
-0.010578061453998089,
|
| 1452 |
+
0.00028988433768972754
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
1.0217890121566597e-05,
|
| 1456 |
+
6.811856110289227e-06,
|
| 1457 |
+
6.811922503402457e-06,
|
| 1458 |
+
-6.811959792685229e-06,
|
| 1459 |
+
-6.811955699959071e-06,
|
| 1460 |
+
-2.7247831894783303e-05,
|
| 1461 |
+
1.8191462913819123e-07,
|
| 1462 |
+
1.8194889150890958e-07
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-2.777827296734536e-38,
|
| 1466 |
+
3.0370605061423053e-38,
|
| 1467 |
+
2.925639902127525e-38,
|
| 1468 |
+
3.2755786566635925e-37,
|
| 1469 |
+
-6.2749190107432025e-37,
|
| 1470 |
+
2.529751562011352e-37,
|
| 1471 |
+
2.5990386731677972e-08,
|
| 1472 |
+
-2.5990388508034812e-08
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.04938698187470436,
|
| 1482 |
+
-0.0002450530882924795,
|
| 1483 |
+
-0.028258753940463066,
|
| 1484 |
+
-0.27565038204193115,
|
| 1485 |
+
0.6561129689216614,
|
| 1486 |
+
0.6430255174636841,
|
| 1487 |
+
-0.2829325199127197
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04941365867853165,
|
| 1491 |
+
0.003829414490610361,
|
| 1492 |
+
-0.032599855214357376,
|
| 1493 |
+
-0.2702940106391907,
|
| 1494 |
+
0.6491433382034302,
|
| 1495 |
+
0.6560642123222351,
|
| 1496 |
+
-0.2741055488586426
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.050744086503982544,
|
| 1500 |
+
0.0004202663549222052,
|
| 1501 |
+
-0.026710404083132744,
|
| 1502 |
+
-0.2768609821796417,
|
| 1503 |
+
0.6529256105422974,
|
| 1504 |
+
0.6475988030433655,
|
| 1505 |
+
-0.27866092324256897
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.05056809261441231,
|
| 1509 |
+
-0.002896615769714117,
|
| 1510 |
+
-0.029050679877400398,
|
| 1511 |
+
-0.2901860475540161,
|
| 1512 |
+
0.6421405673027039,
|
| 1513 |
+
0.652438759803772,
|
| 1514 |
+
-0.2788749039173126
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.0690576359629631,
|
| 1520 |
+
0.59839928150177,
|
| 1521 |
+
1.9663349390029907,
|
| 1522 |
+
0.03205635026097298,
|
| 1523 |
+
0.021965522319078445,
|
| 1524 |
+
0.2561039328575134,
|
| 1525 |
+
0.965867817401886
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.06371144205331802,
|
| 1529 |
+
0.570676326751709,
|
| 1530 |
+
1.9503198862075806,
|
| 1531 |
+
0.05607134848833084,
|
| 1532 |
+
0.00559204863384366,
|
| 1533 |
+
0.25779256224632263,
|
| 1534 |
+
0.9645557403564453
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.027272259816527367,
|
| 1538 |
+
0.60454922914505,
|
| 1539 |
+
1.9606654644012451,
|
| 1540 |
+
0.0493091344833374,
|
| 1541 |
+
-0.006540422793477774,
|
| 1542 |
+
0.26691949367523193,
|
| 1543 |
+
0.9624342918395996
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.037216927856206894,
|
| 1547 |
+
0.5987972617149353,
|
| 1548 |
+
1.9626028537750244,
|
| 1549 |
+
0.04337499290704727,
|
| 1550 |
+
-0.005650720093399286,
|
| 1551 |
+
0.28696152567863464,
|
| 1552 |
+
0.9569429159164429
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c8_p010_e024/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7c57067ab8e6ee3f5984852a3e455334ff7ad7d33679462654207700bdb87cf1
|
| 3 |
+
size 7282921
|
episodes/c8_p010_e025/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:356dad51b90be3ac02254aff61148256cd8cc717798b1277be213b4e86c33afe
|
| 3 |
+
size 188380
|
episodes/c8_p010_e025/device_events.jsonl
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 2, "seq": 1, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 2, "seq": 2, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 2, "seq": 3, "step": 159, "t": 0.795, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 736, "t": 3.68, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 745, "t": 3.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 5419, "t": 27.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 7 |
+
{"env_id": 2, "seq": 7, "step": 6032, "t": 30.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 8 |
+
{"env_id": 2, "seq": 8, "step": 6032, "t": 30.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.131727640302432}, "cause": "task-2-1"}
|
| 9 |
+
{"env_id": 2, "seq": 9, "step": 6032, "t": 30.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
|
| 10 |
+
{"env_id": 2, "seq": 10, "step": 6032, "t": 30.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 11 |
+
{"env_id": 2, "seq": 11, "step": 6032, "t": 30.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 12 |
+
{"env_id": 2, "seq": 12, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 13 |
+
{"env_id": 2, "seq": 13, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 14 |
+
{"env_id": 2, "seq": 14, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 15 |
+
{"env_id": 2, "seq": 15, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
|
| 16 |
+
{"env_id": 2, "seq": 16, "step": 6451, "t": 32.255, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
|
| 17 |
+
{"env_id": 2, "seq": 17, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"}
|
| 18 |
+
{"env_id": 2, "seq": 18, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
|
| 19 |
+
{"env_id": 2, "seq": 19, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 20 |
+
{"env_id": 2, "seq": 20, "step": 6451, "t": 32.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.131727640302432}, "cause": "program-2-3"}
|
| 21 |
+
{"env_id": 2, "seq": 21, "step": 6878, "t": 34.39, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 22 |
+
{"env_id": 2, "seq": 22, "step": 6878, "t": 34.39, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1350000000010922}, "cause": "program-2-3"}
|
| 23 |
+
{"env_id": 2, "seq": 23, "step": 6878, "t": 34.39, "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": 2.1350000000010922}}, "cause": "program-2-3"}
|
| 24 |
+
{"env_id": 2, "seq": 24, "step": 6878, "t": 34.39, "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"}
|
| 25 |
+
{"env_id": 2, "seq": 25, "step": 6878, "t": 34.39, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 26 |
+
{"env_id": 2, "seq": 26, "step": 6878, "t": 34.39, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 27 |
+
{"env_id": 2, "seq": 27, "step": 7298, "t": 36.49, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 28 |
+
{"env_id": 2, "seq": 28, "step": 7298, "t": 36.49, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0131381067424172e-08}, "cause": "program-2-4"}
|
| 29 |
+
{"env_id": 2, "seq": 29, "step": 7298, "t": 36.49, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0131381067424172e-08}, "cause": "program-2-4"}
|
| 30 |
+
{"env_id": 2, "seq": 30, "step": 7298, "t": 36.49, "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"}
|
| 31 |
+
{"env_id": 2, "seq": 31, "step": 7298, "t": 36.49, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 32 |
+
{"env_id": 2, "seq": 32, "step": 7298, "t": 36.49, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 33 |
+
{"env_id": 2, "seq": 33, "step": 7878, "t": 39.39, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 34 |
+
{"env_id": 2, "seq": 34, "step": 9640, "t": 48.2, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 35 |
+
{"env_id": 2, "seq": 35, "step": 9640, "t": 48.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"}
|
| 36 |
+
{"env_id": 2, "seq": 36, "step": 9640, "t": 48.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 37 |
+
{"env_id": 2, "seq": 37, "step": 9640, "t": 48.2, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
|
episodes/c8_p010_e025/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c20e0dab54a10abdb4a8f92f995161a59085b296ad4970868742d3a3825c4b8f
|
| 3 |
+
size 1274557
|
episodes/c8_p010_e025/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c8_p010/magicsim/25",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1176,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1176,
|
| 8 |
+
"env": 1176
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c8_p010_e025/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 25,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c8_p010",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
+
1.0,
|
| 129 |
+
1.0,
|
| 130 |
+
1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
+
0.9605
|
| 162 |
+
],
|
| 163 |
+
"ori": [
|
| 164 |
+
1.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
"scale": [
|
| 170 |
+
1.0,
|
| 171 |
+
1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
"visual": {
|
| 177 |
+
"kind": null,
|
| 178 |
+
"value": null,
|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
+
-0.6,
|
| 195 |
+
0.02,
|
| 196 |
+
1.0285
|
| 197 |
+
],
|
| 198 |
+
"ori": [
|
| 199 |
+
6.123234262925839e-17,
|
| 200 |
+
0.0,
|
| 201 |
+
0.0,
|
| 202 |
+
1.0
|
| 203 |
+
],
|
| 204 |
+
"scale": [
|
| 205 |
+
1.0,
|
| 206 |
+
1.0,
|
| 207 |
+
1.0
|
| 208 |
+
]
|
| 209 |
+
},
|
| 210 |
+
"dr": {
|
| 211 |
+
"visual": {
|
| 212 |
+
"kind": null,
|
| 213 |
+
"value": null,
|
| 214 |
+
"visible": true
|
| 215 |
+
},
|
| 216 |
+
"physics": {
|
| 217 |
+
"type": "geometry",
|
| 218 |
+
"collision": false,
|
| 219 |
+
"ratio": 1.0
|
| 220 |
+
},
|
| 221 |
+
"primitive_params": null
|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 227 |
+
"pose": {
|
| 228 |
+
"pos": [
|
| 229 |
+
-0.6,
|
| 230 |
+
0.02,
|
| 231 |
+
1.0965
|
| 232 |
+
],
|
| 233 |
+
"ori": [
|
| 234 |
+
1.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0
|
| 238 |
+
],
|
| 239 |
+
"scale": [
|
| 240 |
+
1.0,
|
| 241 |
+
1.0,
|
| 242 |
+
1.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"dr": {
|
| 246 |
+
"visual": {
|
| 247 |
+
"kind": null,
|
| 248 |
+
"value": null,
|
| 249 |
+
"visible": true
|
| 250 |
+
},
|
| 251 |
+
"physics": {
|
| 252 |
+
"type": "geometry",
|
| 253 |
+
"collision": false,
|
| 254 |
+
"ratio": 1.0
|
| 255 |
+
},
|
| 256 |
+
"primitive_params": null
|
| 257 |
+
},
|
| 258 |
+
"type_specific": {}
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 262 |
+
"pose": {
|
| 263 |
+
"pos": [
|
| 264 |
+
-0.6,
|
| 265 |
+
0.02,
|
| 266 |
+
1.1645
|
| 267 |
+
],
|
| 268 |
+
"ori": [
|
| 269 |
+
6.123234262925839e-17,
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
1.0
|
| 273 |
+
],
|
| 274 |
+
"scale": [
|
| 275 |
+
1.0,
|
| 276 |
+
1.0,
|
| 277 |
+
1.0
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"dr": {
|
| 281 |
+
"visual": {
|
| 282 |
+
"kind": null,
|
| 283 |
+
"value": null,
|
| 284 |
+
"visible": true
|
| 285 |
+
},
|
| 286 |
+
"physics": {
|
| 287 |
+
"type": "geometry",
|
| 288 |
+
"collision": false,
|
| 289 |
+
"ratio": 1.0
|
| 290 |
+
},
|
| 291 |
+
"primitive_params": null
|
| 292 |
+
},
|
| 293 |
+
"type_specific": {}
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 297 |
+
"pose": {
|
| 298 |
+
"pos": [
|
| 299 |
+
-0.6,
|
| 300 |
+
0.02,
|
| 301 |
+
1.2325
|
| 302 |
+
],
|
| 303 |
+
"ori": [
|
| 304 |
+
1.0,
|
| 305 |
+
0.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0
|
| 308 |
+
],
|
| 309 |
+
"scale": [
|
| 310 |
+
1.0,
|
| 311 |
+
1.0,
|
| 312 |
+
1.0
|
| 313 |
+
]
|
| 314 |
+
},
|
| 315 |
+
"dr": {
|
| 316 |
+
"visual": {
|
| 317 |
+
"kind": null,
|
| 318 |
+
"value": null,
|
| 319 |
+
"visible": true
|
| 320 |
+
},
|
| 321 |
+
"physics": {
|
| 322 |
+
"type": "geometry",
|
| 323 |
+
"collision": false,
|
| 324 |
+
"ratio": 1.0
|
| 325 |
+
},
|
| 326 |
+
"primitive_params": null
|
| 327 |
+
},
|
| 328 |
+
"type_specific": {}
|
| 329 |
+
}
|
| 330 |
+
],
|
| 331 |
+
"a4s_sealer": [
|
| 332 |
+
{
|
| 333 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 334 |
+
"pose": {
|
| 335 |
+
"pos": [
|
| 336 |
+
0.5017671585083008,
|
| 337 |
+
0.0675649642944336,
|
| 338 |
+
0.8999999761581421
|
| 339 |
+
],
|
| 340 |
+
"ori": [
|
| 341 |
+
-0.6824094653129578,
|
| 342 |
+
0.0,
|
| 343 |
+
0.0,
|
| 344 |
+
0.7309701442718506
|
| 345 |
+
],
|
| 346 |
+
"scale": [
|
| 347 |
+
1.0,
|
| 348 |
+
1.0,
|
| 349 |
+
1.0
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"dr": {
|
| 353 |
+
"visual": {
|
| 354 |
+
"kind": null,
|
| 355 |
+
"value": null,
|
| 356 |
+
"visible": true
|
| 357 |
+
},
|
| 358 |
+
"physics": {
|
| 359 |
+
"type": "articulation",
|
| 360 |
+
"solver_position_iteration_count": 16.0,
|
| 361 |
+
"solver_velocity_iteration_count": 1.0,
|
| 362 |
+
"enabled_self_collisions": false,
|
| 363 |
+
"ratio": 1.0
|
| 364 |
+
},
|
| 365 |
+
"primitive_params": null
|
| 366 |
+
},
|
| 367 |
+
"type_specific": {
|
| 368 |
+
"joint_position": [
|
| 369 |
+
6.728332084190991e-13
|
| 370 |
+
],
|
| 371 |
+
"joint_velocity": [
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"linear_velocity": [
|
| 375 |
+
0.0,
|
| 376 |
+
0.0,
|
| 377 |
+
0.0
|
| 378 |
+
],
|
| 379 |
+
"angular_velocity": [
|
| 380 |
+
0.0,
|
| 381 |
+
0.0,
|
| 382 |
+
0.0
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
}
|
| 386 |
+
],
|
| 387 |
+
"conveyor": [
|
| 388 |
+
{
|
| 389 |
+
"asset": "Cube",
|
| 390 |
+
"pose": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.15,
|
| 393 |
+
0.45,
|
| 394 |
+
0.9
|
| 395 |
+
],
|
| 396 |
+
"ori": [
|
| 397 |
+
1.0,
|
| 398 |
+
0.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0
|
| 401 |
+
],
|
| 402 |
+
"scale": [
|
| 403 |
+
1.0,
|
| 404 |
+
1.0,
|
| 405 |
+
1.0
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"dr": {
|
| 409 |
+
"visual": {
|
| 410 |
+
"kind": null,
|
| 411 |
+
"value": null,
|
| 412 |
+
"visible": true
|
| 413 |
+
},
|
| 414 |
+
"physics": {
|
| 415 |
+
"type": "conveyor",
|
| 416 |
+
"physics_material": {
|
| 417 |
+
"static_friction": 0.9,
|
| 418 |
+
"dynamic_friction": 0.9
|
| 419 |
+
},
|
| 420 |
+
"ratio": 1.0
|
| 421 |
+
},
|
| 422 |
+
"primitive_params": {
|
| 423 |
+
"size": [
|
| 424 |
+
2.4,
|
| 425 |
+
0.076,
|
| 426 |
+
0.03
|
| 427 |
+
]
|
| 428 |
+
},
|
| 429 |
+
"conveyor": {
|
| 430 |
+
"speed": 0.28304900219439744,
|
| 431 |
+
"direction": [
|
| 432 |
+
1.0,
|
| 433 |
+
0.0,
|
| 434 |
+
0.0
|
| 435 |
+
],
|
| 436 |
+
"enabled": true,
|
| 437 |
+
"drive": "surface_velocity",
|
| 438 |
+
"lines": null,
|
| 439 |
+
"station_line": null,
|
| 440 |
+
"riders": [
|
| 441 |
+
"carrier"
|
| 442 |
+
],
|
| 443 |
+
"stations": {
|
| 444 |
+
"pick": {
|
| 445 |
+
"position": -0.285890984685299,
|
| 446 |
+
"slow_distance": 0.03,
|
| 447 |
+
"slow_speed": 0.03
|
| 448 |
+
}
|
| 449 |
+
},
|
| 450 |
+
"rails": {
|
| 451 |
+
"height": 0.01,
|
| 452 |
+
"thickness": 0.01,
|
| 453 |
+
"gap": 0.001,
|
| 454 |
+
"friction": 0.05
|
| 455 |
+
},
|
| 456 |
+
"legs": 0.87,
|
| 457 |
+
"loop": {
|
| 458 |
+
"radius": 0.35,
|
| 459 |
+
"side": "left",
|
| 460 |
+
"curve_extra_width": 0.0,
|
| 461 |
+
"segments": 18,
|
| 462 |
+
"curve_rails": "both"
|
| 463 |
+
},
|
| 464 |
+
"snap_distance": 0.1,
|
| 465 |
+
"junction_snap": 0.02,
|
| 466 |
+
"collision_approximation": "auto",
|
| 467 |
+
"plate_mass": 1.0,
|
| 468 |
+
"lift_drop": 0.004,
|
| 469 |
+
"accel": 0.0,
|
| 470 |
+
"decel": 0.0,
|
| 471 |
+
"drive_damping": 1000000.0,
|
| 472 |
+
"drive_max_force": 1000000000.0
|
| 473 |
+
}
|
| 474 |
+
},
|
| 475 |
+
"type_specific": {
|
| 476 |
+
"controller": {
|
| 477 |
+
"state": "at_station",
|
| 478 |
+
"speed": 0.28304900219439744,
|
| 479 |
+
"holds": [],
|
| 480 |
+
"station": "pick",
|
| 481 |
+
"rider": "carrier_4",
|
| 482 |
+
"arrived": true,
|
| 483 |
+
"applied_speed": 0.0
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
],
|
| 488 |
+
"carrier": [
|
| 489 |
+
{
|
| 490 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 491 |
+
"pose": {
|
| 492 |
+
"pos": [
|
| 493 |
+
-0.917576789855957,
|
| 494 |
+
1.1499977111816406,
|
| 495 |
+
0.8999999761581421
|
| 496 |
+
],
|
| 497 |
+
"ori": [
|
| 498 |
+
2.958119148388505e-05,
|
| 499 |
+
-8.142234109165258e-10,
|
| 500 |
+
2.8952056307929297e-09,
|
| 501 |
+
1.0
|
| 502 |
+
],
|
| 503 |
+
"scale": [
|
| 504 |
+
1.0,
|
| 505 |
+
1.0,
|
| 506 |
+
1.0
|
| 507 |
+
]
|
| 508 |
+
},
|
| 509 |
+
"dr": {
|
| 510 |
+
"visual": {
|
| 511 |
+
"kind": null,
|
| 512 |
+
"value": null,
|
| 513 |
+
"visible": true
|
| 514 |
+
},
|
| 515 |
+
"physics": {
|
| 516 |
+
"type": "rigid",
|
| 517 |
+
"mass": 0.5,
|
| 518 |
+
"physics_material": {
|
| 519 |
+
"static_friction": 0.9,
|
| 520 |
+
"dynamic_friction": 0.9,
|
| 521 |
+
"restitution": 0.0
|
| 522 |
+
},
|
| 523 |
+
"ratio": 1.0
|
| 524 |
+
},
|
| 525 |
+
"primitive_params": null
|
| 526 |
+
},
|
| 527 |
+
"type_specific": {
|
| 528 |
+
"linear_velocity": [
|
| 529 |
+
-1.6495023125173702e-09,
|
| 530 |
+
-1.1506644526093623e-09,
|
| 531 |
+
1.1175870895385742e-08
|
| 532 |
+
],
|
| 533 |
+
"angular_velocity": [
|
| 534 |
+
1.0590204624350008e-07,
|
| 535 |
+
-1.6520920098628267e-07,
|
| 536 |
+
-1.2617951128390814e-10
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
{
|
| 541 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 542 |
+
"pose": {
|
| 543 |
+
"pos": [
|
| 544 |
+
1.5509624481201172,
|
| 545 |
+
0.5172519683837891,
|
| 546 |
+
0.8999999761581421
|
| 547 |
+
],
|
| 548 |
+
"ori": [
|
| 549 |
+
0.9541105031967163,
|
| 550 |
+
4.8996255941347044e-09,
|
| 551 |
+
-4.989654911469188e-09,
|
| 552 |
+
0.2994548976421356
|
| 553 |
+
],
|
| 554 |
+
"scale": [
|
| 555 |
+
1.0,
|
| 556 |
+
1.0,
|
| 557 |
+
1.0
|
| 558 |
+
]
|
| 559 |
+
},
|
| 560 |
+
"dr": {
|
| 561 |
+
"visual": {
|
| 562 |
+
"kind": null,
|
| 563 |
+
"value": null,
|
| 564 |
+
"visible": true
|
| 565 |
+
},
|
| 566 |
+
"physics": {
|
| 567 |
+
"type": "rigid",
|
| 568 |
+
"mass": 0.5,
|
| 569 |
+
"physics_material": {
|
| 570 |
+
"static_friction": 0.9,
|
| 571 |
+
"dynamic_friction": 0.9,
|
| 572 |
+
"restitution": 0.0
|
| 573 |
+
},
|
| 574 |
+
"ratio": 1.0
|
| 575 |
+
},
|
| 576 |
+
"primitive_params": null
|
| 577 |
+
},
|
| 578 |
+
"type_specific": {
|
| 579 |
+
"linear_velocity": [
|
| 580 |
+
-1.8343371266382746e-10,
|
| 581 |
+
2.532374310248997e-11,
|
| 582 |
+
0.0
|
| 583 |
+
],
|
| 584 |
+
"angular_velocity": [
|
| 585 |
+
-8.596543921157718e-09,
|
| 586 |
+
-2.0652805687859654e-08,
|
| 587 |
+
1.2152696626799298e-09
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
{
|
| 592 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 593 |
+
"pose": {
|
| 594 |
+
"pos": [
|
| 595 |
+
0.15523910522460938,
|
| 596 |
+
1.1526641845703125,
|
| 597 |
+
0.8999999761581421
|
| 598 |
+
],
|
| 599 |
+
"ori": [
|
| 600 |
+
-0.007884446531534195,
|
| 601 |
+
6.975331423575426e-09,
|
| 602 |
+
-6.612603442590625e-08,
|
| 603 |
+
0.999968945980072
|
| 604 |
+
],
|
| 605 |
+
"scale": [
|
| 606 |
+
1.0,
|
| 607 |
+
1.0,
|
| 608 |
+
1.0
|
| 609 |
+
]
|
| 610 |
+
},
|
| 611 |
+
"dr": {
|
| 612 |
+
"visual": {
|
| 613 |
+
"kind": null,
|
| 614 |
+
"value": null,
|
| 615 |
+
"visible": true
|
| 616 |
+
},
|
| 617 |
+
"physics": {
|
| 618 |
+
"type": "rigid",
|
| 619 |
+
"mass": 0.5,
|
| 620 |
+
"physics_material": {
|
| 621 |
+
"static_friction": 0.9,
|
| 622 |
+
"dynamic_friction": 0.9,
|
| 623 |
+
"restitution": 0.0
|
| 624 |
+
},
|
| 625 |
+
"ratio": 1.0
|
| 626 |
+
},
|
| 627 |
+
"primitive_params": null
|
| 628 |
+
},
|
| 629 |
+
"type_specific": {
|
| 630 |
+
"linear_velocity": [
|
| 631 |
+
1.8453846450938727e-08,
|
| 632 |
+
6.180760010465747e-07,
|
| 633 |
+
-7.450580596923828e-09
|
| 634 |
+
],
|
| 635 |
+
"angular_velocity": [
|
| 636 |
+
-1.3760256479145028e-05,
|
| 637 |
+
-1.61711932378239e-06,
|
| 638 |
+
3.4330805647186935e-06
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 644 |
+
"pose": {
|
| 645 |
+
"pos": [
|
| 646 |
+
-0.1362018585205078,
|
| 647 |
+
0.44750499725341797,
|
| 648 |
+
0.8999999761581421
|
| 649 |
+
],
|
| 650 |
+
"ori": [
|
| 651 |
+
-0.9999422430992126,
|
| 652 |
+
2.8435513499402987e-08,
|
| 653 |
+
-1.1191274751354285e-07,
|
| 654 |
+
-0.010751725174486637
|
| 655 |
+
],
|
| 656 |
+
"scale": [
|
| 657 |
+
1.0,
|
| 658 |
+
1.0,
|
| 659 |
+
1.0
|
| 660 |
+
]
|
| 661 |
+
},
|
| 662 |
+
"dr": {
|
| 663 |
+
"visual": {
|
| 664 |
+
"kind": null,
|
| 665 |
+
"value": null,
|
| 666 |
+
"visible": true
|
| 667 |
+
},
|
| 668 |
+
"physics": {
|
| 669 |
+
"type": "rigid",
|
| 670 |
+
"mass": 0.5,
|
| 671 |
+
"physics_material": {
|
| 672 |
+
"static_friction": 0.9,
|
| 673 |
+
"dynamic_friction": 0.9,
|
| 674 |
+
"restitution": 0.0
|
| 675 |
+
},
|
| 676 |
+
"ratio": 1.0
|
| 677 |
+
},
|
| 678 |
+
"primitive_params": null
|
| 679 |
+
},
|
| 680 |
+
"type_specific": {
|
| 681 |
+
"linear_velocity": [
|
| 682 |
+
9.056355665393312e-11,
|
| 683 |
+
-7.949632063741774e-09,
|
| 684 |
+
2.60770320892334e-08
|
| 685 |
+
],
|
| 686 |
+
"angular_velocity": [
|
| 687 |
+
3.877252652273455e-07,
|
| 688 |
+
1.3199988302403654e-07,
|
| 689 |
+
7.079141539634293e-08
|
| 690 |
+
]
|
| 691 |
+
}
|
| 692 |
+
}
|
| 693 |
+
],
|
| 694 |
+
"plate": [
|
| 695 |
+
{
|
| 696 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
|
| 697 |
+
"pose": {
|
| 698 |
+
"pos": [
|
| 699 |
+
-0.9296197891235352,
|
| 700 |
+
1.1393671035766602,
|
| 701 |
+
0.9179999828338623
|
| 702 |
+
],
|
| 703 |
+
"ori": [
|
| 704 |
+
0.06234743073582649,
|
| 705 |
+
2.1685213347222287e-10,
|
| 706 |
+
4.220560789747196e-09,
|
| 707 |
+
0.9980545043945312
|
| 708 |
+
],
|
| 709 |
+
"scale": [
|
| 710 |
+
1.0,
|
| 711 |
+
1.0,
|
| 712 |
+
1.0
|
| 713 |
+
]
|
| 714 |
+
},
|
| 715 |
+
"dr": {
|
| 716 |
+
"visual": {
|
| 717 |
+
"kind": null,
|
| 718 |
+
"value": null,
|
| 719 |
+
"visible": true
|
| 720 |
+
},
|
| 721 |
+
"physics": {
|
| 722 |
+
"type": "rigid",
|
| 723 |
+
"collision": true,
|
| 724 |
+
"mass": "asset",
|
| 725 |
+
"max_depenetration_velocity": 1.0,
|
| 726 |
+
"physics_material": {
|
| 727 |
+
"static_friction": 0.5,
|
| 728 |
+
"dynamic_friction": 0.45,
|
| 729 |
+
"restitution": 0.0,
|
| 730 |
+
"friction_combine_mode": "average"
|
| 731 |
+
},
|
| 732 |
+
"ratio": 1.0
|
| 733 |
+
},
|
| 734 |
+
"primitive_params": null
|
| 735 |
+
},
|
| 736 |
+
"type_specific": {
|
| 737 |
+
"linear_velocity": [
|
| 738 |
+
1.4591158503662882e-08,
|
| 739 |
+
1.1150795842240768e-08,
|
| 740 |
+
1.4156103134155273e-07
|
| 741 |
+
],
|
| 742 |
+
"angular_velocity": [
|
| 743 |
+
-7.472961556231894e-07,
|
| 744 |
+
1.8796454241964966e-06,
|
| 745 |
+
-4.6067626158219355e-08
|
| 746 |
+
]
|
| 747 |
+
}
|
| 748 |
+
},
|
| 749 |
+
{
|
| 750 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
|
| 751 |
+
"pose": {
|
| 752 |
+
"pos": [
|
| 753 |
+
1.551788330078125,
|
| 754 |
+
0.5030937194824219,
|
| 755 |
+
0.9180000424385071
|
| 756 |
+
],
|
| 757 |
+
"ori": [
|
| 758 |
+
0.9437896013259888,
|
| 759 |
+
4.036876166679804e-09,
|
| 760 |
+
-7.98743471364105e-09,
|
| 761 |
+
0.3305470943450928
|
| 762 |
+
],
|
| 763 |
+
"scale": [
|
| 764 |
+
1.0,
|
| 765 |
+
1.0,
|
| 766 |
+
1.0
|
| 767 |
+
]
|
| 768 |
+
},
|
| 769 |
+
"dr": {
|
| 770 |
+
"visual": {
|
| 771 |
+
"kind": null,
|
| 772 |
+
"value": null,
|
| 773 |
+
"visible": true
|
| 774 |
+
},
|
| 775 |
+
"physics": {
|
| 776 |
+
"type": "rigid",
|
| 777 |
+
"collision": true,
|
| 778 |
+
"mass": "asset",
|
| 779 |
+
"max_depenetration_velocity": 1.0,
|
| 780 |
+
"physics_material": {
|
| 781 |
+
"static_friction": 0.5,
|
| 782 |
+
"dynamic_friction": 0.45,
|
| 783 |
+
"restitution": 0.0,
|
| 784 |
+
"friction_combine_mode": "average"
|
| 785 |
+
},
|
| 786 |
+
"ratio": 1.0
|
| 787 |
+
},
|
| 788 |
+
"primitive_params": null
|
| 789 |
+
},
|
| 790 |
+
"type_specific": {
|
| 791 |
+
"linear_velocity": [
|
| 792 |
+
-4.21239292336395e-08,
|
| 793 |
+
-1.2389705261739437e-08,
|
| 794 |
+
1.4528632164001465e-07
|
| 795 |
+
],
|
| 796 |
+
"angular_velocity": [
|
| 797 |
+
1.2547807273222134e-06,
|
| 798 |
+
-2.027456503128633e-06,
|
| 799 |
+
1.074752447038918e-07
|
| 800 |
+
]
|
| 801 |
+
}
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
|
| 805 |
+
"pose": {
|
| 806 |
+
"pos": [
|
| 807 |
+
0.14290428161621094,
|
| 808 |
+
1.1583452224731445,
|
| 809 |
+
0.9180000424385071
|
| 810 |
+
],
|
| 811 |
+
"ori": [
|
| 812 |
+
-0.08929472416639328,
|
| 813 |
+
3.2653996839826505e-08,
|
| 814 |
+
-4.318323476582009e-07,
|
| 815 |
+
0.9960052967071533
|
| 816 |
+
],
|
| 817 |
+
"scale": [
|
| 818 |
+
1.0,
|
| 819 |
+
1.0,
|
| 820 |
+
1.0
|
| 821 |
+
]
|
| 822 |
+
},
|
| 823 |
+
"dr": {
|
| 824 |
+
"visual": {
|
| 825 |
+
"kind": null,
|
| 826 |
+
"value": null,
|
| 827 |
+
"visible": true
|
| 828 |
+
},
|
| 829 |
+
"physics": {
|
| 830 |
+
"type": "rigid",
|
| 831 |
+
"collision": true,
|
| 832 |
+
"mass": "asset",
|
| 833 |
+
"max_depenetration_velocity": 1.0,
|
| 834 |
+
"physics_material": {
|
| 835 |
+
"static_friction": 0.5,
|
| 836 |
+
"dynamic_friction": 0.45,
|
| 837 |
+
"restitution": 0.0,
|
| 838 |
+
"friction_combine_mode": "average"
|
| 839 |
+
},
|
| 840 |
+
"ratio": 1.0
|
| 841 |
+
},
|
| 842 |
+
"primitive_params": null
|
| 843 |
+
},
|
| 844 |
+
"type_specific": {
|
| 845 |
+
"linear_velocity": [
|
| 846 |
+
-3.020117674168432e-06,
|
| 847 |
+
3.0643632271676324e-06,
|
| 848 |
+
-5.956739187240601e-06
|
| 849 |
+
],
|
| 850 |
+
"angular_velocity": [
|
| 851 |
+
5.87698414165061e-05,
|
| 852 |
+
1.2276968845981173e-05,
|
| 853 |
+
-3.693283724715002e-05
|
| 854 |
+
]
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
{
|
| 858 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
|
| 859 |
+
"pose": {
|
| 860 |
+
"pos": [
|
| 861 |
+
-0.13494300842285156,
|
| 862 |
+
0.45311546325683594,
|
| 863 |
+
0.9179999828338623
|
| 864 |
+
],
|
| 865 |
+
"ori": [
|
| 866 |
+
-0.9986990094184875,
|
| 867 |
+
2.1913569625553464e-08,
|
| 868 |
+
-1.1092721763361624e-07,
|
| 869 |
+
-0.050993770360946655
|
| 870 |
+
],
|
| 871 |
+
"scale": [
|
| 872 |
+
1.0,
|
| 873 |
+
1.0,
|
| 874 |
+
1.0
|
| 875 |
+
]
|
| 876 |
+
},
|
| 877 |
+
"dr": {
|
| 878 |
+
"visual": {
|
| 879 |
+
"kind": null,
|
| 880 |
+
"value": null,
|
| 881 |
+
"visible": true
|
| 882 |
+
},
|
| 883 |
+
"physics": {
|
| 884 |
+
"type": "rigid",
|
| 885 |
+
"collision": true,
|
| 886 |
+
"mass": "asset",
|
| 887 |
+
"max_depenetration_velocity": 1.0,
|
| 888 |
+
"physics_material": {
|
| 889 |
+
"static_friction": 0.5,
|
| 890 |
+
"dynamic_friction": 0.45,
|
| 891 |
+
"restitution": 0.0,
|
| 892 |
+
"friction_combine_mode": "average"
|
| 893 |
+
},
|
| 894 |
+
"ratio": 1.0
|
| 895 |
+
},
|
| 896 |
+
"primitive_params": null
|
| 897 |
+
},
|
| 898 |
+
"type_specific": {
|
| 899 |
+
"linear_velocity": [
|
| 900 |
+
-5.962255755775914e-08,
|
| 901 |
+
-9.267294132087045e-08,
|
| 902 |
+
-1.4118850231170654e-06
|
| 903 |
+
],
|
| 904 |
+
"angular_velocity": [
|
| 905 |
+
3.5061077596765244e-06,
|
| 906 |
+
-2.707299245230388e-06,
|
| 907 |
+
2.703259553982207e-07
|
| 908 |
+
]
|
| 909 |
+
}
|
| 910 |
+
}
|
| 911 |
+
],
|
| 912 |
+
"deco_hub_west": [
|
| 913 |
+
{
|
| 914 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
|
| 915 |
+
"pose": {
|
| 916 |
+
"pos": [
|
| 917 |
+
-3.36,
|
| 918 |
+
0.0,
|
| 919 |
+
0.0
|
| 920 |
+
],
|
| 921 |
+
"ori": [
|
| 922 |
+
1.0,
|
| 923 |
+
0.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0
|
| 926 |
+
],
|
| 927 |
+
"scale": [
|
| 928 |
+
1.0,
|
| 929 |
+
1.0,
|
| 930 |
+
1.0
|
| 931 |
+
]
|
| 932 |
+
},
|
| 933 |
+
"dr": {
|
| 934 |
+
"visual": {
|
| 935 |
+
"kind": null,
|
| 936 |
+
"value": null,
|
| 937 |
+
"visible": true
|
| 938 |
+
},
|
| 939 |
+
"physics": {
|
| 940 |
+
"type": "geometry",
|
| 941 |
+
"collision": false,
|
| 942 |
+
"ratio": 1.0
|
| 943 |
+
},
|
| 944 |
+
"primitive_params": null
|
| 945 |
+
},
|
| 946 |
+
"type_specific": {}
|
| 947 |
+
}
|
| 948 |
+
],
|
| 949 |
+
"deco_hub_east": [
|
| 950 |
+
{
|
| 951 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 952 |
+
"pose": {
|
| 953 |
+
"pos": [
|
| 954 |
+
3.36,
|
| 955 |
+
0.0,
|
| 956 |
+
0.0
|
| 957 |
+
],
|
| 958 |
+
"ori": [
|
| 959 |
+
1.0,
|
| 960 |
+
0.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0
|
| 963 |
+
],
|
| 964 |
+
"scale": [
|
| 965 |
+
1.0,
|
| 966 |
+
1.0,
|
| 967 |
+
1.0
|
| 968 |
+
]
|
| 969 |
+
},
|
| 970 |
+
"dr": {
|
| 971 |
+
"visual": {
|
| 972 |
+
"kind": null,
|
| 973 |
+
"value": null,
|
| 974 |
+
"visible": true
|
| 975 |
+
},
|
| 976 |
+
"physics": {
|
| 977 |
+
"type": "geometry",
|
| 978 |
+
"collision": false,
|
| 979 |
+
"ratio": 1.0
|
| 980 |
+
},
|
| 981 |
+
"primitive_params": null
|
| 982 |
+
},
|
| 983 |
+
"type_specific": {}
|
| 984 |
+
}
|
| 985 |
+
],
|
| 986 |
+
"deco_hub_back": [
|
| 987 |
+
{
|
| 988 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 989 |
+
"pose": {
|
| 990 |
+
"pos": [
|
| 991 |
+
-3.0,
|
| 992 |
+
-2.1,
|
| 993 |
+
0.0
|
| 994 |
+
],
|
| 995 |
+
"ori": [
|
| 996 |
+
1.0,
|
| 997 |
+
0.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0
|
| 1000 |
+
],
|
| 1001 |
+
"scale": [
|
| 1002 |
+
1.0,
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0
|
| 1005 |
+
]
|
| 1006 |
+
},
|
| 1007 |
+
"dr": {
|
| 1008 |
+
"visual": {
|
| 1009 |
+
"kind": null,
|
| 1010 |
+
"value": null,
|
| 1011 |
+
"visible": true
|
| 1012 |
+
},
|
| 1013 |
+
"physics": {
|
| 1014 |
+
"type": "geometry",
|
| 1015 |
+
"collision": false,
|
| 1016 |
+
"ratio": 1.0
|
| 1017 |
+
},
|
| 1018 |
+
"primitive_params": null
|
| 1019 |
+
},
|
| 1020 |
+
"type_specific": {}
|
| 1021 |
+
}
|
| 1022 |
+
],
|
| 1023 |
+
"deco_bench_east": [
|
| 1024 |
+
{
|
| 1025 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1026 |
+
"pose": {
|
| 1027 |
+
"pos": [
|
| 1028 |
+
2.6,
|
| 1029 |
+
-2.5,
|
| 1030 |
+
0.0
|
| 1031 |
+
],
|
| 1032 |
+
"ori": [
|
| 1033 |
+
6.123234262925839e-17,
|
| 1034 |
+
0.0,
|
| 1035 |
+
0.0,
|
| 1036 |
+
1.0
|
| 1037 |
+
],
|
| 1038 |
+
"scale": [
|
| 1039 |
+
1.0,
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0
|
| 1042 |
+
]
|
| 1043 |
+
},
|
| 1044 |
+
"dr": {
|
| 1045 |
+
"visual": {
|
| 1046 |
+
"kind": null,
|
| 1047 |
+
"value": null,
|
| 1048 |
+
"visible": true
|
| 1049 |
+
},
|
| 1050 |
+
"physics": {
|
| 1051 |
+
"type": "geometry",
|
| 1052 |
+
"collision": false,
|
| 1053 |
+
"ratio": 1.0
|
| 1054 |
+
},
|
| 1055 |
+
"primitive_params": null
|
| 1056 |
+
},
|
| 1057 |
+
"type_specific": {}
|
| 1058 |
+
}
|
| 1059 |
+
],
|
| 1060 |
+
"deco_bench_gap": [
|
| 1061 |
+
{
|
| 1062 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1063 |
+
"pose": {
|
| 1064 |
+
"pos": [
|
| 1065 |
+
-0.1,
|
| 1066 |
+
-2.9,
|
| 1067 |
+
0.0
|
| 1068 |
+
],
|
| 1069 |
+
"ori": [
|
| 1070 |
+
1.0,
|
| 1071 |
+
0.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0
|
| 1074 |
+
],
|
| 1075 |
+
"scale": [
|
| 1076 |
+
1.0,
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0
|
| 1079 |
+
]
|
| 1080 |
+
},
|
| 1081 |
+
"dr": {
|
| 1082 |
+
"visual": {
|
| 1083 |
+
"kind": null,
|
| 1084 |
+
"value": null,
|
| 1085 |
+
"visible": true
|
| 1086 |
+
},
|
| 1087 |
+
"physics": {
|
| 1088 |
+
"type": "geometry",
|
| 1089 |
+
"collision": false,
|
| 1090 |
+
"ratio": 1.0
|
| 1091 |
+
},
|
| 1092 |
+
"primitive_params": null
|
| 1093 |
+
},
|
| 1094 |
+
"type_specific": {}
|
| 1095 |
+
}
|
| 1096 |
+
]
|
| 1097 |
+
},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
{
|
| 1105 |
+
"t": 1.2999999999999943,
|
| 1106 |
+
"step": 260,
|
| 1107 |
+
"counter": 0,
|
| 1108 |
+
"devices": {
|
| 1109 |
+
"a4s_sealer_1": {
|
| 1110 |
+
"mode": "auto",
|
| 1111 |
+
"units": {
|
| 1112 |
+
"drawer": {
|
| 1113 |
+
"state": "at_out",
|
| 1114 |
+
"active": null,
|
| 1115 |
+
"target": 0.0,
|
| 1116 |
+
"goal_name": "out",
|
| 1117 |
+
"profile": null,
|
| 1118 |
+
"q_start": null,
|
| 1119 |
+
"reversing": false,
|
| 1120 |
+
"blocked_for": 0.0,
|
| 1121 |
+
"settled_for": 0.0,
|
| 1122 |
+
"last_q": 6.728332084190991e-13
|
| 1123 |
+
},
|
| 1124 |
+
"heater": {
|
| 1125 |
+
"state": "ready",
|
| 1126 |
+
"active": null,
|
| 1127 |
+
"duration": 0.0,
|
| 1128 |
+
"t_start": null,
|
| 1129 |
+
"elapsed": 0.0
|
| 1130 |
+
}
|
| 1131 |
+
},
|
| 1132 |
+
"queues": {},
|
| 1133 |
+
"program": null,
|
| 1134 |
+
"sensors": {
|
| 1135 |
+
"plate_present": {
|
| 1136 |
+
"occupants": [],
|
| 1137 |
+
"pending": {}
|
| 1138 |
+
}
|
| 1139 |
+
},
|
| 1140 |
+
"interlocks": {}
|
| 1141 |
+
},
|
| 1142 |
+
"conveyor_1": {
|
| 1143 |
+
"mode": "auto",
|
| 1144 |
+
"units": {
|
| 1145 |
+
"belt": {
|
| 1146 |
+
"state": "at_station",
|
| 1147 |
+
"active": null,
|
| 1148 |
+
"controller": {
|
| 1149 |
+
"speed": 0.28304900219439744,
|
| 1150 |
+
"holds": [],
|
| 1151 |
+
"station": "pick",
|
| 1152 |
+
"rider": "carrier_4",
|
| 1153 |
+
"arrived": true,
|
| 1154 |
+
"settle_count": 105,
|
| 1155 |
+
"released": {
|
| 1156 |
+
"pick": []
|
| 1157 |
+
},
|
| 1158 |
+
"last_pos": {
|
| 1159 |
+
"carrier_1": [
|
| 1160 |
+
-1.0675767958164215,
|
| 1161 |
+
0.6999977231025696,
|
| 1162 |
+
0.0
|
| 1163 |
+
],
|
| 1164 |
+
"carrier_2": [
|
| 1165 |
+
1.4009624421596527,
|
| 1166 |
+
0.06725198030471802,
|
| 1167 |
+
0.0
|
| 1168 |
+
],
|
| 1169 |
+
"carrier_3": [
|
| 1170 |
+
0.0052390992641448975,
|
| 1171 |
+
0.7026641964912415,
|
| 1172 |
+
0.0
|
| 1173 |
+
],
|
| 1174 |
+
"carrier_4": [
|
| 1175 |
+
-0.2862018644809723,
|
| 1176 |
+
-0.002494990825653076,
|
| 1177 |
+
0.0
|
| 1178 |
+
]
|
| 1179 |
+
},
|
| 1180 |
+
"command": 0.0
|
| 1181 |
+
},
|
| 1182 |
+
"belt": {
|
| 1183 |
+
"target_speed": 0.0,
|
| 1184 |
+
"command_speed": 0.0
|
| 1185 |
+
},
|
| 1186 |
+
"seen": {
|
| 1187 |
+
"state": "at_station",
|
| 1188 |
+
"station": "pick",
|
| 1189 |
+
"rider": "carrier_4",
|
| 1190 |
+
"arrived": true
|
| 1191 |
+
}
|
| 1192 |
+
}
|
| 1193 |
+
},
|
| 1194 |
+
"queues": {},
|
| 1195 |
+
"program": null,
|
| 1196 |
+
"sensors": {},
|
| 1197 |
+
"interlocks": {}
|
| 1198 |
+
}
|
| 1199 |
+
},
|
| 1200 |
+
"zones": {},
|
| 1201 |
+
"labware": {
|
| 1202 |
+
"plate_1": {
|
| 1203 |
+
"sealed": false
|
| 1204 |
+
},
|
| 1205 |
+
"plate_2": {
|
| 1206 |
+
"sealed": false
|
| 1207 |
+
},
|
| 1208 |
+
"plate_3": {
|
| 1209 |
+
"sealed": false
|
| 1210 |
+
},
|
| 1211 |
+
"plate_4": {
|
| 1212 |
+
"sealed": false
|
| 1213 |
+
}
|
| 1214 |
+
},
|
| 1215 |
+
"rules": {},
|
| 1216 |
+
"records": [],
|
| 1217 |
+
"bus": {
|
| 1218 |
+
"seq": 3,
|
| 1219 |
+
"queue": []
|
| 1220 |
+
}
|
| 1221 |
+
},
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
{},
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{
|
| 1235 |
+
"ceiling": {
|
| 1236 |
+
"type": "rect",
|
| 1237 |
+
"pose": {
|
| 1238 |
+
"pos": [
|
| 1239 |
+
-0.07825838952465525,
|
| 1240 |
+
0.5007602395026509,
|
| 1241 |
+
3.0028646658209
|
| 1242 |
+
],
|
| 1243 |
+
"ori": [
|
| 1244 |
+
9.662738901610144,
|
| 1245 |
+
0.5946000803283624,
|
| 1246 |
+
11.284609048168434
|
| 1247 |
+
],
|
| 1248 |
+
"scale": [
|
| 1249 |
+
1.0,
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0
|
| 1252 |
+
]
|
| 1253 |
+
},
|
| 1254 |
+
"dr": {
|
| 1255 |
+
"color_temperature": 7091.9619960888085,
|
| 1256 |
+
"color": [
|
| 1257 |
+
0.9658210899315253,
|
| 1258 |
+
0.8136321368455914,
|
| 1259 |
+
0.8770302980933008
|
| 1260 |
+
],
|
| 1261 |
+
"intensity": 8424.26512902684,
|
| 1262 |
+
"width": 2.0178879328147294,
|
| 1263 |
+
"height": 1.5905864635263232
|
| 1264 |
+
}
|
| 1265 |
+
},
|
| 1266 |
+
"key": {
|
| 1267 |
+
"type": "disk",
|
| 1268 |
+
"pose": {
|
| 1269 |
+
"pos": [
|
| 1270 |
+
1.171717361331352,
|
| 1271 |
+
0.6341266268174719,
|
| 1272 |
+
1.7527683410102728
|
| 1273 |
+
],
|
| 1274 |
+
"ori": [
|
| 1275 |
+
-5.335567236126835,
|
| 1276 |
+
32.625064516635206,
|
| 1277 |
+
19.749204167824587
|
| 1278 |
+
],
|
| 1279 |
+
"scale": [
|
| 1280 |
+
1.0,
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0
|
| 1283 |
+
]
|
| 1284 |
+
},
|
| 1285 |
+
"dr": {
|
| 1286 |
+
"color_temperature": 5371.285448694565,
|
| 1287 |
+
"color": [
|
| 1288 |
+
0.9508964843820578,
|
| 1289 |
+
0.8140765801253385,
|
| 1290 |
+
0.9936481454241717
|
| 1291 |
+
],
|
| 1292 |
+
"intensity": 4782.663701939808,
|
| 1293 |
+
"radius": 0.48207804055480363
|
| 1294 |
+
}
|
| 1295 |
+
}
|
| 1296 |
+
},
|
| 1297 |
+
{}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 1271.4153475652015,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
1.4677752256393433,
|
| 1394 |
+
-1.467717170715332,
|
| 1395 |
+
2.171869993209839,
|
| 1396 |
+
-2.2675745487213135,
|
| 1397 |
+
-1.5737025737762451,
|
| 1398 |
+
6.184232711791992,
|
| 1399 |
+
0.0071829999797046185,
|
| 1400 |
+
0.006676780991256237
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
1.4244945049285889,
|
| 1404 |
+
-1.3101104497909546,
|
| 1405 |
+
2.279179096221924,
|
| 1406 |
+
-2.5391128063201904,
|
| 1407 |
+
-1.5707615613937378,
|
| 1408 |
+
6.114458084106445,
|
| 1409 |
+
0.017999986186623573,
|
| 1410 |
+
0.017999986186623573
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.9140999913215637,
|
| 1414 |
+
-1.7194000482559204,
|
| 1415 |
+
2.0905001163482666,
|
| 1416 |
+
-1.9419000148773193,
|
| 1417 |
+
-1.5707999467849731,
|
| 1418 |
+
2.4848999977111816,
|
| 1419 |
+
0.017999999225139618,
|
| 1420 |
+
0.017999999225139618
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
1.2642306089401245,
|
| 1424 |
+
-1.2687524557113647,
|
| 1425 |
+
2.230395555496216,
|
| 1426 |
+
-2.5324652194976807,
|
| 1427 |
+
-1.570787787437439,
|
| 1428 |
+
2.7384862899780273,
|
| 1429 |
+
0.007602537050843239,
|
| 1430 |
+
0.007021826226264238
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.0002529897610656917,
|
| 1436 |
+
0.015764432027935982,
|
| 1437 |
+
0.007755062077194452,
|
| 1438 |
+
-0.020676875486969948,
|
| 1439 |
+
-0.0011156987166032195,
|
| 1440 |
+
0.0004542795359157026,
|
| 1441 |
+
-0.007194488774985075,
|
| 1442 |
+
-9.173307626042515e-05
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
6.811926141381264e-06,
|
| 1446 |
+
3.405900542929885e-06,
|
| 1447 |
+
6.811907951487228e-06,
|
| 1448 |
+
-1.034780854752837e-11,
|
| 1449 |
+
3.4059778499795357e-06,
|
| 1450 |
+
-1.3623912309412844e-05,
|
| 1451 |
+
1.81946575139591e-07,
|
| 1452 |
+
1.8191576600656845e-07
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
0.0,
|
| 1456 |
+
0.0,
|
| 1457 |
+
0.0,
|
| 1458 |
+
0.0,
|
| 1459 |
+
0.0,
|
| 1460 |
+
0.0,
|
| 1461 |
+
0.0,
|
| 1462 |
+
0.0
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-4.486948819248937e-05,
|
| 1466 |
+
-2.3256414351635613e-05,
|
| 1467 |
+
-0.00014246825594455004,
|
| 1468 |
+
-0.000324964988976717,
|
| 1469 |
+
0.00019654276547953486,
|
| 1470 |
+
0.0009275432676076889,
|
| 1471 |
+
-0.007313866633921862,
|
| 1472 |
+
0.00019174287444911897
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.050305645912885666,
|
| 1482 |
+
8.784164674580097e-05,
|
| 1483 |
+
-0.02998455986380577,
|
| 1484 |
+
-0.27227699756622314,
|
| 1485 |
+
0.6558418273925781,
|
| 1486 |
+
0.6445634365081787,
|
| 1487 |
+
-0.2833278775215149
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.05020960420370102,
|
| 1491 |
+
0.003973157145082951,
|
| 1492 |
+
-0.031536199152469635,
|
| 1493 |
+
-0.27186089754104614,
|
| 1494 |
+
0.645392656326294,
|
| 1495 |
+
0.6578083634376526,
|
| 1496 |
+
-0.27721497416496277
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.04989331588149071,
|
| 1500 |
+
0.0008687370573170483,
|
| 1501 |
+
-0.029596149921417236,
|
| 1502 |
+
-0.278989315032959,
|
| 1503 |
+
0.6545981168746948,
|
| 1504 |
+
0.6416245698928833,
|
| 1505 |
+
-0.28632888197898865
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.05076166242361069,
|
| 1509 |
+
-0.004045338369905949,
|
| 1510 |
+
-0.02885350026190281,
|
| 1511 |
+
-0.29794514179229736,
|
| 1512 |
+
0.6348778009414673,
|
| 1513 |
+
0.6565547585487366,
|
| 1514 |
+
-0.2776593267917633
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.0690576359629631,
|
| 1520 |
+
0.59839928150177,
|
| 1521 |
+
1.9663349390029907,
|
| 1522 |
+
0.03205635026097298,
|
| 1523 |
+
0.021965522319078445,
|
| 1524 |
+
0.2561039328575134,
|
| 1525 |
+
0.965867817401886
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.06371144205331802,
|
| 1529 |
+
0.570676326751709,
|
| 1530 |
+
1.9503198862075806,
|
| 1531 |
+
0.05607134848833084,
|
| 1532 |
+
0.00559204863384366,
|
| 1533 |
+
0.25779256224632263,
|
| 1534 |
+
0.9645557403564453
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.044076722115278244,
|
| 1538 |
+
0.562099039554596,
|
| 1539 |
+
1.9287031888961792,
|
| 1540 |
+
0.034522633999586105,
|
| 1541 |
+
0.029915520921349525,
|
| 1542 |
+
0.26018255949020386,
|
| 1543 |
+
0.9644782543182373
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.037216927856206894,
|
| 1547 |
+
0.5987972617149353,
|
| 1548 |
+
1.9626028537750244,
|
| 1549 |
+
0.04337499290704727,
|
| 1550 |
+
-0.005650720093399286,
|
| 1551 |
+
0.28696152567863464,
|
| 1552 |
+
0.9569429159164429
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c8_p010_e025/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c3ca94a8503876411ed25afe83fbaaf9d93596ac91fb8fe7ad7ae0593c009928
|
| 3 |
+
size 6404625
|
episodes/c8_p010_e026/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4e93ba036402935da127046d29dbf15a4e221f343edbbfcccf09f5120a829d48
|
| 3 |
+
size 194596
|
episodes/c8_p010_e026/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 0, "seq": 1, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 2 |
+
{"env_id": 0, "seq": 2, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 0, "seq": 3, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 6 |
+
{"env_id": 0, "seq": 6, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.8197830252616902}, "cause": "task-0-1"}
|
| 7 |
+
{"env_id": 0, "seq": 7, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 0, "seq": 9, "step": 7352, "t": 36.76, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
|
| 10 |
+
{"env_id": 0, "seq": 10, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 0, "seq": 11, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 12 |
+
{"env_id": 0, "seq": 12, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 13 |
+
{"env_id": 0, "seq": 13, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
|
| 14 |
+
{"env_id": 0, "seq": 14, "step": 7771, "t": 38.855, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
|
| 15 |
+
{"env_id": 0, "seq": 15, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"}
|
| 16 |
+
{"env_id": 0, "seq": 16, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
|
| 17 |
+
{"env_id": 0, "seq": 17, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 0, "seq": 18, "step": 7771, "t": 38.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.8197830252616902}, "cause": "program-0-3"}
|
| 19 |
+
{"env_id": 0, "seq": 19, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 0, "seq": 20, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.8200000000019543}, "cause": "program-0-3"}
|
| 21 |
+
{"env_id": 0, "seq": 21, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.8200000000019543}}, "cause": "program-0-3"}
|
| 22 |
+
{"env_id": 0, "seq": 22, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"}
|
| 23 |
+
{"env_id": 0, "seq": 23, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 0, "seq": 24, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
|
| 25 |
+
{"env_id": 0, "seq": 25, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 0, "seq": 26, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"}
|
| 27 |
+
{"env_id": 0, "seq": 27, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"}
|
| 28 |
+
{"env_id": 0, "seq": 28, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"}
|
| 29 |
+
{"env_id": 0, "seq": 29, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
|
| 30 |
+
{"env_id": 0, "seq": 30, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 31 |
+
{"env_id": 0, "seq": 31, "step": 9539, "t": 47.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 32 |
+
{"env_id": 0, "seq": 32, "step": 11280, "t": 56.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
|
| 33 |
+
{"env_id": 0, "seq": 33, "step": 11280, "t": 56.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"}
|
| 34 |
+
{"env_id": 0, "seq": 34, "step": 11280, "t": 56.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 0, "seq": 35, "step": 11280, "t": 56.4, "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"}
|
episodes/c8_p010_e026/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3c26da1e49fa58a20aa94b4a87dea85f09313c6586c80d7d8aa368d7add6dbe9
|
| 3 |
+
size 1297173
|
episodes/c8_p010_e026/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c8_p010/magicsim/26",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1274,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1274,
|
| 8 |
+
"env": 1274
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 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",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c8_p010_e026/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 26,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c8_p010",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
+
1.0,
|
| 127 |
+
1.0,
|
| 128 |
+
1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
+
],
|
| 196 |
+
"ori": [
|
| 197 |
+
6.123234262925839e-17,
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
1.0
|
| 201 |
+
],
|
| 202 |
+
"scale": [
|
| 203 |
+
1.0,
|
| 204 |
+
1.0,
|
| 205 |
+
1.0
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"dr": {
|
| 209 |
+
"visual": {
|
| 210 |
+
"kind": null,
|
| 211 |
+
"value": null,
|
| 212 |
+
"visible": true
|
| 213 |
+
},
|
| 214 |
+
"physics": {
|
| 215 |
+
"type": "geometry",
|
| 216 |
+
"collision": false,
|
| 217 |
+
"ratio": 1.0
|
| 218 |
+
},
|
| 219 |
+
"primitive_params": null
|
| 220 |
+
},
|
| 221 |
+
"type_specific": {}
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 225 |
+
"pose": {
|
| 226 |
+
"pos": [
|
| 227 |
+
-0.6,
|
| 228 |
+
0.02,
|
| 229 |
+
1.0965
|
| 230 |
+
],
|
| 231 |
+
"ori": [
|
| 232 |
+
1.0,
|
| 233 |
+
0.0,
|
| 234 |
+
0.0,
|
| 235 |
+
0.0
|
| 236 |
+
],
|
| 237 |
+
"scale": [
|
| 238 |
+
1.0,
|
| 239 |
+
1.0,
|
| 240 |
+
1.0
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"dr": {
|
| 244 |
+
"visual": {
|
| 245 |
+
"kind": null,
|
| 246 |
+
"value": null,
|
| 247 |
+
"visible": true
|
| 248 |
+
},
|
| 249 |
+
"physics": {
|
| 250 |
+
"type": "geometry",
|
| 251 |
+
"collision": false,
|
| 252 |
+
"ratio": 1.0
|
| 253 |
+
},
|
| 254 |
+
"primitive_params": null
|
| 255 |
+
},
|
| 256 |
+
"type_specific": {}
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 260 |
+
"pose": {
|
| 261 |
+
"pos": [
|
| 262 |
+
-0.6,
|
| 263 |
+
0.02,
|
| 264 |
+
1.1645
|
| 265 |
+
],
|
| 266 |
+
"ori": [
|
| 267 |
+
6.123234262925839e-17,
|
| 268 |
+
0.0,
|
| 269 |
+
0.0,
|
| 270 |
+
1.0
|
| 271 |
+
],
|
| 272 |
+
"scale": [
|
| 273 |
+
1.0,
|
| 274 |
+
1.0,
|
| 275 |
+
1.0
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"dr": {
|
| 279 |
+
"visual": {
|
| 280 |
+
"kind": null,
|
| 281 |
+
"value": null,
|
| 282 |
+
"visible": true
|
| 283 |
+
},
|
| 284 |
+
"physics": {
|
| 285 |
+
"type": "geometry",
|
| 286 |
+
"collision": false,
|
| 287 |
+
"ratio": 1.0
|
| 288 |
+
},
|
| 289 |
+
"primitive_params": null
|
| 290 |
+
},
|
| 291 |
+
"type_specific": {}
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 295 |
+
"pose": {
|
| 296 |
+
"pos": [
|
| 297 |
+
-0.6,
|
| 298 |
+
0.02,
|
| 299 |
+
1.2325
|
| 300 |
+
],
|
| 301 |
+
"ori": [
|
| 302 |
+
1.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0
|
| 306 |
+
],
|
| 307 |
+
"scale": [
|
| 308 |
+
1.0,
|
| 309 |
+
1.0,
|
| 310 |
+
1.0
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"dr": {
|
| 314 |
+
"visual": {
|
| 315 |
+
"kind": null,
|
| 316 |
+
"value": null,
|
| 317 |
+
"visible": true
|
| 318 |
+
},
|
| 319 |
+
"physics": {
|
| 320 |
+
"type": "geometry",
|
| 321 |
+
"collision": false,
|
| 322 |
+
"ratio": 1.0
|
| 323 |
+
},
|
| 324 |
+
"primitive_params": null
|
| 325 |
+
},
|
| 326 |
+
"type_specific": {}
|
| 327 |
+
}
|
| 328 |
+
],
|
| 329 |
+
"a4s_sealer": [
|
| 330 |
+
{
|
| 331 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 332 |
+
"pose": {
|
| 333 |
+
"pos": [
|
| 334 |
+
0.5054759979248047,
|
| 335 |
+
0.0936441421508789,
|
| 336 |
+
0.8999999761581421
|
| 337 |
+
],
|
| 338 |
+
"ori": [
|
| 339 |
+
0.7160273790359497,
|
| 340 |
+
0.0,
|
| 341 |
+
0.0,
|
| 342 |
+
-0.6980721950531006
|
| 343 |
+
],
|
| 344 |
+
"scale": [
|
| 345 |
+
1.0,
|
| 346 |
+
1.0,
|
| 347 |
+
1.0
|
| 348 |
+
]
|
| 349 |
+
},
|
| 350 |
+
"dr": {
|
| 351 |
+
"visual": {
|
| 352 |
+
"kind": null,
|
| 353 |
+
"value": null,
|
| 354 |
+
"visible": true
|
| 355 |
+
},
|
| 356 |
+
"physics": {
|
| 357 |
+
"type": "articulation",
|
| 358 |
+
"solver_position_iteration_count": 16.0,
|
| 359 |
+
"solver_velocity_iteration_count": 1.0,
|
| 360 |
+
"enabled_self_collisions": false,
|
| 361 |
+
"ratio": 1.0
|
| 362 |
+
},
|
| 363 |
+
"primitive_params": null
|
| 364 |
+
},
|
| 365 |
+
"type_specific": {
|
| 366 |
+
"joint_position": [
|
| 367 |
+
4.037001202078505e-12
|
| 368 |
+
],
|
| 369 |
+
"joint_velocity": [
|
| 370 |
+
0.0
|
| 371 |
+
],
|
| 372 |
+
"linear_velocity": [
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
0.0
|
| 376 |
+
],
|
| 377 |
+
"angular_velocity": [
|
| 378 |
+
0.0,
|
| 379 |
+
0.0,
|
| 380 |
+
0.0
|
| 381 |
+
]
|
| 382 |
+
}
|
| 383 |
+
}
|
| 384 |
+
],
|
| 385 |
+
"conveyor": [
|
| 386 |
+
{
|
| 387 |
+
"asset": "Cube",
|
| 388 |
+
"pose": {
|
| 389 |
+
"pos": [
|
| 390 |
+
0.15,
|
| 391 |
+
0.45,
|
| 392 |
+
0.9
|
| 393 |
+
],
|
| 394 |
+
"ori": [
|
| 395 |
+
1.0,
|
| 396 |
+
0.0,
|
| 397 |
+
0.0,
|
| 398 |
+
0.0
|
| 399 |
+
],
|
| 400 |
+
"scale": [
|
| 401 |
+
1.0,
|
| 402 |
+
1.0,
|
| 403 |
+
1.0
|
| 404 |
+
]
|
| 405 |
+
},
|
| 406 |
+
"dr": {
|
| 407 |
+
"visual": {
|
| 408 |
+
"kind": null,
|
| 409 |
+
"value": null,
|
| 410 |
+
"visible": true
|
| 411 |
+
},
|
| 412 |
+
"physics": {
|
| 413 |
+
"type": "conveyor",
|
| 414 |
+
"physics_material": {
|
| 415 |
+
"static_friction": 0.9,
|
| 416 |
+
"dynamic_friction": 0.9
|
| 417 |
+
},
|
| 418 |
+
"ratio": 1.0
|
| 419 |
+
},
|
| 420 |
+
"primitive_params": {
|
| 421 |
+
"size": [
|
| 422 |
+
2.4,
|
| 423 |
+
0.076,
|
| 424 |
+
0.03
|
| 425 |
+
]
|
| 426 |
+
},
|
| 427 |
+
"conveyor": {
|
| 428 |
+
"speed": 0.2862596549282026,
|
| 429 |
+
"direction": [
|
| 430 |
+
1.0,
|
| 431 |
+
0.0,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
+
"enabled": true,
|
| 435 |
+
"drive": "surface_velocity",
|
| 436 |
+
"lines": null,
|
| 437 |
+
"station_line": null,
|
| 438 |
+
"riders": [
|
| 439 |
+
"carrier"
|
| 440 |
+
],
|
| 441 |
+
"stations": {
|
| 442 |
+
"pick": {
|
| 443 |
+
"position": -0.059364474843662945,
|
| 444 |
+
"slow_distance": 0.03,
|
| 445 |
+
"slow_speed": 0.03
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"rails": {
|
| 449 |
+
"height": 0.01,
|
| 450 |
+
"thickness": 0.01,
|
| 451 |
+
"gap": 0.001,
|
| 452 |
+
"friction": 0.05
|
| 453 |
+
},
|
| 454 |
+
"legs": 0.87,
|
| 455 |
+
"loop": {
|
| 456 |
+
"radius": 0.35,
|
| 457 |
+
"side": "left",
|
| 458 |
+
"curve_extra_width": 0.0,
|
| 459 |
+
"segments": 18,
|
| 460 |
+
"curve_rails": "both"
|
| 461 |
+
},
|
| 462 |
+
"snap_distance": 0.1,
|
| 463 |
+
"junction_snap": 0.02,
|
| 464 |
+
"collision_approximation": "auto",
|
| 465 |
+
"plate_mass": 1.0,
|
| 466 |
+
"lift_drop": 0.004,
|
| 467 |
+
"accel": 0.0,
|
| 468 |
+
"decel": 0.0,
|
| 469 |
+
"drive_damping": 1000000.0,
|
| 470 |
+
"drive_max_force": 1000000000.0
|
| 471 |
+
}
|
| 472 |
+
},
|
| 473 |
+
"type_specific": {
|
| 474 |
+
"controller": {
|
| 475 |
+
"state": "at_station",
|
| 476 |
+
"speed": 0.2862596549282026,
|
| 477 |
+
"holds": [],
|
| 478 |
+
"station": "pick",
|
| 479 |
+
"rider": "carrier_1",
|
| 480 |
+
"arrived": true,
|
| 481 |
+
"applied_speed": 0.0
|
| 482 |
+
}
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
],
|
| 486 |
+
"carrier": [
|
| 487 |
+
{
|
| 488 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 489 |
+
"pose": {
|
| 490 |
+
"pos": [
|
| 491 |
+
0.09055042266845703,
|
| 492 |
+
0.4471263885498047,
|
| 493 |
+
0.8999999761581421
|
| 494 |
+
],
|
| 495 |
+
"ori": [
|
| 496 |
+
0.9999611377716064,
|
| 497 |
+
-4.3533630034175985e-09,
|
| 498 |
+
3.273496196332104e-10,
|
| 499 |
+
0.008823179639875889
|
| 500 |
+
],
|
| 501 |
+
"scale": [
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0
|
| 505 |
+
]
|
| 506 |
+
},
|
| 507 |
+
"dr": {
|
| 508 |
+
"visual": {
|
| 509 |
+
"kind": null,
|
| 510 |
+
"value": null,
|
| 511 |
+
"visible": true
|
| 512 |
+
},
|
| 513 |
+
"physics": {
|
| 514 |
+
"type": "rigid",
|
| 515 |
+
"mass": 0.5,
|
| 516 |
+
"physics_material": {
|
| 517 |
+
"static_friction": 0.9,
|
| 518 |
+
"dynamic_friction": 0.9,
|
| 519 |
+
"restitution": 0.0
|
| 520 |
+
},
|
| 521 |
+
"ratio": 1.0
|
| 522 |
+
},
|
| 523 |
+
"primitive_params": null
|
| 524 |
+
},
|
| 525 |
+
"type_specific": {
|
| 526 |
+
"linear_velocity": [
|
| 527 |
+
-7.128412304879816e-10,
|
| 528 |
+
1.0915495174401713e-09,
|
| 529 |
+
3.725290298461914e-09
|
| 530 |
+
],
|
| 531 |
+
"angular_velocity": [
|
| 532 |
+
-5.394027624561204e-08,
|
| 533 |
+
-7.347074415520183e-08,
|
| 534 |
+
-1.3649930075132488e-09
|
| 535 |
+
]
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 540 |
+
"pose": {
|
| 541 |
+
"pos": [
|
| 542 |
+
-1.3964014053344727,
|
| 543 |
+
0.827113151550293,
|
| 544 |
+
0.8999999761581421
|
| 545 |
+
],
|
| 546 |
+
"ori": [
|
| 547 |
+
-0.6721571683883667,
|
| 548 |
+
3.4378819790958914e-09,
|
| 549 |
+
7.884320751827545e-09,
|
| 550 |
+
0.7404085397720337
|
| 551 |
+
],
|
| 552 |
+
"scale": [
|
| 553 |
+
1.0,
|
| 554 |
+
1.0,
|
| 555 |
+
1.0
|
| 556 |
+
]
|
| 557 |
+
},
|
| 558 |
+
"dr": {
|
| 559 |
+
"visual": {
|
| 560 |
+
"kind": null,
|
| 561 |
+
"value": null,
|
| 562 |
+
"visible": true
|
| 563 |
+
},
|
| 564 |
+
"physics": {
|
| 565 |
+
"type": "rigid",
|
| 566 |
+
"mass": 0.5,
|
| 567 |
+
"physics_material": {
|
| 568 |
+
"static_friction": 0.9,
|
| 569 |
+
"dynamic_friction": 0.9,
|
| 570 |
+
"restitution": 0.0
|
| 571 |
+
},
|
| 572 |
+
"ratio": 1.0
|
| 573 |
+
},
|
| 574 |
+
"primitive_params": null
|
| 575 |
+
},
|
| 576 |
+
"type_specific": {
|
| 577 |
+
"linear_velocity": [
|
| 578 |
+
-1.774246527475043e-08,
|
| 579 |
+
8.40425329329264e-09,
|
| 580 |
+
1.4901161193847656e-08
|
| 581 |
+
],
|
| 582 |
+
"angular_velocity": [
|
| 583 |
+
-3.05469711747719e-07,
|
| 584 |
+
-5.0110202209907584e-08,
|
| 585 |
+
-2.1375592496042373e-07
|
| 586 |
+
]
|
| 587 |
+
}
|
| 588 |
+
},
|
| 589 |
+
{
|
| 590 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 591 |
+
"pose": {
|
| 592 |
+
"pos": [
|
| 593 |
+
0.22099590301513672,
|
| 594 |
+
1.152937889099121,
|
| 595 |
+
0.8999999761581421
|
| 596 |
+
],
|
| 597 |
+
"ori": [
|
| 598 |
+
-0.006063462235033512,
|
| 599 |
+
5.266469926823447e-09,
|
| 600 |
+
3.3369480512135397e-09,
|
| 601 |
+
0.9999816417694092
|
| 602 |
+
],
|
| 603 |
+
"scale": [
|
| 604 |
+
1.0,
|
| 605 |
+
1.0,
|
| 606 |
+
1.0
|
| 607 |
+
]
|
| 608 |
+
},
|
| 609 |
+
"dr": {
|
| 610 |
+
"visual": {
|
| 611 |
+
"kind": null,
|
| 612 |
+
"value": null,
|
| 613 |
+
"visible": true
|
| 614 |
+
},
|
| 615 |
+
"physics": {
|
| 616 |
+
"type": "rigid",
|
| 617 |
+
"mass": 0.5,
|
| 618 |
+
"physics_material": {
|
| 619 |
+
"static_friction": 0.9,
|
| 620 |
+
"dynamic_friction": 0.9,
|
| 621 |
+
"restitution": 0.0
|
| 622 |
+
},
|
| 623 |
+
"ratio": 1.0
|
| 624 |
+
},
|
| 625 |
+
"primitive_params": null
|
| 626 |
+
},
|
| 627 |
+
"type_specific": {
|
| 628 |
+
"linear_velocity": [
|
| 629 |
+
-1.2262998394518831e-09,
|
| 630 |
+
-1.2772698454455167e-09,
|
| 631 |
+
7.450580596923828e-09
|
| 632 |
+
],
|
| 633 |
+
"angular_velocity": [
|
| 634 |
+
8.657642069920257e-08,
|
| 635 |
+
-1.0761183233398697e-07,
|
| 636 |
+
-8.34963653773002e-09
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
{
|
| 641 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 642 |
+
"pose": {
|
| 643 |
+
"pos": [
|
| 644 |
+
1.6555414199829102,
|
| 645 |
+
0.6350793838500977,
|
| 646 |
+
0.8999999761581421
|
| 647 |
+
],
|
| 648 |
+
"ori": [
|
| 649 |
+
0.8632382154464722,
|
| 650 |
+
7.66747110247934e-09,
|
| 651 |
+
-4.3569436058987776e-08,
|
| 652 |
+
0.5047968626022339
|
| 653 |
+
],
|
| 654 |
+
"scale": [
|
| 655 |
+
1.0,
|
| 656 |
+
1.0,
|
| 657 |
+
1.0
|
| 658 |
+
]
|
| 659 |
+
},
|
| 660 |
+
"dr": {
|
| 661 |
+
"visual": {
|
| 662 |
+
"kind": null,
|
| 663 |
+
"value": null,
|
| 664 |
+
"visible": true
|
| 665 |
+
},
|
| 666 |
+
"physics": {
|
| 667 |
+
"type": "rigid",
|
| 668 |
+
"mass": 0.5,
|
| 669 |
+
"physics_material": {
|
| 670 |
+
"static_friction": 0.9,
|
| 671 |
+
"dynamic_friction": 0.9,
|
| 672 |
+
"restitution": 0.0
|
| 673 |
+
},
|
| 674 |
+
"ratio": 1.0
|
| 675 |
+
},
|
| 676 |
+
"primitive_params": null
|
| 677 |
+
},
|
| 678 |
+
"type_specific": {
|
| 679 |
+
"linear_velocity": [
|
| 680 |
+
2.2047967895844067e-09,
|
| 681 |
+
1.4514269786047862e-09,
|
| 682 |
+
-3.725290298461914e-09
|
| 683 |
+
],
|
| 684 |
+
"angular_velocity": [
|
| 685 |
+
-1.0375266867868049e-07,
|
| 686 |
+
9.283618851441133e-08,
|
| 687 |
+
-2.3858508058083316e-08
|
| 688 |
+
]
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
],
|
| 692 |
+
"plate": [
|
| 693 |
+
{
|
| 694 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
|
| 695 |
+
"pose": {
|
| 696 |
+
"pos": [
|
| 697 |
+
0.08861446380615234,
|
| 698 |
+
0.44119834899902344,
|
| 699 |
+
0.9179999828338623
|
| 700 |
+
],
|
| 701 |
+
"ori": [
|
| 702 |
+
0.9952259659767151,
|
| 703 |
+
-6.502541172181964e-09,
|
| 704 |
+
-1.4327915520695456e-09,
|
| 705 |
+
0.0975981280207634
|
| 706 |
+
],
|
| 707 |
+
"scale": [
|
| 708 |
+
1.0,
|
| 709 |
+
1.0,
|
| 710 |
+
1.0
|
| 711 |
+
]
|
| 712 |
+
},
|
| 713 |
+
"dr": {
|
| 714 |
+
"visual": {
|
| 715 |
+
"kind": null,
|
| 716 |
+
"value": null,
|
| 717 |
+
"visible": true
|
| 718 |
+
},
|
| 719 |
+
"physics": {
|
| 720 |
+
"type": "rigid",
|
| 721 |
+
"collision": true,
|
| 722 |
+
"mass": "asset",
|
| 723 |
+
"max_depenetration_velocity": 1.0,
|
| 724 |
+
"physics_material": {
|
| 725 |
+
"static_friction": 0.5,
|
| 726 |
+
"dynamic_friction": 0.45,
|
| 727 |
+
"restitution": 0.0,
|
| 728 |
+
"friction_combine_mode": "average"
|
| 729 |
+
},
|
| 730 |
+
"ratio": 1.0
|
| 731 |
+
},
|
| 732 |
+
"primitive_params": null
|
| 733 |
+
},
|
| 734 |
+
"type_specific": {
|
| 735 |
+
"linear_velocity": [
|
| 736 |
+
-3.2256160409360746e-08,
|
| 737 |
+
7.772360532953826e-09,
|
| 738 |
+
1.043081283569336e-07
|
| 739 |
+
],
|
| 740 |
+
"angular_velocity": [
|
| 741 |
+
1.4279945048656373e-07,
|
| 742 |
+
-1.6398574871345772e-06,
|
| 743 |
+
1.5113235463104502e-07
|
| 744 |
+
]
|
| 745 |
+
}
|
| 746 |
+
},
|
| 747 |
+
{
|
| 748 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
|
| 749 |
+
"pose": {
|
| 750 |
+
"pos": [
|
| 751 |
+
-1.3978729248046875,
|
| 752 |
+
0.8316726684570312,
|
| 753 |
+
0.9180000424385071
|
| 754 |
+
],
|
| 755 |
+
"ori": [
|
| 756 |
+
-0.7349861860275269,
|
| 757 |
+
7.753354225314979e-08,
|
| 758 |
+
-2.7279270398139488e-08,
|
| 759 |
+
0.6780821681022644
|
| 760 |
+
],
|
| 761 |
+
"scale": [
|
| 762 |
+
1.0,
|
| 763 |
+
1.0,
|
| 764 |
+
1.0
|
| 765 |
+
]
|
| 766 |
+
},
|
| 767 |
+
"dr": {
|
| 768 |
+
"visual": {
|
| 769 |
+
"kind": null,
|
| 770 |
+
"value": null,
|
| 771 |
+
"visible": true
|
| 772 |
+
},
|
| 773 |
+
"physics": {
|
| 774 |
+
"type": "rigid",
|
| 775 |
+
"collision": true,
|
| 776 |
+
"mass": "asset",
|
| 777 |
+
"max_depenetration_velocity": 1.0,
|
| 778 |
+
"physics_material": {
|
| 779 |
+
"static_friction": 0.5,
|
| 780 |
+
"dynamic_friction": 0.45,
|
| 781 |
+
"restitution": 0.0,
|
| 782 |
+
"friction_combine_mode": "average"
|
| 783 |
+
},
|
| 784 |
+
"ratio": 1.0
|
| 785 |
+
},
|
| 786 |
+
"primitive_params": null
|
| 787 |
+
},
|
| 788 |
+
"type_specific": {
|
| 789 |
+
"linear_velocity": [
|
| 790 |
+
-1.328676262346562e-06,
|
| 791 |
+
3.691288839036133e-07,
|
| 792 |
+
-6.571412086486816e-06
|
| 793 |
+
],
|
| 794 |
+
"angular_velocity": [
|
| 795 |
+
2.536567444622051e-05,
|
| 796 |
+
9.966216020984575e-05,
|
| 797 |
+
-1.6560066796955653e-05
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
{
|
| 802 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
|
| 803 |
+
"pose": {
|
| 804 |
+
"pos": [
|
| 805 |
+
0.22768878936767578,
|
| 806 |
+
1.1598138809204102,
|
| 807 |
+
0.9180000424385071
|
| 808 |
+
],
|
| 809 |
+
"ori": [
|
| 810 |
+
0.09526555985212326,
|
| 811 |
+
5.136042702247323e-09,
|
| 812 |
+
4.464873804010949e-09,
|
| 813 |
+
0.9954519271850586
|
| 814 |
+
],
|
| 815 |
+
"scale": [
|
| 816 |
+
1.0,
|
| 817 |
+
1.0,
|
| 818 |
+
1.0
|
| 819 |
+
]
|
| 820 |
+
},
|
| 821 |
+
"dr": {
|
| 822 |
+
"visual": {
|
| 823 |
+
"kind": null,
|
| 824 |
+
"value": null,
|
| 825 |
+
"visible": true
|
| 826 |
+
},
|
| 827 |
+
"physics": {
|
| 828 |
+
"type": "rigid",
|
| 829 |
+
"collision": true,
|
| 830 |
+
"mass": "asset",
|
| 831 |
+
"max_depenetration_velocity": 1.0,
|
| 832 |
+
"physics_material": {
|
| 833 |
+
"static_friction": 0.5,
|
| 834 |
+
"dynamic_friction": 0.45,
|
| 835 |
+
"restitution": 0.0,
|
| 836 |
+
"friction_combine_mode": "average"
|
| 837 |
+
},
|
| 838 |
+
"ratio": 1.0
|
| 839 |
+
},
|
| 840 |
+
"primitive_params": null
|
| 841 |
+
},
|
| 842 |
+
"type_specific": {
|
| 843 |
+
"linear_velocity": [
|
| 844 |
+
1.8901685550076763e-08,
|
| 845 |
+
-2.1999998267574483e-08,
|
| 846 |
+
-5.774199962615967e-06
|
| 847 |
+
],
|
| 848 |
+
"angular_velocity": [
|
| 849 |
+
1.9927088601434662e-07,
|
| 850 |
+
2.3513648557127453e-06,
|
| 851 |
+
6.799770346788137e-08
|
| 852 |
+
]
|
| 853 |
+
}
|
| 854 |
+
},
|
| 855 |
+
{
|
| 856 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
|
| 857 |
+
"pose": {
|
| 858 |
+
"pos": [
|
| 859 |
+
1.6447877883911133,
|
| 860 |
+
0.6370706558227539,
|
| 861 |
+
0.9179999828338623
|
| 862 |
+
],
|
| 863 |
+
"ori": [
|
| 864 |
+
0.8084885478019714,
|
| 865 |
+
2.6637576588939282e-09,
|
| 866 |
+
-4.494214422834375e-08,
|
| 867 |
+
0.5885118842124939
|
| 868 |
+
],
|
| 869 |
+
"scale": [
|
| 870 |
+
1.0,
|
| 871 |
+
1.0,
|
| 872 |
+
1.0
|
| 873 |
+
]
|
| 874 |
+
},
|
| 875 |
+
"dr": {
|
| 876 |
+
"visual": {
|
| 877 |
+
"kind": null,
|
| 878 |
+
"value": null,
|
| 879 |
+
"visible": true
|
| 880 |
+
},
|
| 881 |
+
"physics": {
|
| 882 |
+
"type": "rigid",
|
| 883 |
+
"collision": true,
|
| 884 |
+
"mass": "asset",
|
| 885 |
+
"max_depenetration_velocity": 1.0,
|
| 886 |
+
"physics_material": {
|
| 887 |
+
"static_friction": 0.5,
|
| 888 |
+
"dynamic_friction": 0.45,
|
| 889 |
+
"restitution": 0.0,
|
| 890 |
+
"friction_combine_mode": "average"
|
| 891 |
+
},
|
| 892 |
+
"ratio": 1.0
|
| 893 |
+
},
|
| 894 |
+
"primitive_params": null
|
| 895 |
+
},
|
| 896 |
+
"type_specific": {
|
| 897 |
+
"linear_velocity": [
|
| 898 |
+
8.157316955248461e-08,
|
| 899 |
+
-7.326202933199966e-08,
|
| 900 |
+
-1.605600118637085e-06
|
| 901 |
+
],
|
| 902 |
+
"angular_velocity": [
|
| 903 |
+
3.3199862627952825e-06,
|
| 904 |
+
2.762632448138902e-06,
|
| 905 |
+
-6.977653299600206e-08
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
}
|
| 909 |
+
],
|
| 910 |
+
"deco_hub_west": [
|
| 911 |
+
{
|
| 912 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 913 |
+
"pose": {
|
| 914 |
+
"pos": [
|
| 915 |
+
-3.36,
|
| 916 |
+
0.0,
|
| 917 |
+
0.0
|
| 918 |
+
],
|
| 919 |
+
"ori": [
|
| 920 |
+
1.0,
|
| 921 |
+
0.0,
|
| 922 |
+
0.0,
|
| 923 |
+
0.0
|
| 924 |
+
],
|
| 925 |
+
"scale": [
|
| 926 |
+
1.0,
|
| 927 |
+
1.0,
|
| 928 |
+
1.0
|
| 929 |
+
]
|
| 930 |
+
},
|
| 931 |
+
"dr": {
|
| 932 |
+
"visual": {
|
| 933 |
+
"kind": null,
|
| 934 |
+
"value": null,
|
| 935 |
+
"visible": true
|
| 936 |
+
},
|
| 937 |
+
"physics": {
|
| 938 |
+
"type": "geometry",
|
| 939 |
+
"collision": false,
|
| 940 |
+
"ratio": 1.0
|
| 941 |
+
},
|
| 942 |
+
"primitive_params": null
|
| 943 |
+
},
|
| 944 |
+
"type_specific": {}
|
| 945 |
+
}
|
| 946 |
+
],
|
| 947 |
+
"deco_hub_east": [
|
| 948 |
+
{
|
| 949 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 950 |
+
"pose": {
|
| 951 |
+
"pos": [
|
| 952 |
+
3.36,
|
| 953 |
+
0.0,
|
| 954 |
+
0.0
|
| 955 |
+
],
|
| 956 |
+
"ori": [
|
| 957 |
+
1.0,
|
| 958 |
+
0.0,
|
| 959 |
+
0.0,
|
| 960 |
+
0.0
|
| 961 |
+
],
|
| 962 |
+
"scale": [
|
| 963 |
+
1.0,
|
| 964 |
+
1.0,
|
| 965 |
+
1.0
|
| 966 |
+
]
|
| 967 |
+
},
|
| 968 |
+
"dr": {
|
| 969 |
+
"visual": {
|
| 970 |
+
"kind": null,
|
| 971 |
+
"value": null,
|
| 972 |
+
"visible": true
|
| 973 |
+
},
|
| 974 |
+
"physics": {
|
| 975 |
+
"type": "geometry",
|
| 976 |
+
"collision": false,
|
| 977 |
+
"ratio": 1.0
|
| 978 |
+
},
|
| 979 |
+
"primitive_params": null
|
| 980 |
+
},
|
| 981 |
+
"type_specific": {}
|
| 982 |
+
}
|
| 983 |
+
],
|
| 984 |
+
"deco_hub_back": [
|
| 985 |
+
{
|
| 986 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
|
| 987 |
+
"pose": {
|
| 988 |
+
"pos": [
|
| 989 |
+
-3.0,
|
| 990 |
+
-2.1,
|
| 991 |
+
0.0
|
| 992 |
+
],
|
| 993 |
+
"ori": [
|
| 994 |
+
1.0,
|
| 995 |
+
0.0,
|
| 996 |
+
0.0,
|
| 997 |
+
0.0
|
| 998 |
+
],
|
| 999 |
+
"scale": [
|
| 1000 |
+
1.0,
|
| 1001 |
+
1.0,
|
| 1002 |
+
1.0
|
| 1003 |
+
]
|
| 1004 |
+
},
|
| 1005 |
+
"dr": {
|
| 1006 |
+
"visual": {
|
| 1007 |
+
"kind": null,
|
| 1008 |
+
"value": null,
|
| 1009 |
+
"visible": true
|
| 1010 |
+
},
|
| 1011 |
+
"physics": {
|
| 1012 |
+
"type": "geometry",
|
| 1013 |
+
"collision": false,
|
| 1014 |
+
"ratio": 1.0
|
| 1015 |
+
},
|
| 1016 |
+
"primitive_params": null
|
| 1017 |
+
},
|
| 1018 |
+
"type_specific": {}
|
| 1019 |
+
}
|
| 1020 |
+
],
|
| 1021 |
+
"deco_bench_east": [
|
| 1022 |
+
{
|
| 1023 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1024 |
+
"pose": {
|
| 1025 |
+
"pos": [
|
| 1026 |
+
2.6,
|
| 1027 |
+
-2.5,
|
| 1028 |
+
0.0
|
| 1029 |
+
],
|
| 1030 |
+
"ori": [
|
| 1031 |
+
6.123234262925839e-17,
|
| 1032 |
+
0.0,
|
| 1033 |
+
0.0,
|
| 1034 |
+
1.0
|
| 1035 |
+
],
|
| 1036 |
+
"scale": [
|
| 1037 |
+
1.0,
|
| 1038 |
+
1.0,
|
| 1039 |
+
1.0
|
| 1040 |
+
]
|
| 1041 |
+
},
|
| 1042 |
+
"dr": {
|
| 1043 |
+
"visual": {
|
| 1044 |
+
"kind": null,
|
| 1045 |
+
"value": null,
|
| 1046 |
+
"visible": true
|
| 1047 |
+
},
|
| 1048 |
+
"physics": {
|
| 1049 |
+
"type": "geometry",
|
| 1050 |
+
"collision": false,
|
| 1051 |
+
"ratio": 1.0
|
| 1052 |
+
},
|
| 1053 |
+
"primitive_params": null
|
| 1054 |
+
},
|
| 1055 |
+
"type_specific": {}
|
| 1056 |
+
}
|
| 1057 |
+
],
|
| 1058 |
+
"deco_bench_gap": [
|
| 1059 |
+
{
|
| 1060 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1061 |
+
"pose": {
|
| 1062 |
+
"pos": [
|
| 1063 |
+
-0.1,
|
| 1064 |
+
-2.9,
|
| 1065 |
+
0.0
|
| 1066 |
+
],
|
| 1067 |
+
"ori": [
|
| 1068 |
+
1.0,
|
| 1069 |
+
0.0,
|
| 1070 |
+
0.0,
|
| 1071 |
+
0.0
|
| 1072 |
+
],
|
| 1073 |
+
"scale": [
|
| 1074 |
+
1.0,
|
| 1075 |
+
1.0,
|
| 1076 |
+
1.0
|
| 1077 |
+
]
|
| 1078 |
+
},
|
| 1079 |
+
"dr": {
|
| 1080 |
+
"visual": {
|
| 1081 |
+
"kind": null,
|
| 1082 |
+
"value": null,
|
| 1083 |
+
"visible": true
|
| 1084 |
+
},
|
| 1085 |
+
"physics": {
|
| 1086 |
+
"type": "geometry",
|
| 1087 |
+
"collision": false,
|
| 1088 |
+
"ratio": 1.0
|
| 1089 |
+
},
|
| 1090 |
+
"primitive_params": null
|
| 1091 |
+
},
|
| 1092 |
+
"type_specific": {}
|
| 1093 |
+
}
|
| 1094 |
+
]
|
| 1095 |
+
},
|
| 1096 |
+
{},
|
| 1097 |
+
{},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
{
|
| 1103 |
+
"t": 5.599999999999903,
|
| 1104 |
+
"step": 1120,
|
| 1105 |
+
"counter": 0,
|
| 1106 |
+
"devices": {
|
| 1107 |
+
"a4s_sealer_1": {
|
| 1108 |
+
"mode": "auto",
|
| 1109 |
+
"units": {
|
| 1110 |
+
"drawer": {
|
| 1111 |
+
"state": "at_out",
|
| 1112 |
+
"active": null,
|
| 1113 |
+
"target": 0.0,
|
| 1114 |
+
"goal_name": "out",
|
| 1115 |
+
"profile": null,
|
| 1116 |
+
"q_start": null,
|
| 1117 |
+
"reversing": false,
|
| 1118 |
+
"blocked_for": 0.0,
|
| 1119 |
+
"settled_for": 0.0,
|
| 1120 |
+
"last_q": 4.037001202078505e-12
|
| 1121 |
+
},
|
| 1122 |
+
"heater": {
|
| 1123 |
+
"state": "ready",
|
| 1124 |
+
"active": null,
|
| 1125 |
+
"duration": 0.0,
|
| 1126 |
+
"t_start": null,
|
| 1127 |
+
"elapsed": 0.0
|
| 1128 |
+
}
|
| 1129 |
+
},
|
| 1130 |
+
"queues": {},
|
| 1131 |
+
"program": null,
|
| 1132 |
+
"sensors": {
|
| 1133 |
+
"plate_present": {
|
| 1134 |
+
"occupants": [],
|
| 1135 |
+
"pending": {}
|
| 1136 |
+
}
|
| 1137 |
+
},
|
| 1138 |
+
"interlocks": {}
|
| 1139 |
+
},
|
| 1140 |
+
"conveyor_1": {
|
| 1141 |
+
"mode": "auto",
|
| 1142 |
+
"units": {
|
| 1143 |
+
"belt": {
|
| 1144 |
+
"state": "at_station",
|
| 1145 |
+
"active": null,
|
| 1146 |
+
"controller": {
|
| 1147 |
+
"speed": 0.2862596549282026,
|
| 1148 |
+
"holds": [],
|
| 1149 |
+
"station": "pick",
|
| 1150 |
+
"rider": "carrier_1",
|
| 1151 |
+
"arrived": true,
|
| 1152 |
+
"settle_count": 996,
|
| 1153 |
+
"released": {
|
| 1154 |
+
"pick": []
|
| 1155 |
+
},
|
| 1156 |
+
"last_pos": {
|
| 1157 |
+
"carrier_1": [
|
| 1158 |
+
-0.059449583292007446,
|
| 1159 |
+
-0.0028735995292663574,
|
| 1160 |
+
0.0
|
| 1161 |
+
],
|
| 1162 |
+
"carrier_2": [
|
| 1163 |
+
-1.5464014112949371,
|
| 1164 |
+
0.3771131634712219,
|
| 1165 |
+
0.0
|
| 1166 |
+
],
|
| 1167 |
+
"carrier_3": [
|
| 1168 |
+
0.07099589705467224,
|
| 1169 |
+
0.70293790102005,
|
| 1170 |
+
0.0
|
| 1171 |
+
],
|
| 1172 |
+
"carrier_4": [
|
| 1173 |
+
1.5055414140224457,
|
| 1174 |
+
0.1850793957710266,
|
| 1175 |
+
0.0
|
| 1176 |
+
]
|
| 1177 |
+
},
|
| 1178 |
+
"command": 0.0
|
| 1179 |
+
},
|
| 1180 |
+
"belt": {
|
| 1181 |
+
"target_speed": 0.0,
|
| 1182 |
+
"command_speed": 0.0
|
| 1183 |
+
},
|
| 1184 |
+
"seen": {
|
| 1185 |
+
"state": "at_station",
|
| 1186 |
+
"station": "pick",
|
| 1187 |
+
"rider": "carrier_1",
|
| 1188 |
+
"arrived": true
|
| 1189 |
+
}
|
| 1190 |
+
}
|
| 1191 |
+
},
|
| 1192 |
+
"queues": {},
|
| 1193 |
+
"program": null,
|
| 1194 |
+
"sensors": {},
|
| 1195 |
+
"interlocks": {}
|
| 1196 |
+
}
|
| 1197 |
+
},
|
| 1198 |
+
"zones": {},
|
| 1199 |
+
"labware": {
|
| 1200 |
+
"plate_1": {
|
| 1201 |
+
"sealed": false
|
| 1202 |
+
},
|
| 1203 |
+
"plate_2": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_3": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_4": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
}
|
| 1212 |
+
},
|
| 1213 |
+
"rules": {},
|
| 1214 |
+
"records": [],
|
| 1215 |
+
"bus": {
|
| 1216 |
+
"seq": 3,
|
| 1217 |
+
"queue": []
|
| 1218 |
+
}
|
| 1219 |
+
},
|
| 1220 |
+
null,
|
| 1221 |
+
null,
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
{},
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{
|
| 1233 |
+
"ceiling": {
|
| 1234 |
+
"type": "rect",
|
| 1235 |
+
"pose": {
|
| 1236 |
+
"pos": [
|
| 1237 |
+
-0.23280922776363616,
|
| 1238 |
+
0.512137554814851,
|
| 1239 |
+
2.8399445936602343
|
| 1240 |
+
],
|
| 1241 |
+
"ori": [
|
| 1242 |
+
13.849201818936368,
|
| 1243 |
+
6.1161978701486,
|
| 1244 |
+
-28.196945601559825
|
| 1245 |
+
],
|
| 1246 |
+
"scale": [
|
| 1247 |
+
1.0,
|
| 1248 |
+
1.0,
|
| 1249 |
+
1.0
|
| 1250 |
+
]
|
| 1251 |
+
},
|
| 1252 |
+
"dr": {
|
| 1253 |
+
"color_temperature": 6869.798471963544,
|
| 1254 |
+
"color": [
|
| 1255 |
+
0.8817923579883592,
|
| 1256 |
+
0.8402205576266891,
|
| 1257 |
+
0.9917690465861814
|
| 1258 |
+
],
|
| 1259 |
+
"intensity": 4450.240611134864,
|
| 1260 |
+
"width": 1.9292727718089242,
|
| 1261 |
+
"height": 1.5124774547061959
|
| 1262 |
+
}
|
| 1263 |
+
},
|
| 1264 |
+
"key": {
|
| 1265 |
+
"type": "sphere",
|
| 1266 |
+
"pose": {
|
| 1267 |
+
"pos": [
|
| 1268 |
+
-1.253001800876581,
|
| 1269 |
+
0.6286288473558395,
|
| 1270 |
+
1.6659591938678675
|
| 1271 |
+
],
|
| 1272 |
+
"ori": [
|
| 1273 |
+
17.946243346976757,
|
| 1274 |
+
30.038447897946156,
|
| 1275 |
+
16.773701637830882
|
| 1276 |
+
],
|
| 1277 |
+
"scale": [
|
| 1278 |
+
1.0,
|
| 1279 |
+
1.0,
|
| 1280 |
+
1.0
|
| 1281 |
+
]
|
| 1282 |
+
},
|
| 1283 |
+
"dr": {
|
| 1284 |
+
"color_temperature": 3465.8004796816826,
|
| 1285 |
+
"color": [
|
| 1286 |
+
0.8164153332651611,
|
| 1287 |
+
0.8593141514893365,
|
| 1288 |
+
0.8500273671999883
|
| 1289 |
+
],
|
| 1290 |
+
"intensity": 5796.953599376428,
|
| 1291 |
+
"radius": 0.18906984992303244
|
| 1292 |
+
}
|
| 1293 |
+
}
|
| 1294 |
+
},
|
| 1295 |
+
{},
|
| 1296 |
+
{},
|
| 1297 |
+
{}
|
| 1298 |
+
],
|
| 1299 |
+
"background": {
|
| 1300 |
+
"type": "dome",
|
| 1301 |
+
"pose": {
|
| 1302 |
+
"pos": null,
|
| 1303 |
+
"ori": null,
|
| 1304 |
+
"scale": null
|
| 1305 |
+
},
|
| 1306 |
+
"dr": {
|
| 1307 |
+
"intensity": 652.2566320167537,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
0.9141044616699219,
|
| 1394 |
+
-1.7193961143493652,
|
| 1395 |
+
2.090498685836792,
|
| 1396 |
+
-1.941901683807373,
|
| 1397 |
+
-1.5707999467849731,
|
| 1398 |
+
2.484901189804077,
|
| 1399 |
+
0.01799999549984932,
|
| 1400 |
+
0.018000002950429916
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
0.9141731262207031,
|
| 1404 |
+
-1.719110369682312,
|
| 1405 |
+
2.09051251411438,
|
| 1406 |
+
-1.9421991109848022,
|
| 1407 |
+
-1.5708001852035522,
|
| 1408 |
+
2.4848992824554443,
|
| 1409 |
+
0.01800001971423626,
|
| 1410 |
+
0.017999978736042976
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
2.6413564682006836,
|
| 1414 |
+
-1.9323508739471436,
|
| 1415 |
+
2.464101552963257,
|
| 1416 |
+
-2.102522134780884,
|
| 1417 |
+
-1.5708247423171997,
|
| 1418 |
+
4.212484359741211,
|
| 1419 |
+
0.0078381123021245,
|
| 1420 |
+
0.007249235175549984
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
2.734431266784668,
|
| 1424 |
+
-1.884514570236206,
|
| 1425 |
+
1.8917505741119385,
|
| 1426 |
+
-1.5778353214263916,
|
| 1427 |
+
-1.570367693901062,
|
| 1428 |
+
4.307131290435791,
|
| 1429 |
+
0.018000027164816856,
|
| 1430 |
+
0.01799997128546238
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
2.877254467452853e-38,
|
| 1436 |
+
0.0,
|
| 1437 |
+
-2.5909223878225846e-38,
|
| 1438 |
+
-6.424522531625537e-37,
|
| 1439 |
+
0.0,
|
| 1440 |
+
-2.840828834911501e-37,
|
| 1441 |
+
5.19807805687833e-08,
|
| 1442 |
+
-5.1980777016069624e-08
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.0003908313228748739,
|
| 1446 |
+
0.0017527189338579774,
|
| 1447 |
+
0.00010028152610175312,
|
| 1448 |
+
-0.0017192652449011803,
|
| 1449 |
+
7.733819984423462e-06,
|
| 1450 |
+
-2.0205117834848352e-05,
|
| 1451 |
+
3.4443535241734935e-06,
|
| 1452 |
+
-3.4440524814272067e-06
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
0.015310557559132576,
|
| 1456 |
+
0.03304820507764816,
|
| 1457 |
+
-0.018937302753329277,
|
| 1458 |
+
-0.015616051852703094,
|
| 1459 |
+
-0.00041644577868282795,
|
| 1460 |
+
0.01659557968378067,
|
| 1461 |
+
-0.006955295335501432,
|
| 1462 |
+
0.0003786745364777744
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-0.00856811460107565,
|
| 1466 |
+
-0.02190578356385231,
|
| 1467 |
+
0.014027591794729233,
|
| 1468 |
+
0.007027388084679842,
|
| 1469 |
+
-1.4012675819685683e-05,
|
| 1470 |
+
-0.008706030435860157,
|
| 1471 |
+
-3.914425633411156e-06,
|
| 1472 |
+
3.914647550118389e-06
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.04890087619423866,
|
| 1482 |
+
-0.0032075794879347086,
|
| 1483 |
+
-0.027717506512999535,
|
| 1484 |
+
-0.27740854024887085,
|
| 1485 |
+
0.6472153067588806,
|
| 1486 |
+
0.6496477723121643,
|
| 1487 |
+
-0.28655651211738586
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.05157585069537163,
|
| 1491 |
+
0.0011903574923053384,
|
| 1492 |
+
-0.03029811754822731,
|
| 1493 |
+
-0.2776714861392975,
|
| 1494 |
+
0.6584972143173218,
|
| 1495 |
+
0.6349008679389954,
|
| 1496 |
+
-0.2935658097267151
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.05111263692378998,
|
| 1500 |
+
-0.000271826604148373,
|
| 1501 |
+
-0.02755914069712162,
|
| 1502 |
+
-0.2770161032676697,
|
| 1503 |
+
0.6517750024795532,
|
| 1504 |
+
0.6447882056236267,
|
| 1505 |
+
-0.28757545351982117
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.05168939381837845,
|
| 1509 |
+
-0.0022330847568809986,
|
| 1510 |
+
-0.027997976168990135,
|
| 1511 |
+
-0.2983367443084717,
|
| 1512 |
+
0.6400074362754822,
|
| 1513 |
+
0.6510714888572693,
|
| 1514 |
+
-0.2783730924129486
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.05757346749305725,
|
| 1520 |
+
0.5979699492454529,
|
| 1521 |
+
1.9749929904937744,
|
| 1522 |
+
0.04998409003019333,
|
| 1523 |
+
0.02494717761874199,
|
| 1524 |
+
0.26428496837615967,
|
| 1525 |
+
0.962825357913971
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.03292189538478851,
|
| 1529 |
+
0.5839483737945557,
|
| 1530 |
+
1.9501320123672485,
|
| 1531 |
+
0.04155341163277626,
|
| 1532 |
+
0.02237195335328579,
|
| 1533 |
+
0.264934241771698,
|
| 1534 |
+
0.9631109237670898
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.044076722115278244,
|
| 1538 |
+
0.562099039554596,
|
| 1539 |
+
1.9287031888961792,
|
| 1540 |
+
0.034522633999586105,
|
| 1541 |
+
0.029915520921349525,
|
| 1542 |
+
0.26018255949020386,
|
| 1543 |
+
0.9644782543182373
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.037216927856206894,
|
| 1547 |
+
0.5987972617149353,
|
| 1548 |
+
1.9626028537750244,
|
| 1549 |
+
0.04337499290704727,
|
| 1550 |
+
-0.005650720093399286,
|
| 1551 |
+
0.28696152567863464,
|
| 1552 |
+
0.9569429159164429
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c8_p010_e026/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ae64488e92e568e8804f7c55d70a216390b9e7c4a585844a309dd0fef4e2fa6a
|
| 3 |
+
size 7346773
|
episodes/c8_p010_e027/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2bc1c28ad393e407cb10358ee92cba54f64e860dc89a07fae0d044702bfbd3f0
|
| 3 |
+
size 203687
|
episodes/c8_p010_e027/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 1, "seq": 1, "step": 101, "t": 0.505, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 101, "t": 0.505, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 1, "seq": 3, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 6782, "t": 33.91, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 5 |
+
{"env_id": 1, "seq": 5, "step": 7392, "t": 36.96, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 6 |
+
{"env_id": 1, "seq": 6, "step": 7392, "t": 36.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.32949955241844}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 7392, "t": 36.96, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"}
|
| 8 |
+
{"env_id": 1, "seq": 8, "step": 7392, "t": 36.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 1, "seq": 9, "step": 7392, "t": 36.96, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
|
| 10 |
+
{"env_id": 1, "seq": 10, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 1, "seq": 11, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 12 |
+
{"env_id": 1, "seq": 12, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 13 |
+
{"env_id": 1, "seq": 13, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
|
| 14 |
+
{"env_id": 1, "seq": 14, "step": 7811, "t": 39.055, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
|
| 15 |
+
{"env_id": 1, "seq": 15, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
|
| 16 |
+
{"env_id": 1, "seq": 16, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
|
| 17 |
+
{"env_id": 1, "seq": 17, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 1, "seq": 18, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.32949955241844}, "cause": "program-1-3"}
|
| 19 |
+
{"env_id": 1, "seq": 19, "step": 8677, "t": 43.385, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 1, "seq": 20, "step": 8677, "t": 43.385, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.330000000002215}, "cause": "program-1-3"}
|
| 21 |
+
{"env_id": 1, "seq": 21, "step": 8677, "t": 43.385, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.330000000002215}}, "cause": "program-1-3"}
|
| 22 |
+
{"env_id": 1, "seq": 22, "step": 8677, "t": 43.385, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
|
| 23 |
+
{"env_id": 1, "seq": 23, "step": 8677, "t": 43.385, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 1, "seq": 24, "step": 8677, "t": 43.385, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
|
| 25 |
+
{"env_id": 1, "seq": 25, "step": 9097, "t": 45.485, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 1, "seq": 26, "step": 9097, "t": 45.485, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
|
| 27 |
+
{"env_id": 1, "seq": 27, "step": 9097, "t": 45.485, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
|
| 28 |
+
{"env_id": 1, "seq": 28, "step": 9097, "t": 45.485, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
|
| 29 |
+
{"env_id": 1, "seq": 29, "step": 9097, "t": 45.485, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 30 |
+
{"env_id": 1, "seq": 30, "step": 9097, "t": 45.485, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 31 |
+
{"env_id": 1, "seq": 31, "step": 9680, "t": 48.4, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 32 |
+
{"env_id": 1, "seq": 32, "step": 11944, "t": 59.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 33 |
+
{"env_id": 1, "seq": 33, "step": 11944, "t": 59.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
|
| 34 |
+
{"env_id": 1, "seq": 34, "step": 11944, "t": 59.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 1, "seq": 35, "step": 11944, "t": 59.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
|