Hugging Face's logo

Datasets:
Arashi2001
/
MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
Dataset card Files
xet
 Community
Arashi2001 commited on
Commit
b4c05f9
·
verified ·
1 Parent(s): c180ae2

add 8 episodes (c4_p010_e037 .. c9_p016_e003); total 3348 {'v1': 1088, 'v2': 2260}

Browse files
Files changed (49) hide show
  1. episodes/c4_p010_e037/data.npz +3 -0
  2. episodes/c4_p010_e037/device_events.jsonl +36 -0
  3. episodes/c4_p010_e037/env.mp4 +3 -0
  4. episodes/c4_p010_e037/meta.json +32 -0
  5. episodes/c4_p010_e037/scene_snapshot.json +1558 -0
  6. episodes/c4_p010_e037/wrist.mp4 +3 -0
  7. episodes/c4_p010_e038/data.npz +3 -0
  8. episodes/c4_p010_e038/device_events.jsonl +35 -0
  9. episodes/c4_p010_e038/env.mp4 +3 -0
  10. episodes/c4_p010_e038/meta.json +32 -0
  11. episodes/c4_p010_e038/scene_snapshot.json +1558 -0
  12. episodes/c4_p010_e038/wrist.mp4 +3 -0
  13. episodes/c6_p011_e004/data.npz +3 -0
  14. episodes/c6_p011_e004/device_events.jsonl +35 -0
  15. episodes/c6_p011_e004/env.mp4 +3 -0
  16. episodes/c6_p011_e004/meta.json +32 -0
  17. episodes/c6_p011_e004/scene_snapshot.json +1558 -0
  18. episodes/c6_p011_e004/wrist.mp4 +3 -0
  19. episodes/c8_p011_e031/data.npz +3 -0
  20. episodes/c8_p011_e031/device_events.jsonl +36 -0
  21. episodes/c8_p011_e031/env.mp4 +3 -0
  22. episodes/c8_p011_e031/meta.json +32 -0
  23. episodes/c8_p011_e031/scene_snapshot.json +1558 -0
  24. episodes/c8_p011_e031/wrist.mp4 +3 -0
  25. episodes/c9_p016_e000/data.npz +3 -0
  26. episodes/c9_p016_e000/device_events.jsonl +39 -0
  27. episodes/c9_p016_e000/env.mp4 +3 -0
  28. episodes/c9_p016_e000/meta.json +32 -0
  29. episodes/c9_p016_e000/scene_snapshot.json +1558 -0
  30. episodes/c9_p016_e000/wrist.mp4 +3 -0
  31. episodes/c9_p016_e001/data.npz +3 -0
  32. episodes/c9_p016_e001/device_events.jsonl +36 -0
  33. episodes/c9_p016_e001/env.mp4 +3 -0
  34. episodes/c9_p016_e001/meta.json +32 -0
  35. episodes/c9_p016_e001/scene_snapshot.json +1558 -0
  36. episodes/c9_p016_e001/wrist.mp4 +3 -0
  37. episodes/c9_p016_e002/data.npz +3 -0
  38. episodes/c9_p016_e002/device_events.jsonl +35 -0
  39. episodes/c9_p016_e002/env.mp4 +3 -0
  40. episodes/c9_p016_e002/meta.json +32 -0
  41. episodes/c9_p016_e002/scene_snapshot.json +1558 -0
  42. episodes/c9_p016_e002/wrist.mp4 +3 -0
  43. episodes/c9_p016_e003/data.npz +3 -0
  44. episodes/c9_p016_e003/device_events.jsonl +35 -0
  45. episodes/c9_p016_e003/env.mp4 +3 -0
  46. episodes/c9_p016_e003/meta.json +32 -0
  47. episodes/c9_p016_e003/scene_snapshot.json +1558 -0
  48. episodes/c9_p016_e003/wrist.mp4 +3 -0
  49. index/episodes.csv +8 -0
episodes/c4_p010_e037/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd3dc146abeb5467ee802fe3bb933c3be023d7a5fc5da362519ad25423ec04ff
3
+ size 192077
episodes/c4_p010_e037/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 102, "t": 0.51, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 102, "t": 0.51, "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": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 1661, "t": 8.305, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 6803, "t": 34.015, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
6
+ {"env_id": 0, "seq": 6, "step": 7416, "t": 37.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
7
+ {"env_id": 0, "seq": 7, "step": 7416, "t": 37.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0805705319382524}, "cause": "task-0-1"}
8
+ {"env_id": 0, "seq": 8, "step": 7416, "t": 37.08, "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"}
9
+ {"env_id": 0, "seq": 9, "step": 7416, "t": 37.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 0, "seq": 10, "step": 7416, "t": 37.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
11
+ {"env_id": 0, "seq": 11, "step": 7835, "t": 39.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 0, "seq": 12, "step": 7835, "t": 39.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
13
+ {"env_id": 0, "seq": 13, "step": 7835, "t": 39.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
14
+ {"env_id": 0, "seq": 14, "step": 7835, "t": 39.175, "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"}
15
+ {"env_id": 0, "seq": 15, "step": 7835, "t": 39.175, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
16
+ {"env_id": 0, "seq": 16, "step": 7835, "t": 39.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
17
+ {"env_id": 0, "seq": 17, "step": 7835, "t": 39.175, "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"}
18
+ {"env_id": 0, "seq": 18, "step": 7835, "t": 39.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 0, "seq": 19, "step": 7835, "t": 39.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0805705319382524}, "cause": "program-0-3"}
20
+ {"env_id": 0, "seq": 20, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 0, "seq": 21, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0850000000010667}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.0850000000010667}}, "cause": "program-0-3"}
23
+ {"env_id": 0, "seq": 23, "step": 8252, "t": 41.26, "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"}
24
+ {"env_id": 0, "seq": 24, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 0, "seq": 25, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
26
+ {"env_id": 0, "seq": 26, "step": 8672, "t": 43.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 0, "seq": 27, "step": 8672, "t": 43.36, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.9222098518744133e-08}, "cause": "program-0-4"}
28
+ {"env_id": 0, "seq": 28, "step": 8672, "t": 43.36, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.9222098518744133e-08}, "cause": "program-0-4"}
29
+ {"env_id": 0, "seq": 29, "step": 8672, "t": 43.36, "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"}
30
+ {"env_id": 0, "seq": 30, "step": 8672, "t": 43.36, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
31
+ {"env_id": 0, "seq": 31, "step": 8672, "t": 43.36, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
32
+ {"env_id": 0, "seq": 32, "step": 9251, "t": 46.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
33
+ {"env_id": 0, "seq": 33, "step": 10976, "t": 54.88, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
34
+ {"env_id": 0, "seq": 34, "step": 10976, "t": 54.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"}
35
+ {"env_id": 0, "seq": 35, "step": 10976, "t": 54.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
36
+ {"env_id": 0, "seq": 36, "step": 10976, "t": 54.88, "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/c4_p010_e037/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27d9f406966502b04554b9a78016278636342e85462cde0068457c691a503727
3
+ size 1246557
episodes/c4_p010_e037/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p010/magicsim/37",
3
+ "fps": 25,
4
+ "frames": 1230,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1230,
8
+ "env": 1230
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_p010_e037/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 37,
3
+ "env_id": 0,
4
+ "run_id": "c4_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.4988422393798828,
335
+ 0.11703014373779297,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ 0.735316276550293,
340
+ 0.0,
341
+ 0.0,
342
+ -0.6777241230010986
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
+ 0.0
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": 0.1688483733558938,
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": -0.004970471301912971,
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": 0.1688483733558938,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ -0.19601726531982422,
492
+ 1.1500024795532227,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ 3.7538029573624954e-05,
497
+ -4.371599970909301e-08,
498
+ 5.455885698779639e-08,
499
+ 1.0
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ -3.84990617163794e-09,
528
+ -2.7757999987443327e-07,
529
+ 1.5273690223693848e-07
530
+ ],
531
+ "angular_velocity": [
532
+ 9.118129128182773e-06,
533
+ -7.048574275358988e-07,
534
+ -4.037810867885128e-06
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ -1.388472557067871,
543
+ 0.8775339126586914,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ -0.6206771731376648,
548
+ -3.7614821479792226e-08,
549
+ -2.046666658372942e-08,
550
+ 0.7840663194656372
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
+ 8.565120834802542e-10,
579
+ 3.8093905807556894e-10,
580
+ 3.725290298461914e-09
581
+ ],
582
+ "angular_velocity": [
583
+ -8.004457185961655e-08,
584
+ 2.4001714393762086e-08,
585
+ 1.2550330552585365e-08
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ 0.14555740356445312,
594
+ 0.4499979019165039,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ 1.0,
599
+ 6.3407279426996865e-09,
600
+ -1.7824852704961813e-11,
601
+ 4.0894708945415914e-05
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ 4.519892904397693e-09,
630
+ 3.9426375053608353e-08,
631
+ 1.4901161193847656e-08
632
+ ],
633
+ "angular_velocity": [
634
+ -1.2506502571341116e-06,
635
+ 9.186967986352101e-08,
636
+ -5.488760166372231e-07
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ 1.6123247146606445,
645
+ 1.0302963256835938,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ 0.413308709859848,
650
+ 7.627703269008634e-08,
651
+ -2.968243251189051e-08,
652
+ 0.9105910658836365
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
+ -2.1430427210589187e-08,
681
+ 1.2153879680454338e-08,
682
+ 7.82310962677002e-08
683
+ ],
684
+ "angular_velocity": [
685
+ -1.911637809826061e-06,
686
+ -1.935061845870223e-06,
687
+ -4.295679900678806e-08
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ -0.1965627670288086,
698
+ 1.1432256698608398,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ 0.035316187888383865,
703
+ -1.4507094192595105e-07,
704
+ 5.939551783740171e-07,
705
+ 0.9993762373924255
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 2.416072675259784e-06,
737
+ -3.0721089387952816e-06,
738
+ -5.036592483520508e-06
739
+ ],
740
+ "angular_velocity": [
741
+ 0.00017349114932585508,
742
+ -7.582249054394197e-06,
743
+ 2.5464565624133684e-05
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ -1.3832063674926758,
752
+ 0.883265495300293,
753
+ 0.9180000424385071
754
+ ],
755
+ "ori": [
756
+ -0.6710427403450012,
757
+ -4.1198699562983165e-08,
758
+ -1.5495578153945644e-08,
759
+ 0.741418719291687
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
+ 8.02807154087759e-09,
791
+ 1.1531954058341398e-08,
792
+ -5.520880222320557e-06
793
+ ],
794
+ "angular_velocity": [
795
+ -1.359466182293545e-06,
796
+ -3.6213884868629975e-07,
797
+ 1.23847172517344e-07
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ 0.15161895751953125,
806
+ 0.4535541534423828,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ 0.9973300099372864,
811
+ 1.6755882370489417e-07,
812
+ 1.3102427587341481e-08,
813
+ -0.07302705943584442
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ -9.152749953500461e-07,
845
+ 3.726211161847459e-06,
846
+ -4.727393388748169e-06
847
+ ],
848
+ "angular_velocity": [
849
+ 2.398101605649572e-05,
850
+ -8.844646799843758e-06,
851
+ 2.8884593120892532e-05
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ 1.6232061386108398,
860
+ 1.029810905456543,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.355455219745636,
865
+ 3.0358822300513566e-07,
866
+ 1.3391091613357275e-07,
867
+ 0.9346932768821716
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
+ -5.636288278765278e-06,
899
+ -4.763609467772767e-06,
900
+ -1.0699033737182617e-05
901
+ ],
902
+ "angular_velocity": [
903
+ 0.00028580668731592596,
904
+ -0.0002552472287788987,
905
+ -2.284621587023139e-06
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": 5.939999999999896,
1104
+ "step": 1188,
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": 0.0
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": 0.1688483733558938,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_3",
1151
+ "arrived": true,
1152
+ "settle_count": 1085,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -0.3460172712802887,
1159
+ 0.7000024914741516,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ -1.5384725630283356,
1164
+ 0.42753392457962036,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ -0.0044426023960113525,
1169
+ -2.086162567138672e-06,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ 1.46232470870018,
1174
+ 0.5802963376045227,
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
+ 0.7115096247686056,
1238
+ 0.5106218164528358,
1239
+ 2.924203382995282
1240
+ ],
1241
+ "ori": [
1242
+ -14.996871973530501,
1243
+ -13.410707629995775,
1244
+ -20.99530969251648
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 6631.603730404049,
1254
+ "color": [
1255
+ 0.9388120117580466,
1256
+ 0.9357628881316135,
1257
+ 0.7937452465316314
1258
+ ],
1259
+ "intensity": 12568.143036424106,
1260
+ "width": 2.3068403369283974,
1261
+ "height": 1.116566748661909
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "disk",
1266
+ "pose": {
1267
+ "pos": [
1268
+ -0.3946707831179168,
1269
+ 1.0524392949024783,
1270
+ 2.0802430127346043
1271
+ ],
1272
+ "ori": [
1273
+ 32.72640697860001,
1274
+ -4.361462394730253,
1275
+ 5.079063450946748
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 7441.714440512383,
1285
+ "color": [
1286
+ 0.9099647597325773,
1287
+ 0.9825361080864281,
1288
+ 0.7671212356922896
1289
+ ],
1290
+ "intensity": 5015.14843644541,
1291
+ "radius": 0.27272713079799776
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": 559.8532077346052,
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
+ 0.9141026735305786,
1394
+ -1.7193982601165771,
1395
+ 2.0905001163482666,
1396
+ -1.9419012069702148,
1397
+ -1.5707999467849731,
1398
+ 2.48490047454834,
1399
+ 0.01799999736249447,
1400
+ 0.018000001087784767
1401
+ ],
1402
+ [
1403
+ -0.3748188018798828,
1404
+ -2.3551151752471924,
1405
+ 2.3762505054473877,
1406
+ -1.5843720436096191,
1407
+ -1.562136173248291,
1408
+ 4.330183506011963,
1409
+ 0.017999988049268723,
1410
+ 0.018000010401010513
1411
+ ],
1412
+ [
1413
+ 1.2326313257217407,
1414
+ -1.5793706178665161,
1415
+ 2.191091775894165,
1416
+ -2.1820173263549805,
1417
+ -1.5715235471725464,
1418
+ 5.943511486053467,
1419
+ 0.006505051162093878,
1420
+ 0.00872048083692789
1421
+ ],
1422
+ [
1423
+ 0.9984007477760315,
1424
+ -1.5627373456954956,
1425
+ 2.161012649536133,
1426
+ -2.169053077697754,
1427
+ -1.5708000659942627,
1428
+ 2.672572374343872,
1429
+ 0.0076449098996818066,
1430
+ 0.007039875723421574
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 2.24383322976566e-38,
1436
+ 0.0,
1437
+ 1.6554385143341516e-38,
1438
+ -5.065806500826868e-37,
1439
+ 3.864743946120633e-37,
1440
+ -2.737574662035174e-37,
1441
+ 2.5990374297180097e-08,
1442
+ -2.599039738981901e-08
1443
+ ],
1444
+ [
1445
+ -2.554463662818307e-06,
1446
+ -1.3623708582599647e-05,
1447
+ -1.3623839549836703e-05,
1448
+ -6.811941148043843e-06,
1449
+ 1.021793741529109e-05,
1450
+ 1.7526767797509946e-13,
1451
+ 1.5594321212120121e-07,
1452
+ -1.5594368107940682e-07
1453
+ ],
1454
+ [
1455
+ 0.051181524991989136,
1456
+ 0.02037358470261097,
1457
+ -0.00256601395085454,
1458
+ -0.01805344596505165,
1459
+ 0.0033038139808923006,
1460
+ 0.01574523001909256,
1461
+ -6.657034100499004e-05,
1462
+ -0.00018059350259136409
1463
+ ],
1464
+ [
1465
+ 8.251606777776033e-05,
1466
+ -6.372543430188671e-05,
1467
+ -0.00040958961471915245,
1468
+ -0.00016292899090331048,
1469
+ 0.0003184664237778634,
1470
+ 0.0013019772013649344,
1471
+ -0.00772132258862257,
1472
+ 0.0002685778308659792
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04946043714880943,
1482
+ 0.0030321215745061636,
1483
+ -0.028996089473366737,
1484
+ -0.28004711866378784,
1485
+ 0.64933180809021,
1486
+ 0.6484180092811584,
1487
+ -0.2819502353668213
1488
+ ],
1489
+ [
1490
+ 0.04766521975398064,
1491
+ -0.0023477268405258656,
1492
+ -0.027789341285824776,
1493
+ -0.2859340310096741,
1494
+ 0.6432977914810181,
1495
+ 0.6512342691421509,
1496
+ -0.28337886929512024
1497
+ ],
1498
+ [
1499
+ 0.0448547787964344,
1500
+ -0.005054241977632046,
1501
+ -0.030311092734336853,
1502
+ -0.2735210061073303,
1503
+ 0.6497135758399963,
1504
+ 0.6528956890106201,
1505
+ -0.2771024703979492
1506
+ ],
1507
+ [
1508
+ 0.05381020903587341,
1509
+ 0.0015674603637307882,
1510
+ -0.03353704884648323,
1511
+ -0.28029489517211914,
1512
+ 0.6582539081573486,
1513
+ 0.6412225961685181,
1514
+ -0.27743491530418396
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.034315675497055054,
1520
+ 0.5704680681228638,
1521
+ 1.9462898969650269,
1522
+ 0.04034753516316414,
1523
+ -0.0022235624492168427,
1524
+ 0.27364876866340637,
1525
+ 0.9609804749488831
1526
+ ],
1527
+ [
1528
+ 0.05107385665178299,
1529
+ 0.5708732604980469,
1530
+ 1.9508209228515625,
1531
+ 0.03715445473790169,
1532
+ -0.0053458428010344505,
1533
+ 0.28051021695137024,
1534
+ 0.9591167569160461
1535
+ ],
1536
+ [
1537
+ 0.04867328330874443,
1538
+ 0.558346688747406,
1539
+ 1.9339723587036133,
1540
+ 0.055658336728811264,
1541
+ 0.00911472737789154,
1542
+ 0.2832247018814087,
1543
+ 0.9573937654495239
1544
+ ],
1545
+ [
1546
+ 0.055360306054353714,
1547
+ 0.5653873085975647,
1548
+ 1.9287861585617065,
1549
+ 0.038991779088974,
1550
+ 0.008209771476686,
1551
+ 0.2859698534011841,
1552
+ 0.9574097990989685
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p010_e037/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8283d1a9354e6a542a897372cb31070653f231fe19ec685b2af1897c32e12a69
3
+ size 7378127
episodes/c4_p010_e038/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fcc178a82257b9474cab501eda10a0e67e5cfd5c17b484c2f58cc8dd4b95b1c1
3
+ size 186721
episodes/c4_p010_e038/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 105, "t": 0.525, "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": 110, "t": 0.55, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
6
+ {"env_id": 2, "seq": 6, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.2099795446525405}, "cause": "task-2-1"}
7
+ {"env_id": 2, "seq": 7, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
8
+ {"env_id": 2, "seq": 8, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
9
+ {"env_id": 2, "seq": 9, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
10
+ {"env_id": 2, "seq": 10, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
11
+ {"env_id": 2, "seq": 11, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
12
+ {"env_id": 2, "seq": 12, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
13
+ {"env_id": 2, "seq": 13, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
14
+ {"env_id": 2, "seq": 14, "step": 7899, "t": 39.495, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
15
+ {"env_id": 2, "seq": 15, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
16
+ {"env_id": 2, "seq": 16, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
17
+ {"env_id": 2, "seq": 17, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
18
+ {"env_id": 2, "seq": 18, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.2099795446525405}, "cause": "program-2-3"}
19
+ {"env_id": 2, "seq": 19, "step": 8741, "t": 43.705, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
20
+ {"env_id": 2, "seq": 20, "step": 8741, "t": 43.705, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.210000000002154}, "cause": "program-2-3"}
21
+ {"env_id": 2, "seq": 21, "step": 8741, "t": 43.705, "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": 4.210000000002154}}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 8741, "t": 43.705, "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"}
23
+ {"env_id": 2, "seq": 23, "step": 8741, "t": 43.705, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
24
+ {"env_id": 2, "seq": 24, "step": 8741, "t": 43.705, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
25
+ {"env_id": 2, "seq": 25, "step": 9161, "t": 45.805, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
26
+ {"env_id": 2, "seq": 26, "step": 9161, "t": 45.805, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5693427002361204e-08}, "cause": "program-2-4"}
27
+ {"env_id": 2, "seq": 27, "step": 9161, "t": 45.805, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5693427002361204e-08}, "cause": "program-2-4"}
28
+ {"env_id": 2, "seq": 28, "step": 9161, "t": 45.805, "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"}
29
+ {"env_id": 2, "seq": 29, "step": 9161, "t": 45.805, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
30
+ {"env_id": 2, "seq": 30, "step": 9161, "t": 45.805, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
31
+ {"env_id": 2, "seq": 31, "step": 9742, "t": 48.71, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
32
+ {"env_id": 2, "seq": 32, "step": 11464, "t": 57.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
33
+ {"env_id": 2, "seq": 33, "step": 11464, "t": 57.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
34
+ {"env_id": 2, "seq": 34, "step": 11464, "t": 57.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
35
+ {"env_id": 2, "seq": 35, "step": 11464, "t": 57.32, "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_p010_e038/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:081bbfa5ec5a74692b4bc1483b1bab6f9f7892b0eaafe1d19ac413fda386ea93
3
+ size 1220032
episodes/c4_p010_e038/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p010/magicsim/38",
3
+ "fps": 25,
4
+ "frames": 1232,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1232,
8
+ "env": 1232
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_p010_e038/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 38,
3
+ "env_id": 2,
4
+ "run_id": "c4_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.5234966278076172,
337
+ 0.1207571029663086,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ -0.6758458018302917,
342
+ 0.0,
343
+ 0.0,
344
+ 0.737043023109436
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
+ 3.0277473236917096e-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": 0.29961319526627317,
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": -0.29775273041730005,
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": 0.29961319526627317,
479
+ "holds": [],
480
+ "station": "pick",
481
+ "rider": "carrier_1",
482
+ "arrived": true,
483
+ "applied_speed": 0.0
484
+ }
485
+ }
486
+ }
487
+ ],
488
+ "carrier": [
489
+ {
490
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ -0.14710044860839844,
494
+ 0.44745731353759766,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ 0.9999637603759766,
499
+ -2.2995736426167923e-09,
500
+ -2.656800335287812e-10,
501
+ 0.008512399159371853
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ -2.811195720653359e-10,
530
+ -5.8451514739488175e-09,
531
+ 1.1175870895385742e-08
532
+ ],
533
+ "angular_velocity": [
534
+ 3.348381198975403e-07,
535
+ -6.373336081111347e-09,
536
+ 1.1353722406681754e-08
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ -1.0145130157470703,
545
+ 1.150343894958496,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ -0.008787263184785843,
550
+ 3.4914964253118796e-09,
551
+ 6.998119062018304e-08,
552
+ 0.9999614953994751
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
+ 3.1356837126850223e-09,
581
+ -1.1528993582032854e-07,
582
+ -2.60770320892334e-08
583
+ ],
584
+ "angular_velocity": [
585
+ 1.6795512465250795e-06,
586
+ 2.666280920493591e-07,
587
+ -9.535331173537998e-07
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ 1.2144079208374023,
596
+ 0.45000171661376953,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ 1.0,
601
+ -2.2424451184832606e-09,
602
+ 6.531740426307664e-11,
603
+ -1.6673968275426887e-05
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ 8.288636443865016e-11,
632
+ 2.086364636610938e-09,
633
+ 3.725290298461914e-09
634
+ ],
635
+ "angular_velocity": [
636
+ -1.3700264389626682e-07,
637
+ 1.489492973405504e-10,
638
+ 5.728262308934973e-10
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ 0.3890819549560547,
647
+ 1.1528587341308594,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ -0.008616519160568714,
652
+ 5.374388223344795e-08,
653
+ 5.3726594728686905e-08,
654
+ 0.9999628663063049
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
+ -4.9444914829166464e-09,
683
+ -1.6314736228650872e-09,
684
+ 4.0978193283081055e-08
685
+ ],
686
+ "angular_velocity": [
687
+ 1.2866328802374483e-07,
688
+ -4.892061156169802e-07,
689
+ -8.090456304898908e-09
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ -0.15153217315673828,
700
+ 0.45392799377441406,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ 0.9995229840278625,
705
+ -1.1087461504466489e-10,
706
+ -1.067661625775429e-09,
707
+ 0.03088419698178768
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ -2.2287697021283748e-08,
739
+ -6.891441728384962e-08,
740
+ 1.4156103134155273e-07
741
+ ],
742
+ "angular_velocity": [
743
+ 2.2516792341775727e-06,
744
+ -1.9757744667003863e-06,
745
+ -1.940186322713089e-08
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ -1.0011634826660156,
754
+ 1.1472892761230469,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.02036779373884201,
759
+ -1.8304520565948224e-08,
760
+ 3.7120202023288584e-07,
761
+ 0.9997926354408264
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
+ 2.1251296402624575e-06,
793
+ -3.875086804328021e-06,
794
+ -2.3469328880310059e-07
795
+ ],
796
+ "angular_velocity": [
797
+ 6.13834272371605e-05,
798
+ 5.593123660219135e-06,
799
+ 3.15779798256699e-05
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ 1.213186264038086,
808
+ 0.4455995559692383,
809
+ 0.9180000424385071
810
+ ],
811
+ "ori": [
812
+ 0.9994354844093323,
813
+ -1.6531519486662205e-09,
814
+ 3.885279875603942e-10,
815
+ 0.033597540110349655
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ -1.3014955335677314e-08,
847
+ 2.074087745995712e-08,
848
+ -5.401670932769775e-06
849
+ ],
850
+ "angular_velocity": [
851
+ -1.5776127781919058e-07,
852
+ -1.4448461342908558e-06,
853
+ 1.0036736597385243e-07
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ 0.38363170623779297,
862
+ 1.1612958908081055,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ -0.061439674347639084,
867
+ 5.5979626267799176e-08,
868
+ 5.032550731698393e-08,
869
+ 0.9981107711791992
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
+ 5.370623057388002e-08,
901
+ -3.890252386895554e-08,
902
+ -9.723007678985596e-07
903
+ ],
904
+ "angular_velocity": [
905
+ 7.033413567114621e-07,
906
+ 3.1648050935473293e-06,
907
+ 2.921938246913669e-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": 8.179999999999879,
1106
+ "step": 1636,
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": 3.0277473236917096e-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": 0.29961319526627317,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_1",
1153
+ "arrived": true,
1154
+ "settle_count": 1530,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ -0.2971004545688629,
1161
+ -0.0025426745414733887,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ -1.1645130217075348,
1166
+ 0.700343906879425,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ 1.0644079148769379,
1171
+ 1.7285346984863281e-06,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ 0.2390819489955902,
1176
+ 0.7028587460517883,
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_1",
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
+ -0.2295258821005276,
1240
+ 0.3340132025843987,
1241
+ 2.995549877898748
1242
+ ],
1243
+ "ori": [
1244
+ -7.703888500698559,
1245
+ -11.239694927229461,
1246
+ -29.141310315012007
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 6101.504085990284,
1256
+ "color": [
1257
+ 0.8567456498273545,
1258
+ 0.9256870642483994,
1259
+ 0.7947643919290355
1260
+ ],
1261
+ "intensity": 7380.676790963862,
1262
+ "width": 2.4663010462200337,
1263
+ "height": 1.5063947136880314
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "disk",
1268
+ "pose": {
1269
+ "pos": [
1270
+ 0.5078491767250157,
1271
+ 0.8776337270645211,
1272
+ 2.028140407066475
1273
+ ],
1274
+ "ori": [
1275
+ -10.777055570352942,
1276
+ 18.35409687709376,
1277
+ -16.841664957617404
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 6780.574441794992,
1287
+ "color": [
1288
+ 0.8965387942830273,
1289
+ 0.9240397715883526,
1290
+ 0.9988429840492631
1291
+ ],
1292
+ "intensity": 4311.040095158194,
1293
+ "radius": 0.2199292490843414
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": 559.8532077346052,
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
+ 2.7568180561065674,
1394
+ -1.5061142444610596,
1395
+ 2.3548691272735596,
1396
+ -2.4192025661468506,
1397
+ -1.5729670524597168,
1398
+ 4.319678783416748,
1399
+ 0.01800001785159111,
1400
+ 0.017999980598688126
1401
+ ],
1402
+ [
1403
+ 1.729923963546753,
1404
+ -1.2293518781661987,
1405
+ 2.1541197299957275,
1406
+ -2.494515895843506,
1407
+ -1.5709401369094849,
1408
+ 0.15907372534275055,
1409
+ 0.01798863522708416,
1410
+ 0.01798771694302559
1411
+ ],
1412
+ [
1413
+ 0.9141026735305786,
1414
+ -1.7193982601165771,
1415
+ 2.0904998779296875,
1416
+ -1.9419009685516357,
1417
+ -1.5707999467849731,
1418
+ 2.4848999977111816,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 2.805239200592041,
1424
+ -1.6907109022140503,
1425
+ 1.7515971660614014,
1426
+ -1.6316386461257935,
1427
+ -1.5707998275756836,
1428
+ 4.376656532287598,
1429
+ 0.007712644059211016,
1430
+ 0.006991283968091011
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -0.007970191538333893,
1436
+ -0.019361142069101334,
1437
+ 0.021278180181980133,
1438
+ -0.0020050981547683477,
1439
+ -1.7440068404539488e-05,
1440
+ -0.008079309947788715,
1441
+ -3.558965545380488e-06,
1442
+ 3.5590001061791554e-06
1443
+ ],
1444
+ [
1445
+ 6.80683524478809e-06,
1446
+ -4.788635266095298e-09,
1447
+ -1.909379676590106e-08,
1448
+ -6.819573627581121e-06,
1449
+ -3.407198846616666e-06,
1450
+ -1.2797588624380296e-06,
1451
+ 0.00017124258738476783,
1452
+ 0.00018507587083149701
1453
+ ],
1454
+ [
1455
+ -2.430411496005577e-38,
1456
+ 1.702151639421498e-38,
1457
+ 0.0,
1458
+ 6.4160681056266955e-37,
1459
+ -5.88657189844264e-37,
1460
+ -7.0281176079410545e-37,
1461
+ 9.143619335798493e-38,
1462
+ -9.768932520441256e-38
1463
+ ],
1464
+ [
1465
+ -0.00021827963064424694,
1466
+ 5.9023339417763054e-05,
1467
+ -0.00041464384412392974,
1468
+ -0.00022499730403069407,
1469
+ -0.0009841542923823,
1470
+ 0.0021708484273403883,
1471
+ -0.009227294474840164,
1472
+ 0.0002934312215074897
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.049520332366228104,
1482
+ 0.0015754456399008632,
1483
+ -0.03180117532610893,
1484
+ -0.2872042953968048,
1485
+ 0.6471046805381775,
1486
+ 0.6499711871147156,
1487
+ -0.2762365937232971
1488
+ ],
1489
+ [
1490
+ 0.04874735698103905,
1491
+ -0.002759776543825865,
1492
+ -0.028621014207601547,
1493
+ -0.2912323772907257,
1494
+ 0.6478002071380615,
1495
+ 0.6464036703109741,
1496
+ -0.2787488102912903
1497
+ ],
1498
+ [
1499
+ 0.05100318789482117,
1500
+ -0.0037499398458749056,
1501
+ -0.03025428019464016,
1502
+ -0.2829205095767975,
1503
+ 0.6512080430984497,
1504
+ 0.649355411529541,
1505
+ -0.27243655920028687
1506
+ ],
1507
+ [
1508
+ 0.05200517177581787,
1509
+ 0.0004466900718398392,
1510
+ -0.031129609793424606,
1511
+ -0.27668121457099915,
1512
+ 0.6512129306793213,
1513
+ 0.6471588015556335,
1514
+ -0.28382161259651184
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.034315675497055054,
1520
+ 0.5704680681228638,
1521
+ 1.9462898969650269,
1522
+ 0.04034753516316414,
1523
+ -0.0022235624492168427,
1524
+ 0.27364876866340637,
1525
+ 0.9609804749488831
1526
+ ],
1527
+ [
1528
+ 0.05107385665178299,
1529
+ 0.5708732604980469,
1530
+ 1.9508209228515625,
1531
+ 0.03715445473790169,
1532
+ -0.0053458428010344505,
1533
+ 0.28051021695137024,
1534
+ 0.9591167569160461
1535
+ ],
1536
+ [
1537
+ 0.0586683414876461,
1538
+ 0.5989596843719482,
1539
+ 1.942463994026184,
1540
+ 0.021716685965657234,
1541
+ 0.0014223987236618996,
1542
+ 0.2566896975040436,
1543
+ 0.9662488102912903
1544
+ ],
1545
+ [
1546
+ 0.055360306054353714,
1547
+ 0.5653873085975647,
1548
+ 1.9287861585617065,
1549
+ 0.038991779088974,
1550
+ 0.008209771476686,
1551
+ 0.2859698534011841,
1552
+ 0.9574097990989685
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p010_e038/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b115702d6369b96b4c2a2a2c242bbef95d19e2ea3da0aebf0d384d58227e1f9
3
+ size 7559418
episodes/c6_p011_e004/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48848fb3d68ee03f3863bec335ffa8eca38253024b062bc67dba5925d54cfb85
3
+ size 184558
episodes/c6_p011_e004/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 162, "t": 0.81, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 162, "t": 0.81, "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": 167, "t": 0.835, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 5255, "t": 26.275, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 5864, "t": 29.32, "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": 5864, "t": 29.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2649752141518054}, "cause": "task-1-1"}
7
+ {"env_id": 1, "seq": 7, "step": 5864, "t": 29.32, "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": 5864, "t": 29.32, "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": 5864, "t": 29.32, "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": 6283, "t": 31.415, "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": 6283, "t": 31.415, "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": 6283, "t": 31.415, "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": 6283, "t": 31.415, "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": 6283, "t": 31.415, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
15
+ {"env_id": 1, "seq": 15, "step": 6283, "t": 31.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"}
16
+ {"env_id": 1, "seq": 16, "step": 6283, "t": 31.415, "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": 6283, "t": 31.415, "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": 6283, "t": 31.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2649752141518054}, "cause": "program-1-3"}
19
+ {"env_id": 1, "seq": 19, "step": 6736, "t": 33.68, "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": 6736, "t": 33.68, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.265000000000743}, "cause": "program-1-3"}
21
+ {"env_id": 1, "seq": 21, "step": 6736, "t": 33.68, "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": 2.265000000000743}}, "cause": "program-1-3"}
22
+ {"env_id": 1, "seq": 22, "step": 6736, "t": 33.68, "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": 6736, "t": 33.68, "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": 6736, "t": 33.68, "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": 7156, "t": 35.78, "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": 7156, "t": 35.78, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.681848851997074e-09}, "cause": "program-1-4"}
27
+ {"env_id": 1, "seq": 27, "step": 7156, "t": 35.78, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.681848851997074e-09}, "cause": "program-1-4"}
28
+ {"env_id": 1, "seq": 28, "step": 7156, "t": 35.78, "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": 7156, "t": 35.78, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
30
+ {"env_id": 1, "seq": 30, "step": 7156, "t": 35.78, "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": 7735, "t": 38.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
32
+ {"env_id": 1, "seq": 32, "step": 9404, "t": 47.02, "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": 9404, "t": 47.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"}
34
+ {"env_id": 1, "seq": 34, "step": 9404, "t": 47.02, "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": 9404, "t": 47.02, "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/c6_p011_e004/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eff65442a7406973cafa5e3202857dcd44eaaf9e9d3e955069fa490b79461e50
3
+ size 1239806
episodes/c6_p011_e004/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c6_p011/magicsim/4",
3
+ "fps": 25,
4
+ "frames": 1154,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1154,
8
+ "env": 1154
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/c6_p011_e004/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 4,
3
+ "env_id": 1,
4
+ "run_id": "c6_p011",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.5262136459350586,
336
+ 0.07812881469726562,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ 0.7247427105903625,
341
+ 0.0,
342
+ 0.0,
343
+ -0.6890196204185486
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
+ 1.345665874737112e-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": 0.23406598194688072,
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": -0.07013374517964688,
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": 0.23406598194688072,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_2",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ 1.4718360900878906,
493
+ 0.4755668640136719,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 0.9853093028068542,
498
+ 2.711028734836418e-08,
499
+ -4.826217647746489e-08,
500
+ 0.17077910900115967
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ -5.653433277075237e-09,
529
+ 3.4721793440439797e-08,
530
+ -1.4901161193847656e-08
531
+ ],
532
+ "angular_velocity": [
533
+ -7.98015662439866e-07,
534
+ -4.768670009980269e-07,
535
+ -2.6551049359113676e-07
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 0.08053207397460938,
544
+ 0.44748401641845703,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 0.9999459385871887,
549
+ 2.006229404827309e-09,
550
+ -6.762062465526242e-09,
551
+ 0.010402245447039604
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
+ 1.3153478306549005e-10,
580
+ -2.6445401424268766e-09,
581
+ 1.862645149230957e-08
582
+ ],
583
+ "angular_velocity": [
584
+ 2.563876364547468e-07,
585
+ -1.2641176283523237e-07,
586
+ 2.4490304895152804e-08
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ -0.14129257202148438,
595
+ 1.149998664855957,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -1.0920845852524508e-05,
600
+ 1.8556678416103978e-10,
601
+ 1.4341356546765383e-08,
602
+ 1.0
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 2.264648557570581e-08,
631
+ -1.2547262429052353e-07,
632
+ 0.0
633
+ ],
634
+ "angular_velocity": [
635
+ 2.3964030333445407e-06,
636
+ -1.5221436555634682e-08,
637
+ 1.217166072819964e-06
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -1.271285057067871,
646
+ 1.067000389099121,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ -0.3324710428714752,
651
+ -2.313694267286337e-07,
652
+ -1.318008315820407e-07,
653
+ 0.9431135654449463
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
+ -1.0368896710133413e-06,
682
+ -9.853171150098206e-07,
683
+ -3.4980475902557373e-06
684
+ ],
685
+ "angular_velocity": [
686
+ 9.065055201062933e-05,
687
+ -8.928714669309556e-05,
688
+ 4.576140781864524e-07
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ 1.465188980102539,
699
+ 0.4848356246948242,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ 0.9955296516418457,
704
+ 6.054646206621328e-08,
705
+ -1.1203908911738836e-07,
706
+ 0.0944502204656601
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ 4.812885663341149e-07,
738
+ 3.376339464011835e-06,
739
+ -8.996576070785522e-06
740
+ ],
741
+ "angular_velocity": [
742
+ -6.8953777372371405e-06,
743
+ -1.8417231331113726e-05,
744
+ 3.3254609661526047e-06
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 0.0695648193359375,
753
+ 0.4580516815185547,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ 0.9996699690818787,
758
+ 1.107538505351613e-09,
759
+ -6.865295887337197e-09,
760
+ 0.02568894997239113
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
+ -2.2921472719872327e-08,
792
+ -5.3258624177487945e-08,
793
+ -5.8747828006744385e-06
794
+ ],
795
+ "angular_velocity": [
796
+ 2.417385076114442e-06,
797
+ -2.2699625787936384e-06,
798
+ 1.0285824458833304e-07
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ -0.1439981460571289,
807
+ 1.1466445922851562,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ -0.03145577758550644,
812
+ -3.401552817194897e-08,
813
+ 3.1660326271776285e-07,
814
+ 0.9995051622390747
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ 2.9811346848873654e-06,
846
+ -2.2414847080654e-06,
847
+ -5.953013896942139e-06
848
+ ],
849
+ "angular_velocity": [
850
+ -6.726510764565319e-05,
851
+ -8.305732990265824e-06,
852
+ 4.765848279930651e-05
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -1.260202407836914,
861
+ 1.069488525390625,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ -0.31516170501708984,
866
+ -2.225635142849569e-07,
867
+ -8.458721367787803e-08,
868
+ 0.9490380883216858
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
+ -2.130985649273498e-06,
900
+ -3.3747335237421794e-06,
901
+ -5.174428224563599e-06
902
+ ],
903
+ "angular_velocity": [
904
+ 0.00014591572107747197,
905
+ -5.4509924666490406e-05,
906
+ 1.0157918950426392e-06
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": 1.0599999999999994,
1105
+ "step": 212,
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": 1.345665874737112e-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": 0.23406598194688072,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_2",
1152
+ "arrived": true,
1153
+ "settle_count": 49,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ 1.3218360841274261,
1160
+ 0.02556687593460083,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ -0.0694679319858551,
1165
+ -0.0025159716606140137,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ -0.29129257798194885,
1170
+ 0.699998676776886,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -1.4212850630283356,
1175
+ 0.61700040102005,
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_2",
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
+ -0.4867215357395771,
1239
+ 0.04049540013424613,
1240
+ 2.8578026993593446
1241
+ ],
1242
+ "ori": [
1243
+ 5.656639656671501,
1244
+ -3.5028057495008404,
1245
+ -13.501115844419754
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 5540.466562906038,
1255
+ "color": [
1256
+ 0.925850548471064,
1257
+ 0.8464949471357972,
1258
+ 0.8896513621352247
1259
+ ],
1260
+ "intensity": 10270.89316781598,
1261
+ "width": 2.257268581426945,
1262
+ "height": 1.6628754928909213
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "disk",
1267
+ "pose": {
1268
+ "pos": [
1269
+ -1.0162332152369653,
1270
+ -0.7538337592589377,
1271
+ 2.6157154188008818
1272
+ ],
1273
+ "ori": [
1274
+ -7.049158951411947,
1275
+ -14.283577047023186,
1276
+ -14.829087826735137
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 4437.484681031692,
1286
+ "color": [
1287
+ 0.904693242957961,
1288
+ 0.7973916582964131,
1289
+ 0.7933323460784958
1290
+ ],
1291
+ "intensity": 7583.036221669462,
1292
+ "radius": 0.2973805333479326
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": 689.6047951577939,
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
+ -0.43147093057632446,
1394
+ -2.3244385719299316,
1395
+ 2.4572031497955322,
1396
+ -1.7031229734420776,
1397
+ -1.5706688165664673,
1398
+ 4.193426609039307,
1399
+ 0.007381221745163202,
1400
+ 0.006984610576182604
1401
+ ],
1402
+ [
1403
+ 0.914100706577301,
1404
+ -1.7193981409072876,
1405
+ 2.090498924255371,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
1411
+ ],
1412
+ [
1413
+ 1.5554490089416504,
1414
+ -1.2788915634155273,
1415
+ 2.2324059009552,
1416
+ -2.5238726139068604,
1417
+ -1.5713545083999634,
1418
+ 6.26701545715332,
1419
+ 0.017999986186623573,
1420
+ 0.017999986186623573
1421
+ ],
1422
+ [
1423
+ -0.2633805572986603,
1424
+ -2.1640572547912598,
1425
+ 2.406698226928711,
1426
+ -1.813621997833252,
1427
+ -1.570825457572937,
1428
+ 4.40995979309082,
1429
+ 0.008099700324237347,
1430
+ 0.006905615795403719
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -0.000472221989184618,
1436
+ -0.0004578240914270282,
1437
+ -0.0014363676309585571,
1438
+ -0.0006962607731111348,
1439
+ -0.0034987812396138906,
1440
+ 0.009119492955505848,
1441
+ -0.007559188641607761,
1442
+ 0.0002301006461493671
1443
+ ],
1444
+ [
1445
+ 2.1748459050684848e-38,
1446
+ -2.1523431536791247e-38,
1447
+ -1.8302561029525299e-38,
1448
+ -3.3283017827086123e-37,
1449
+ 5.753322987989379e-37,
1450
+ 3.3372021579307407e-37,
1451
+ 3.079939678631259e-38,
1452
+ -3.447786130710381e-38
1453
+ ],
1454
+ [
1455
+ 1.0217893759545404e-05,
1456
+ 1.021779371512821e-05,
1457
+ 6.811921593907755e-06,
1458
+ -6.811961611674633e-06,
1459
+ 3.4059783047268866e-06,
1460
+ -2.7247839170740917e-05,
1461
+ 1.8195166262557905e-07,
1462
+ 1.8194917572600389e-07
1463
+ ],
1464
+ [
1465
+ -0.0004079948121216148,
1466
+ -9.615719318389893e-05,
1467
+ -0.00012079870066372678,
1468
+ -0.00010419319005450234,
1469
+ -0.001247566775418818,
1470
+ 0.002797537948936224,
1471
+ -0.006933267693966627,
1472
+ 0.000351382652297616
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05085986480116844,
1482
+ 0.0014144430169835687,
1483
+ -0.028293080627918243,
1484
+ -0.27067995071411133,
1485
+ 0.645535945892334,
1486
+ 0.6580396890640259,
1487
+ -0.27748772501945496
1488
+ ],
1489
+ [
1490
+ 0.050031159073114395,
1491
+ 0.00048052790225483477,
1492
+ -0.02788054198026657,
1493
+ -0.2740093469619751,
1494
+ 0.6483980417251587,
1495
+ 0.6508100032806396,
1496
+ -0.28450867533683777
1497
+ ],
1498
+ [
1499
+ 0.05062916874885559,
1500
+ 0.0021461318247020245,
1501
+ -0.02706882357597351,
1502
+ -0.2895074784755707,
1503
+ 0.6452877521514893,
1504
+ 0.6481369733810425,
1505
+ -0.28232526779174805
1506
+ ],
1507
+ [
1508
+ 0.047402430325746536,
1509
+ -0.0008241752511821687,
1510
+ -0.03155841678380966,
1511
+ -0.2780483663082123,
1512
+ 0.6400182843208313,
1513
+ 0.6639530062675476,
1514
+ -0.2687603235244751
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.07393837720155716,
1520
+ 0.5985496044158936,
1521
+ 1.9583513736724854,
1522
+ 0.05319471284747124,
1523
+ 0.02315542660653591,
1524
+ 0.27031323313713074,
1525
+ 0.9610228538513184
1526
+ ],
1527
+ [
1528
+ 0.07285897433757782,
1529
+ 0.5972743630409241,
1530
+ 1.9264192581176758,
1531
+ 0.05162133648991585,
1532
+ 0.0034601776860654354,
1533
+ 0.2601044774055481,
1534
+ 0.9641934037208557
1535
+ ],
1536
+ [
1537
+ 0.025438321754336357,
1538
+ 0.5560382008552551,
1539
+ 1.9670286178588867,
1540
+ 0.021106764674186707,
1541
+ 0.0029312034603208303,
1542
+ 0.26527154445648193,
1543
+ 0.9639382362365723
1544
+ ],
1545
+ [
1546
+ 0.05149263143539429,
1547
+ 0.59462571144104,
1548
+ 1.9572970867156982,
1549
+ 0.03808769956231117,
1550
+ 0.0008521864656358957,
1551
+ 0.27482497692108154,
1552
+ 0.9607391953468323
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c6_p011_e004/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:baa13ef87fc938e8a9e6cb68c6e533a2731c0315442da2510bd5f79401d55459
3
+ size 6222113
episodes/c8_p011_e031/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60c1711cdd0b9e1509415316e274820023cc2bc092575ac75c9f0f6916cc5727
3
+ size 201283
episodes/c8_p011_e031/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 86, "t": 0.43, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 0, "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": 0, "seq": 3, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 1158, "t": 5.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 6098, "t": 30.49, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
6
+ {"env_id": 0, "seq": 6, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
7
+ {"env_id": 0, "seq": 7, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4855458856760997}, "cause": "task-0-1"}
8
+ {"env_id": 0, "seq": 8, "step": 6712, "t": 33.56, "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"}
9
+ {"env_id": 0, "seq": 9, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 0, "seq": 10, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
11
+ {"env_id": 0, "seq": 11, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 0, "seq": 12, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
13
+ {"env_id": 0, "seq": 13, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
14
+ {"env_id": 0, "seq": 14, "step": 7131, "t": 35.655, "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"}
15
+ {"env_id": 0, "seq": 15, "step": 7131, "t": 35.655, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
16
+ {"env_id": 0, "seq": 16, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"}
17
+ {"env_id": 0, "seq": 17, "step": 7131, "t": 35.655, "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"}
18
+ {"env_id": 0, "seq": 18, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 0, "seq": 19, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4855458856760997}, "cause": "program-0-3"}
20
+ {"env_id": 0, "seq": 20, "step": 7629, "t": 38.145, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 0, "seq": 21, "step": 7629, "t": 38.145, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.490000000001274}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 7629, "t": 38.145, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.490000000001274}}, "cause": "program-0-3"}
23
+ {"env_id": 0, "seq": 23, "step": 7629, "t": 38.145, "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"}
24
+ {"env_id": 0, "seq": 24, "step": 7629, "t": 38.145, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 0, "seq": 25, "step": 7629, "t": 38.145, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
26
+ {"env_id": 0, "seq": 26, "step": 8049, "t": 40.245, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 0, "seq": 27, "step": 8049, "t": 40.245, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"}
28
+ {"env_id": 0, "seq": 28, "step": 8049, "t": 40.245, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"}
29
+ {"env_id": 0, "seq": 29, "step": 8049, "t": 40.245, "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"}
30
+ {"env_id": 0, "seq": 30, "step": 8049, "t": 40.245, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
31
+ {"env_id": 0, "seq": 31, "step": 8049, "t": 40.245, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
32
+ {"env_id": 0, "seq": 32, "step": 8632, "t": 43.16, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
33
+ {"env_id": 0, "seq": 33, "step": 10856, "t": 54.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
34
+ {"env_id": 0, "seq": 34, "step": 10856, "t": 54.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"}
35
+ {"env_id": 0, "seq": 35, "step": 10856, "t": 54.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
36
+ {"env_id": 0, "seq": 36, "step": 10856, "t": 54.28, "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_p011_e031/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a1ed2fcfaf73b68ce9091a5c78bc19b06a7c5ad28437fb2b9e0702d60efb03d
3
+ size 1305242
episodes/c8_p011_e031/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c8_p011/magicsim/31",
3
+ "fps": 25,
4
+ "frames": 1269,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1269,
8
+ "env": 1269
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_p011_e031/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 31,
3
+ "env_id": 0,
4
+ "run_id": "c8_p011",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.47631263732910156,
335
+ 0.08839702606201172,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ -0.6772539019584656,
340
+ 0.0,
341
+ 0.0,
342
+ 0.735749363899231
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
+ 1.6820825331567701e-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": 0.27662335007577477,
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": -0.2404314991279049,
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": 0.27662335007577477,
477
+ "holds": [],
478
+ "station": "pick",
479
+ "rider": "carrier_4",
480
+ "arrived": true,
481
+ "applied_speed": 0.0
482
+ }
483
+ }
484
+ }
485
+ ],
486
+ "carrier": [
487
+ {
488
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ 0.040474891662597656,
492
+ 1.149998664855957,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ 3.55486263288185e-05,
497
+ -7.464961981895613e-09,
498
+ -1.319873654814785e-09,
499
+ 1.0
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ -1.203060095988917e-09,
528
+ -8.173879906259174e-10,
529
+ 7.450580596923828e-09
530
+ ],
531
+ "angular_velocity": [
532
+ 7.928682066449255e-08,
533
+ -1.2277227767754084e-07,
534
+ 4.730686953280383e-10
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ 1.6786384582519531,
543
+ 0.6877861022949219,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ 0.8191995620727539,
548
+ -1.3914165819528534e-08,
549
+ 3.4011339522521666e-08,
550
+ 0.5735085606575012
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
+ 7.536016255471623e-10,
579
+ -2.162892087653745e-10,
580
+ 3.725290298461914e-09
581
+ ],
582
+ "angular_velocity": [
583
+ 3.306558937765658e-08,
584
+ -2.8830982046201825e-08,
585
+ 1.573653207742609e-08
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ -1.2411890029907227,
594
+ 1.0893468856811523,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ -0.2796677052974701,
599
+ -7.591856387989537e-08,
600
+ -3.7334683611334185e-07,
601
+ 0.9600968360900879
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ -4.885388307229732e-07,
630
+ -1.4611894130212022e-06,
631
+ -3.512948751449585e-06
632
+ ],
633
+ "angular_velocity": [
634
+ 0.0001354477135464549,
635
+ -3.565930819604546e-05,
636
+ -2.7574146770348307e-06
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ -0.08997249603271484,
645
+ 0.45000457763671875,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ 1.0,
650
+ 2.428008238908319e-09,
651
+ 6.64731991673051e-10,
652
+ -0.00014912518963683397
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
+ 4.4108698915579225e-09,
681
+ 1.0161682606479872e-09,
682
+ 2.2351741790771484e-08
683
+ ],
684
+ "angular_velocity": [
685
+ -1.0480336243290367e-07,
686
+ 4.331870684382011e-07,
687
+ -2.430405321440787e-10
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ 0.05262470245361328,
698
+ 1.148167610168457,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ -0.00862552784383297,
703
+ -8.802609308133924e-09,
704
+ 5.298989025348533e-10,
705
+ 0.9999628663063049
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 1.1751176032248623e-08,
737
+ 6.902089566551695e-09,
738
+ 1.6763806343078613e-07
739
+ ],
740
+ "angular_velocity": [
741
+ -1.0993354635502328e-06,
742
+ 1.9848498595820274e-06,
743
+ -6.633010229961656e-08
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ 1.6936264038085938,
752
+ 0.6947174072265625,
753
+ 0.9180000424385071
754
+ ],
755
+ "ori": [
756
+ 0.861245334148407,
757
+ -1.4469250686488522e-08,
758
+ 3.3780118258164293e-08,
759
+ 0.5081894993782043
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
+ -2.3511859126301715e-08,
791
+ -2.502395091141807e-08,
792
+ 1.0058283805847168e-07
793
+ ],
794
+ "angular_velocity": [
795
+ 2.0031584426760674e-06,
796
+ -9.582145139575005e-07,
797
+ -4.3270915739412885e-09
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ -1.2475643157958984,
806
+ 1.0801267623901367,
807
+ 0.9179999828338623
808
+ ],
809
+ "ori": [
810
+ -0.35864073038101196,
811
+ -2.191217589597727e-07,
812
+ -2.4252267394331284e-07,
813
+ 0.9334757328033447
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ 3.7122381399967708e-06,
845
+ -1.9063251102124923e-06,
846
+ -1.1149793863296509e-05
847
+ ],
848
+ "angular_velocity": [
849
+ 0.0001306494523305446,
850
+ -3.822753933491185e-05,
851
+ 3.10347240883857e-05
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ -0.0790109634399414,
860
+ 0.45874977111816406,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.9988382458686829,
865
+ 1.2804750593176095e-09,
866
+ 3.680916682569091e-10,
867
+ 0.04818909242749214
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
+ -3.9158944531436646e-08,
899
+ -4.8443336453374286e-08,
900
+ -1.341104507446289e-06
901
+ ],
902
+ "angular_velocity": [
903
+ 2.501045401004376e-06,
904
+ -2.245934865641175e-06,
905
+ -2.8306143207146306e-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": 3.6799999999999438,
1104
+ "step": 736,
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": 1.6820825331567701e-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": 0.27662335007577477,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_4",
1151
+ "arrived": true,
1152
+ "settle_count": 649,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -0.10952511429786682,
1159
+ 0.699998676776886,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ 1.5286384522914886,
1164
+ 0.23778611421585083,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ -1.3911890089511871,
1169
+ 0.6393468976020813,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ -0.23997250199317932,
1174
+ 4.589557647705078e-06,
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_4",
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
+ 0.09028313151092371,
1238
+ 0.19598181803386117,
1239
+ 2.7800002676370497
1240
+ ],
1241
+ "ori": [
1242
+ -14.878054830369354,
1243
+ -9.119931477110882,
1244
+ 2.273887181289595
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 4839.486677301748,
1254
+ "color": [
1255
+ 0.9658949630167767,
1256
+ 0.993738516164291,
1257
+ 0.8635280542110492
1258
+ ],
1259
+ "intensity": 15980.844330838043,
1260
+ "width": 1.86628345218874,
1261
+ "height": 1.3459023255075224
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "sphere",
1266
+ "pose": {
1267
+ "pos": [
1268
+ -1.4541975674538508,
1269
+ 0.4927243118432183,
1270
+ 2.6593721394381804
1271
+ ],
1272
+ "ori": [
1273
+ -12.838277216572394,
1274
+ -24.94435424677806,
1275
+ 21.780394451307885
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 7343.769714570266,
1285
+ "color": [
1286
+ 0.8225938997098186,
1287
+ 0.9870083777814677,
1288
+ 0.8241808961440175
1289
+ ],
1290
+ "intensity": 3503.7699045445424,
1291
+ "radius": 0.18684797036281198
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": 1350.041629522541,
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
+ 0.914101243019104,
1394
+ -1.7193983793258667,
1395
+ 2.0904996395111084,
1396
+ -1.9419008493423462,
1397
+ -1.5707999467849731,
1398
+ 2.4849002361297607,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 1.2437248229980469,
1404
+ -1.5419151782989502,
1405
+ 2.210035800933838,
1406
+ -2.2388765811920166,
1407
+ -1.5707963705062866,
1408
+ 2.7997000217437744,
1409
+ 0.018000047653913498,
1410
+ 0.017999950796365738
1411
+ ],
1412
+ [
1413
+ 2.550694465637207,
1414
+ -2.113312244415283,
1415
+ 2.549332857131958,
1416
+ -2.0058839321136475,
1417
+ -1.5706946849822998,
1418
+ 4.1211161613464355,
1419
+ 0.017999988049268723,
1420
+ 0.018000010401010513
1421
+ ],
1422
+ [
1423
+ 2.804678201675415,
1424
+ -1.6898815631866455,
1425
+ 1.7414578199386597,
1426
+ -1.6208422183990479,
1427
+ -1.5705249309539795,
1428
+ 4.3736491203308105,
1429
+ 0.01689799875020981,
1430
+ 0.01676379144191742
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ -2.684260356194025e-38,
1437
+ -1.5070208282642672e-38,
1438
+ -2.3930482826877144e-37,
1439
+ 2.382451551596613e-37,
1440
+ 3.5875727150710415e-37,
1441
+ -2.6608505443087073e-38,
1442
+ -3.3225178952711424e-38
1443
+ ],
1444
+ [
1445
+ -0.00011312533752061427,
1446
+ 0.014393086545169353,
1447
+ 0.01049770973622799,
1448
+ -0.023773225024342537,
1449
+ -8.0313739090343e-06,
1450
+ 2.003727240662556e-05,
1451
+ -6.219118404260371e-06,
1452
+ 6.220812792889774e-06
1453
+ ],
1454
+ [
1455
+ -0.01283624954521656,
1456
+ -0.024895131587982178,
1457
+ 0.010067223571240902,
1458
+ 0.014529343694448471,
1459
+ -2.4411448976024985e-05,
1460
+ -0.012874866835772991,
1461
+ -2.7501866952661658e-06,
1462
+ 2.750279691099422e-06
1463
+ ],
1464
+ [
1465
+ 0.000324052496580407,
1466
+ 0.0008420553640462458,
1467
+ -0.0007665206212550402,
1468
+ -0.0001661847491050139,
1469
+ -2.494323780410923e-05,
1470
+ 0.0002993530943058431,
1471
+ 0.016604959964752197,
1472
+ 0.01862744241952896
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04749676585197449,
1482
+ -0.0010008326498791575,
1483
+ -0.03122355230152607,
1484
+ -0.27357035875320435,
1485
+ 0.6484472751617432,
1486
+ 0.6577760577201843,
1487
+ -0.26833945512771606
1488
+ ],
1489
+ [
1490
+ 0.05349453166127205,
1491
+ -0.0001531795278424397,
1492
+ -0.027145948261022568,
1493
+ -0.2903652489185333,
1494
+ 0.6417776346206665,
1495
+ 0.650314211845398,
1496
+ -0.28443092107772827
1497
+ ],
1498
+ [
1499
+ 0.04754706472158432,
1500
+ 0.001203906605951488,
1501
+ -0.025232844054698944,
1502
+ -0.27891045808792114,
1503
+ 0.6474528908729553,
1504
+ 0.6527459025382996,
1505
+ -0.2773743271827698
1506
+ ],
1507
+ [
1508
+ 0.050233304500579834,
1509
+ 0.00021108357759658247,
1510
+ -0.029349930584430695,
1511
+ -0.2827989459037781,
1512
+ 0.64203280210495,
1513
+ 0.6534700393676758,
1514
+ -0.28424566984176636
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.05712246522307396,
1520
+ 0.5582303404808044,
1521
+ 1.9402425289154053,
1522
+ 0.05161276087164879,
1523
+ -0.004504891578108072,
1524
+ 0.28343772888183594,
1525
+ 0.9575901627540588
1526
+ ],
1527
+ [
1528
+ 0.07209925353527069,
1529
+ 0.5968134999275208,
1530
+ 1.9696916341781616,
1531
+ 0.024583706632256508,
1532
+ 0.012644212692975998,
1533
+ 0.26766258478164673,
1534
+ 0.9631160497665405
1535
+ ],
1536
+ [
1537
+ 0.03194791451096535,
1538
+ 0.6032570004463196,
1539
+ 1.9281785488128662,
1540
+ 0.05395806208252907,
1541
+ -0.003861082950606942,
1542
+ 0.26011207699775696,
1543
+ 0.9640619158744812
1544
+ ],
1545
+ [
1546
+ 0.05866144225001335,
1547
+ 0.5859748125076294,
1548
+ 1.942399024963379,
1549
+ 0.024751920253038406,
1550
+ -0.0018085152842104435,
1551
+ 0.2779715061187744,
1552
+ 0.9602686762809753
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c8_p011_e031/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1520c79590ae6dce647e7a18a4ef331296e81415f45aaac2944cf2cd4edfed25
3
+ size 6961193
episodes/c9_p016_e000/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb8d19667055d95f3f65d0b0617ae88d07d916f261f18b6ebaa3aadc250e5e69
3
+ size 187939
episodes/c9_p016_e000/device_events.jsonl ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 44, "t": 0.22, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 44, "t": 0.22, "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": 49, "t": 0.245, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 1074, "t": 5.37, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 1092, "t": 5.46, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
6
+ {"env_id": 1, "seq": 6, "step": 1112, "t": 5.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
7
+ {"env_id": 1, "seq": 7, "step": 1195, "t": 5.975, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
8
+ {"env_id": 1, "seq": 8, "step": 6143, "t": 30.715, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
9
+ {"env_id": 1, "seq": 9, "step": 6756, "t": 33.78, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
10
+ {"env_id": 1, "seq": 10, "step": 6756, "t": 33.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1369718428429945}, "cause": "task-1-1"}
11
+ {"env_id": 1, "seq": 11, "step": 6756, "t": 33.78, "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"}
12
+ {"env_id": 1, "seq": 12, "step": 6756, "t": 33.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
13
+ {"env_id": 1, "seq": 13, "step": 6756, "t": 33.78, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
14
+ {"env_id": 1, "seq": 14, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
15
+ {"env_id": 1, "seq": 15, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
16
+ {"env_id": 1, "seq": 16, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
17
+ {"env_id": 1, "seq": 17, "step": 7175, "t": 35.875, "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"}
18
+ {"env_id": 1, "seq": 18, "step": 7175, "t": 35.875, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
19
+ {"env_id": 1, "seq": 19, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
20
+ {"env_id": 1, "seq": 20, "step": 7175, "t": 35.875, "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"}
21
+ {"env_id": 1, "seq": 21, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
22
+ {"env_id": 1, "seq": 22, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1369718428429945}, "cause": "program-1-3"}
23
+ {"env_id": 1, "seq": 23, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
24
+ {"env_id": 1, "seq": 24, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.140000000001095}, "cause": "program-1-3"}
25
+ {"env_id": 1, "seq": 25, "step": 7603, "t": 38.015, "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": 2.140000000001095}}, "cause": "program-1-3"}
26
+ {"env_id": 1, "seq": 26, "step": 7603, "t": 38.015, "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"}
27
+ {"env_id": 1, "seq": 27, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
28
+ {"env_id": 1, "seq": 28, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
29
+ {"env_id": 1, "seq": 29, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
30
+ {"env_id": 1, "seq": 30, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4639987139242194e-11}, "cause": "program-1-4"}
31
+ {"env_id": 1, "seq": 31, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4639987139242194e-11}, "cause": "program-1-4"}
32
+ {"env_id": 1, "seq": 32, "step": 8023, "t": 40.115, "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"}
33
+ {"env_id": 1, "seq": 33, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
34
+ {"env_id": 1, "seq": 34, "step": 8023, "t": 40.115, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
35
+ {"env_id": 1, "seq": 35, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
36
+ {"env_id": 1, "seq": 36, "step": 10300, "t": 51.5, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
37
+ {"env_id": 1, "seq": 37, "step": 10300, "t": 51.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
38
+ {"env_id": 1, "seq": 38, "step": 10300, "t": 51.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
39
+ {"env_id": 1, "seq": 39, "step": 10300, "t": 51.5, "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/c9_p016_e000/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f49a6bc32e3afe1445fe6795708cd3882dd260fcf11829f7ae70d6d827104f6
3
+ size 1272105
episodes/c9_p016_e000/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p016/magicsim/0",
3
+ "fps": 25,
4
+ "frames": 1209,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1209,
8
+ "env": 1209
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/c9_p016_e000/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 0,
3
+ "env_id": 1,
4
+ "run_id": "c9_p016",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.46932029724121094,
336
+ 0.11342144012451172,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.6900280714035034,
341
+ 0.0,
342
+ 0.0,
343
+ 0.7237825989723206
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
+ 2.168693176429759e-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": 0.25984962570360964,
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": -0.0861218311929523,
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": 0.25984962570360964,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ 0.063995361328125,
493
+ 0.4499979019165039,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 1.0,
498
+ 1.363250845543007e-09,
499
+ -1.0378104597918991e-08,
500
+ 1.1116463610960636e-05
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ 1.2867502618973958e-09,
529
+ 6.836511357022346e-10,
530
+ 1.4901161193847656e-08
531
+ ],
532
+ "angular_velocity": [
533
+ -1.6501772392985004e-08,
534
+ 1.250889454240678e-07,
535
+ -1.4404950121615911e-08
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ -0.1497955322265625,
544
+ 1.149998664855957,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 3.6020933293912094e-06,
549
+ -2.0109837406412367e-11,
550
+ -1.6172119199353574e-09,
551
+ 1.0
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
+ 2.7953894754517705e-10,
580
+ -7.28349824896668e-10,
581
+ 0.0
582
+ ],
583
+ "angular_velocity": [
584
+ 9.38376132353369e-08,
585
+ 3.4607090526606044e-08,
586
+ -8.706887655307582e-09
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ 1.6867284774780273,
595
+ 0.8859319686889648,
596
+ 0.8999999165534973
597
+ ],
598
+ "ori": [
599
+ 0.6233383417129517,
600
+ -8.074807738012169e-06,
601
+ -1.084808991436148e-05,
602
+ 0.7819523215293884
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 2.5475292204646394e-05,
631
+ 4.908262781100348e-06,
632
+ -7.465481758117676e-06
633
+ ],
634
+ "angular_velocity": [
635
+ -0.00045084304292686284,
636
+ 0.0023586435709148645,
637
+ -2.5301804271293804e-05
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -1.3956270217895508,
646
+ 0.7526111602783203,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ -0.7522476315498352,
651
+ -6.260479779029993e-08,
652
+ -5.38274811390238e-08,
653
+ 0.6588806509971619
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
+ -4.040369816493694e-08,
682
+ -1.258366566503355e-08,
683
+ -1.4901161193847656e-08
684
+ ],
685
+ "angular_velocity": [
686
+ 1.8534876744524809e-07,
687
+ -9.66423158388352e-07,
688
+ -4.957150849804748e-07
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ 0.07267093658447266,
699
+ 0.4600210189819336,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ 0.9950844645500183,
704
+ 7.171971461161775e-09,
705
+ -1.0903056235633812e-08,
706
+ -0.09903036803007126
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ -1.7917946237844262e-08,
738
+ -6.801958107871542e-09,
739
+ 1.564621925354004e-07
740
+ ],
741
+ "angular_velocity": [
742
+ 7.456000048478018e-07,
743
+ -2.0830671019211877e-06,
744
+ -1.3825662392719096e-08
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ -0.162506103515625,
753
+ 1.1497430801391602,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ 0.002334489719942212,
758
+ -4.2789913973217963e-11,
759
+ -2.511235885904739e-09,
760
+ 0.9999973773956299
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
+ 1.982690989166258e-08,
792
+ -1.3163574230645736e-08,
793
+ -5.792826414108276e-06
794
+ ],
795
+ "angular_velocity": [
796
+ 3.1019691704159413e-08,
797
+ 1.3291245295476983e-06,
798
+ 1.2956576256328844e-07
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ 1.688645362854004,
807
+ 0.8994026184082031,
808
+ 0.917999804019928
809
+ ],
810
+ "ori": [
811
+ 0.6864050626754761,
812
+ -1.5460238500963897e-05,
813
+ -1.861449345597066e-05,
814
+ 0.7272194623947144
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ 5.259164026938379e-05,
846
+ 1.5528443327639252e-05,
847
+ -8.383765816688538e-05
848
+ ],
849
+ "angular_velocity": [
850
+ -0.00031557580223307014,
851
+ 0.004199746064841747,
852
+ -5.305555532686412e-07
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -1.3930377960205078,
861
+ 0.753178596496582,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ -0.7524210214614868,
866
+ 3.207717895747919e-07,
867
+ -2.5373338985446026e-09,
868
+ 0.6586824655532837
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
+ -3.136536179226823e-06,
900
+ -2.7661280910251662e-06,
901
+ -8.665025234222412e-06
902
+ ],
903
+ "angular_velocity": [
904
+ -6.569056131411344e-05,
905
+ 1.0557760106166825e-05,
906
+ -4.731309672934003e-05
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": 3.299999999999952,
1105
+ "step": 660,
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": 2.168693176429759e-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": 0.25984962570360964,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_1",
1152
+ "arrived": true,
1153
+ "settle_count": 615,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ -0.08600464463233948,
1160
+ -2.086162567138672e-06,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ -0.299795538187027,
1165
+ 0.699998676776886,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ 1.5367284715175629,
1170
+ 0.4359319806098938,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -1.5456270277500153,
1175
+ 0.30261117219924927,
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
+ -0.48195962872018117,
1239
+ 0.42886702446687464,
1240
+ 2.9788897838767108
1241
+ ],
1242
+ "ori": [
1243
+ -9.908106803763292,
1244
+ -9.139410673279631,
1245
+ -20.497172012105068
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 4401.339325749033,
1255
+ "color": [
1256
+ 0.8629197500002581,
1257
+ 0.9348991706553167,
1258
+ 0.8847217178557263
1259
+ ],
1260
+ "intensity": 11559.98844855422,
1261
+ "width": 1.4433468423041051,
1262
+ "height": 1.6204064147668498
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ 0.3777471768842353,
1270
+ 0.7025081694809556,
1271
+ 2.696046346223446
1272
+ ],
1273
+ "ori": [
1274
+ 24.068783884084453,
1275
+ -33.84548946726878,
1276
+ -11.374452954260494
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 3028.186631661095,
1286
+ "color": [
1287
+ 0.9932755223362211,
1288
+ 0.9841640874924746,
1289
+ 0.9000930111526757
1290
+ ],
1291
+ "intensity": 8575.74885173684,
1292
+ "radius": 0.17963095497138903
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": 895.6601259912869,
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
+ 0.9141025543212891,
1394
+ -1.719397783279419,
1395
+ 2.0904994010925293,
1396
+ -1.9419012069702148,
1397
+ -1.5707999467849731,
1398
+ 2.484901189804077,
1399
+ 0.01799999736249447,
1400
+ 0.018000001087784767
1401
+ ],
1402
+ [
1403
+ 0.9141010642051697,
1404
+ -1.719397783279419,
1405
+ 2.09049916267395,
1406
+ -1.9419004917144775,
1407
+ -1.5707999467849731,
1408
+ 2.4849002361297607,
1409
+ 0.018000001087784767,
1410
+ 0.01799999736249447
1411
+ ],
1412
+ [
1413
+ 0.9321339726448059,
1414
+ -1.7067711353302002,
1415
+ 2.0889601707458496,
1416
+ -1.9529750347137451,
1417
+ -1.5707987546920776,
1418
+ 2.4926822185516357,
1419
+ 0.018000785261392593,
1420
+ 0.017999224364757538
1421
+ ],
1422
+ [
1423
+ 0.813553512096405,
1424
+ -1.4449262619018555,
1425
+ 1.9641033411026,
1426
+ -2.089918375015259,
1427
+ -1.570800542831421,
1428
+ 2.268235445022583,
1429
+ 0.01800062693655491,
1430
+ 0.01799941435456276
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -2.442258073222979e-38,
1436
+ 2.97718246224232e-38,
1437
+ 2.7947636702340584e-38,
1438
+ 4.5719288343206525e-37,
1439
+ -5.715706756220798e-37,
1440
+ -7.685524002637048e-38,
1441
+ 2.5990400942532688e-08,
1442
+ -2.5990388508034812e-08
1443
+ ],
1444
+ [
1445
+ 2.3021862405469203e-38,
1446
+ -1.9620815744257298e-38,
1447
+ 1.2895017518022117e-38,
1448
+ -5.7362235594005475e-37,
1449
+ 5.7705246553141675e-37,
1450
+ -2.980420941466089e-36,
1451
+ -2.5990388508034812e-08,
1452
+ 2.5990388508034812e-08
1453
+ ],
1454
+ [
1455
+ 0.01536950096487999,
1456
+ 0.010921444743871689,
1457
+ -0.001154175028204918,
1458
+ -0.009290424175560474,
1459
+ 2.598839273559861e-05,
1460
+ 0.006547759752720594,
1461
+ 2.8405214834492654e-05,
1462
+ -2.8510747142718174e-05
1463
+ ],
1464
+ [
1465
+ -0.013801377266645432,
1466
+ 0.036962416023015976,
1467
+ -0.01594638265669346,
1468
+ -0.018897948786616325,
1469
+ -4.832559352507815e-05,
1470
+ -0.027705125510692596,
1471
+ 7.76673186919652e-06,
1472
+ -8.222331416618545e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05233944579958916,
1482
+ 0.00247585098259151,
1483
+ -0.03087182156741619,
1484
+ -0.2703630030155182,
1485
+ 0.6466658115386963,
1486
+ 0.6547111868858337,
1487
+ -0.28298497200012207
1488
+ ],
1489
+ [
1490
+ 0.04988259822130203,
1491
+ -0.0025753879453986883,
1492
+ -0.02780679427087307,
1493
+ -0.2738646864891052,
1494
+ 0.6567197442054749,
1495
+ 0.6418332457542419,
1496
+ -0.2859500050544739
1497
+ ],
1498
+ [
1499
+ 0.05130232498049736,
1500
+ 0.0016486585373058915,
1501
+ -0.02708776853978634,
1502
+ -0.2854541838169098,
1503
+ 0.6449187397956848,
1504
+ 0.655475914478302,
1505
+ -0.27008700370788574
1506
+ ],
1507
+ [
1508
+ 0.04853943735361099,
1509
+ -0.00020496487559285015,
1510
+ -0.03261612728238106,
1511
+ -0.2831836938858032,
1512
+ 0.6541779041290283,
1513
+ 0.642509400844574,
1514
+ -0.2811404764652252
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0352637805044651,
1520
+ 0.5725180506706238,
1521
+ 1.9314520359039307,
1522
+ 0.02819758653640747,
1523
+ 0.004276278428733349,
1524
+ 0.27744218707084656,
1525
+ 0.960318922996521
1526
+ ],
1527
+ [
1528
+ 0.026887336745858192,
1529
+ 0.5905939936637878,
1530
+ 1.9485931396484375,
1531
+ 0.03173764422535896,
1532
+ 0.005450202617794275,
1533
+ 0.2690671980381012,
1534
+ 0.9625828862190247
1535
+ ],
1536
+ [
1537
+ 0.058964528143405914,
1538
+ 0.5713739395141602,
1539
+ 1.9577159881591797,
1540
+ 0.033836301416158676,
1541
+ 0.013461370021104813,
1542
+ 0.2730834484100342,
1543
+ 0.9613008499145508
1544
+ ],
1545
+ [
1546
+ 0.052949558943510056,
1547
+ 0.6025164723396301,
1548
+ 1.9320783615112305,
1549
+ 0.0481845960021019,
1550
+ 0.006293288432061672,
1551
+ 0.2847432494163513,
1552
+ 0.9573713541030884
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p016_e000/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4cb6c298a0f909e724789af1b710b3681866ba4387ff3e001f9d9953c9cf6cdb
3
+ size 6807275
episodes/c9_p016_e001/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:763811699f96c0edf94a5b93dd5bdcff10c6b995d0f497b34942d46d032b3b5a
3
+ size 198395
episodes/c9_p016_e001/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 112, "t": 0.56, "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": 117, "t": 0.585, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 1081, "t": 5.405, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 5851, "t": 29.255, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
6
+ {"env_id": 2, "seq": 6, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
7
+ {"env_id": 2, "seq": 7, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.872995385889065}, "cause": "task-2-1"}
8
+ {"env_id": 2, "seq": 8, "step": 6464, "t": 32.32, "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"}
9
+ {"env_id": 2, "seq": 9, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 2, "seq": 10, "step": 6464, "t": 32.32, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
11
+ {"env_id": 2, "seq": 11, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 2, "seq": 12, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
13
+ {"env_id": 2, "seq": 13, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
14
+ {"env_id": 2, "seq": 14, "step": 6883, "t": 34.415, "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"}
15
+ {"env_id": 2, "seq": 15, "step": 6883, "t": 34.415, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
16
+ {"env_id": 2, "seq": 16, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"}
17
+ {"env_id": 2, "seq": 17, "step": 6883, "t": 34.415, "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"}
18
+ {"env_id": 2, "seq": 18, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 2, "seq": 19, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.872995385889065}, "cause": "program-2-3"}
20
+ {"env_id": 2, "seq": 20, "step": 7258, "t": 36.29, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 2, "seq": 21, "step": 7258, "t": 36.29, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8750000000009592}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 7258, "t": 36.29, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.8750000000009592}}, "cause": "program-2-3"}
23
+ {"env_id": 2, "seq": 23, "step": 7258, "t": 36.29, "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"}
24
+ {"env_id": 2, "seq": 24, "step": 7258, "t": 36.29, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 2, "seq": 25, "step": 7258, "t": 36.29, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
26
+ {"env_id": 2, "seq": 26, "step": 7678, "t": 38.39, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 2, "seq": 27, "step": 7678, "t": 38.39, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"}
28
+ {"env_id": 2, "seq": 28, "step": 7678, "t": 38.39, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"}
29
+ {"env_id": 2, "seq": 29, "step": 7678, "t": 38.39, "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"}
30
+ {"env_id": 2, "seq": 30, "step": 7678, "t": 38.39, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
31
+ {"env_id": 2, "seq": 31, "step": 7678, "t": 38.39, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
32
+ {"env_id": 2, "seq": 32, "step": 8258, "t": 41.29, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
33
+ {"env_id": 2, "seq": 33, "step": 10496, "t": 52.48, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
34
+ {"env_id": 2, "seq": 34, "step": 10496, "t": 52.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"}
35
+ {"env_id": 2, "seq": 35, "step": 10496, "t": 52.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
36
+ {"env_id": 2, "seq": 36, "step": 10496, "t": 52.48, "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/c9_p016_e001/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:301b5cc84bfea96553a2d35680c60154551782a2b4dfbe017947c5fa57d21d28
3
+ size 1262964
episodes/c9_p016_e001/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p016/magicsim/1",
3
+ "fps": 25,
4
+ "frames": 1238,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1238,
8
+ "env": 1238
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/c9_p016_e001/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 1,
3
+ "env_id": 2,
4
+ "run_id": "c9_p016",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.4793062210083008,
337
+ 0.06306743621826172,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ 0.7273814082145691,
342
+ 0.0,
343
+ 0.0,
344
+ -0.686233401298523
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
+ 1.8072444582517555e-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": 0.250201891018373,
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": -0.28603645197220023,
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": 0.250201891018373,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 0.6724090576171875,
494
+ 1.1525135040283203,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ -0.010561628267168999,
499
+ 2.2811512678799772e-08,
500
+ -4.527430652601083e-10,
501
+ 0.999944269657135
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ 1.447245434604838e-09,
530
+ 4.87028595230754e-09,
531
+ 7.450580596923828e-09
532
+ ],
533
+ "angular_velocity": [
534
+ -2.6312076784051897e-07,
535
+ 9.008520862607838e-08,
536
+ 6.409833996912084e-09
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ -0.899815559387207,
545
+ 1.149998664855957,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ 2.1819847461301833e-05,
550
+ 5.615234388578472e-10,
551
+ -6.779889982766463e-10,
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
+ 1.484120604189343e-10,
581
+ -7.3894712571132e-10,
582
+ 0.0
583
+ ],
584
+ "angular_velocity": [
585
+ 5.303718353388831e-08,
586
+ 2.983419022939415e-08,
587
+ -3.992623121007455e-09
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ -0.13581466674804688,
596
+ 0.4495229721069336,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ 0.9999637007713318,
601
+ -1.709323349530223e-08,
602
+ 7.720419858969763e-08,
603
+ 0.008532446809113026
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ 9.343327178612526e-07,
632
+ 2.1489974244559562e-07,
633
+ -4.5299530029296875e-06
634
+ ],
635
+ "angular_velocity": [
636
+ -1.4371615179697983e-05,
637
+ 8.322217763634399e-05,
638
+ 1.632611912327775e-07
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ 1.6959619522094727,
647
+ 0.7637519836425781,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ 0.7477840185165405,
652
+ -3.952895255565636e-08,
653
+ 4.9934854473576706e-08,
654
+ 0.6639421582221985
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
+ 2.1310100351001893e-09,
683
+ -2.1823853835201135e-10,
684
+ 0.0
685
+ ],
686
+ "angular_velocity": [
687
+ -1.221396761508231e-08,
688
+ 8.880190449644942e-08,
689
+ -1.3527994724427117e-08
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 0.6591777801513672,
700
+ 1.1567344665527344,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ 0.05117615684866905,
705
+ 2.2883483552504913e-08,
706
+ 7.940503810033306e-11,
707
+ 0.9986897110939026
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ 3.491134492605852e-08,
739
+ 6.661208828973031e-08,
740
+ 1.1920928955078125e-07
741
+ ],
742
+ "angular_velocity": [
743
+ -1.036671733345429e-06,
744
+ 2.3671859707974363e-06,
745
+ -9.496257291630172e-08
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ -0.8866539001464844,
754
+ 1.1494331359863281,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.03627212718129158,
759
+ 5.330280661297593e-10,
760
+ 7.716680627822825e-10,
761
+ 0.9993419647216797
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
+ 1.1976712066541495e-08,
793
+ -1.223476253642275e-08,
794
+ -5.673617124557495e-06
795
+ ],
796
+ "angular_velocity": [
797
+ -1.373552436234604e-07,
798
+ 1.3817965509588248e-06,
799
+ 6.785373329876165e-08
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ -0.12685012817382812,
808
+ 0.45888805389404297,
809
+ 0.9179999828338623
810
+ ],
811
+ "ori": [
812
+ 0.9948142170906067,
813
+ 1.8634700893471745e-08,
814
+ 1.012955550550032e-07,
815
+ 0.10170919448137283
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ 1.2123539363528835e-06,
847
+ -2.3261145543074235e-06,
848
+ -1.1008232831954956e-05
849
+ ],
850
+ "angular_velocity": [
851
+ -6.243513780646026e-06,
852
+ 9.289994341088459e-05,
853
+ -5.8405971685715485e-06
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ 1.6918020248413086,
862
+ 0.7663669586181641,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ 0.7310544848442078,
867
+ -3.65476964248046e-08,
868
+ 5.1785203680765335e-08,
869
+ 0.682319164276123
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
+ 9.113782084568811e-08,
901
+ -1.1051996295918798e-07,
902
+ -1.0691583156585693e-06
903
+ ],
904
+ "angular_velocity": [
905
+ 4.144058038946241e-06,
906
+ 3.2989191822707653e-06,
907
+ -6.854681799950413e-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": 3.1399999999999553,
1106
+ "step": 628,
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": 1.8072444582517555e-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": 0.250201891018373,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_3",
1153
+ "arrived": true,
1154
+ "settle_count": 515,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ 0.522409051656723,
1161
+ 0.7025135159492493,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ -1.0498155653476715,
1166
+ 0.699998676776886,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ -0.28581467270851135,
1171
+ -0.00047701597213745117,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ 1.5459619462490082,
1176
+ 0.3137519955635071,
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
+ 0.6341759609859404,
1240
+ -0.03202883687074287,
1241
+ 2.811276337364046
1242
+ ],
1243
+ "ori": [
1244
+ 4.649793619092982,
1245
+ -9.154949279379956,
1246
+ 12.88483519578348
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 6540.369850843123,
1256
+ "color": [
1257
+ 0.9722388151810899,
1258
+ 0.9652064188635953,
1259
+ 0.8268022692909082
1260
+ ],
1261
+ "intensity": 14784.206916450168,
1262
+ "width": 1.5168005324983738,
1263
+ "height": 1.8219084444961824
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "sphere",
1268
+ "pose": {
1269
+ "pos": [
1270
+ -1.2924911510313466,
1271
+ -0.6419996685060692,
1272
+ 2.4523137845072855
1273
+ ],
1274
+ "ori": [
1275
+ -18.901185234334037,
1276
+ 2.9205579902820844,
1277
+ 29.679979050439556
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 6545.956488267628,
1287
+ "color": [
1288
+ 0.7552973994202457,
1289
+ 0.7808883608519644,
1290
+ 0.8392052608748602
1291
+ ],
1292
+ "intensity": 8211.425223282617,
1293
+ "radius": 0.12239863055293217
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": 895.6601259912869,
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
+ 0.9141025543212891,
1394
+ -1.719397783279419,
1395
+ 2.0904994010925293,
1396
+ -1.9419012069702148,
1397
+ -1.5707999467849731,
1398
+ 2.484901189804077,
1399
+ 0.01799999736249447,
1400
+ 0.018000001087784767
1401
+ ],
1402
+ [
1403
+ 0.9141008853912354,
1404
+ -1.719397783279419,
1405
+ 2.09049916267395,
1406
+ -1.9419004917144775,
1407
+ -1.5707999467849731,
1408
+ 2.4849002361297607,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
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
+ 0.8498448729515076,
1424
+ -1.5440105199813843,
1425
+ 2.0097475051879883,
1426
+ -2.036465883255005,
1427
+ -1.5708016157150269,
1428
+ 2.3464791774749756,
1429
+ 0.018001267686486244,
1430
+ 0.017998801544308662
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -4.67688403013622e-21,
1436
+ 1.6535411530768914e-20,
1437
+ 8.127366981205307e-21,
1438
+ 1.366767429201756e-21,
1439
+ -2.247829993128216e-22,
1440
+ 7.969591935018297e-24,
1441
+ 2.5990400942532688e-08,
1442
+ -2.5990388508034812e-08
1443
+ ],
1444
+ [
1445
+ 5.108950517751509e-06,
1446
+ 1.0217875569651369e-05,
1447
+ -2.0435842088772915e-05,
1448
+ -1.0217926501354668e-05,
1449
+ -3.4059794415952638e-06,
1450
+ 2.0435873011592776e-05,
1451
+ 1.9686043160188627e-12,
1452
+ -1.576468990072133e-12
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
+ -0.01872696913778782,
1466
+ 0.050247855484485626,
1467
+ -0.021793710067868233,
1468
+ -0.02575339563190937,
1469
+ -5.868685184395872e-05,
1470
+ -0.0377100333571434,
1471
+ 3.210465001757257e-05,
1472
+ -3.282751640654169e-05
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05210401490330696,
1482
+ 0.0024640506599098444,
1483
+ -0.03183072432875633,
1484
+ -0.2753685712814331,
1485
+ 0.6458967924118042,
1486
+ 0.6545043587684631,
1487
+ -0.2803810238838196
1488
+ ],
1489
+ [
1490
+ 0.050699710845947266,
1491
+ -0.002101894235238433,
1492
+ -0.02934984862804413,
1493
+ -0.27572688460350037,
1494
+ 0.6556831002235413,
1495
+ 0.6413893103599548,
1496
+ -0.2875310778617859
1497
+ ],
1498
+ [
1499
+ 0.050632543861866,
1500
+ 0.0036086319014430046,
1501
+ -0.028723219409585,
1502
+ -0.2792203724384308,
1503
+ 0.6501495838165283,
1504
+ 0.6532272696495056,
1505
+ -0.26951009035110474
1506
+ ],
1507
+ [
1508
+ 0.04854210838675499,
1509
+ 0.0011095949448645115,
1510
+ -0.03434781730175018,
1511
+ -0.2829723656177521,
1512
+ 0.6508236527442932,
1513
+ 0.6463305354118347,
1514
+ -0.2803785502910614
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0352637805044651,
1520
+ 0.5725180506706238,
1521
+ 1.9314520359039307,
1522
+ 0.02819758653640747,
1523
+ 0.004276278428733349,
1524
+ 0.27744218707084656,
1525
+ 0.960318922996521
1526
+ ],
1527
+ [
1528
+ 0.026887336745858192,
1529
+ 0.5905939936637878,
1530
+ 1.9485931396484375,
1531
+ 0.03173764422535896,
1532
+ 0.005450202617794275,
1533
+ 0.2690671980381012,
1534
+ 0.9625828862190247
1535
+ ],
1536
+ [
1537
+ 0.058964528143405914,
1538
+ 0.5713739395141602,
1539
+ 1.9577159881591797,
1540
+ 0.033836301416158676,
1541
+ 0.013461370021104813,
1542
+ 0.2730834484100342,
1543
+ 0.9613008499145508
1544
+ ],
1545
+ [
1546
+ 0.052949558943510056,
1547
+ 0.6025164723396301,
1548
+ 1.9320783615112305,
1549
+ 0.0481845960021019,
1550
+ 0.006293288432061672,
1551
+ 0.2847432494163513,
1552
+ 0.9573713541030884
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p016_e001/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:959a4c47f0519fd0d0ac823c3c2d41e46202306effbca8a2647f6e5dab05f58f
3
+ size 7109183
episodes/c9_p016_e002/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:769a983e220dad2ab48b8739187c2e05789d36118d1e75fd7410fd9b3d8660fe
3
+ size 186466
episodes/c9_p016_e002/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 53, "t": 0.265, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 53, "t": 0.265, "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": 58, "t": 0.29, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 5939, "t": 29.695, "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": 6552, "t": 32.76, "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": 6552, "t": 32.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.406774605690836}, "cause": "task-3-1"}
7
+ {"env_id": 3, "seq": 7, "step": 6552, "t": 32.76, "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": 6552, "t": 32.76, "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": 6552, "t": 32.76, "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": 6971, "t": 34.855, "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": 6971, "t": 34.855, "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": 6971, "t": 34.855, "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": 6971, "t": 34.855, "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": 6971, "t": 34.855, "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": 6971, "t": 34.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"}
16
+ {"env_id": 3, "seq": 16, "step": 6971, "t": 34.855, "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": 6971, "t": 34.855, "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": 6971, "t": 34.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.406774605690836}, "cause": "program-3-3"}
19
+ {"env_id": 3, "seq": 19, "step": 7853, "t": 39.265, "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": 7853, "t": 39.265, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.410000000002256}, "cause": "program-3-3"}
21
+ {"env_id": 3, "seq": 21, "step": 7853, "t": 39.265, "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": 4.410000000002256}}, "cause": "program-3-3"}
22
+ {"env_id": 3, "seq": 22, "step": 7853, "t": 39.265, "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": 7853, "t": 39.265, "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": 7853, "t": 39.265, "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": 8273, "t": 41.365, "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": 8273, "t": 41.365, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.952390745913362e-09}, "cause": "program-3-4"}
27
+ {"env_id": 3, "seq": 27, "step": 8273, "t": 41.365, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.952390745913362e-09}, "cause": "program-3-4"}
28
+ {"env_id": 3, "seq": 28, "step": 8273, "t": 41.365, "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": 8273, "t": 41.365, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
30
+ {"env_id": 3, "seq": 30, "step": 8273, "t": 41.365, "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": 8854, "t": 44.27, "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": 10504, "t": 52.52, "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": 10504, "t": 52.52, "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": 10504, "t": 52.52, "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": 10504, "t": 52.52, "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/c9_p016_e002/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4ab4519859d73fb1f4ab4ca1de75b0335fdcc6873cdfcfddd02d01ae341f05e
3
+ size 1318946
episodes/c9_p016_e002/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p016/magicsim/2",
3
+ "fps": 25,
4
+ "frames": 1251,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1251,
8
+ "env": 1251
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/c9_p016_e002/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 2,
3
+ "env_id": 3,
4
+ "run_id": "c9_p016",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
158
+ "pose": {
159
+ "pos": [
160
+ -0.6,
161
+ 0.02,
162
+ 0.9605
163
+ ],
164
+ "ori": [
165
+ 1.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0
169
+ ],
170
+ "scale": [
171
+ 1.0,
172
+ 1.0,
173
+ 1.0
174
+ ]
175
+ },
176
+ "dr": {
177
+ "visual": {
178
+ "kind": null,
179
+ "value": null,
180
+ "visible": true
181
+ },
182
+ "physics": {
183
+ "type": "geometry",
184
+ "collision": false,
185
+ "ratio": 1.0
186
+ },
187
+ "primitive_params": null
188
+ },
189
+ "type_specific": {}
190
+ },
191
+ {
192
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
228
+ "pose": {
229
+ "pos": [
230
+ -0.6,
231
+ 0.02,
232
+ 1.0965
233
+ ],
234
+ "ori": [
235
+ 1.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "scale": [
241
+ 1.0,
242
+ 1.0,
243
+ 1.0
244
+ ]
245
+ },
246
+ "dr": {
247
+ "visual": {
248
+ "kind": null,
249
+ "value": null,
250
+ "visible": true
251
+ },
252
+ "physics": {
253
+ "type": "geometry",
254
+ "collision": false,
255
+ "ratio": 1.0
256
+ },
257
+ "primitive_params": null
258
+ },
259
+ "type_specific": {}
260
+ },
261
+ {
262
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.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
+ 0.5144157409667969,
338
+ 0.09686946868896484,
339
+ 0.8999999761581421
340
+ ],
341
+ "ori": [
342
+ 0.7106865644454956,
343
+ 0.0,
344
+ 0.0,
345
+ -0.7035087943077087
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
+ 3.614489621234923e-13
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": 0.2885999321968501,
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": -0.004964667740524897,
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": 0.2885999321968501,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
492
+ "pose": {
493
+ "pos": [
494
+ 0.1448650360107422,
495
+ 0.45000267028808594,
496
+ 0.8999999761581421
497
+ ],
498
+ "ori": [
499
+ 1.0,
500
+ -5.6512881485559774e-08,
501
+ 2.141362820395898e-08,
502
+ -5.465892900247127e-05
503
+ ],
504
+ "scale": [
505
+ 1.0,
506
+ 1.0,
507
+ 1.0
508
+ ]
509
+ },
510
+ "dr": {
511
+ "visual": {
512
+ "kind": null,
513
+ "value": null,
514
+ "visible": true
515
+ },
516
+ "physics": {
517
+ "type": "rigid",
518
+ "mass": 0.5,
519
+ "physics_material": {
520
+ "static_friction": 0.9,
521
+ "dynamic_friction": 0.9,
522
+ "restitution": 0.0
523
+ },
524
+ "ratio": 1.0
525
+ },
526
+ "primitive_params": null
527
+ },
528
+ "type_specific": {
529
+ "linear_velocity": [
530
+ -1.029985696732183e-08,
531
+ -1.9068251333465014e-07,
532
+ 7.078051567077637e-08
533
+ ],
534
+ "angular_velocity": [
535
+ 1.2023156159557402e-05,
536
+ -6.829789072071435e-07,
537
+ -5.8885127884877875e-08
538
+ ]
539
+ }
540
+ },
541
+ {
542
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
543
+ "pose": {
544
+ "pos": [
545
+ 0.22383975982666016,
546
+ 1.1500005722045898,
547
+ 0.8999999761581421
548
+ ],
549
+ "ori": [
550
+ -2.1496760382433422e-05,
551
+ -1.8281113511875446e-08,
552
+ -2.263538245728114e-09,
553
+ 1.0
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
+ 1.4559020655724453e-10,
582
+ -1.1654699427765536e-09,
583
+ 3.725290298461914e-09
584
+ ],
585
+ "angular_velocity": [
586
+ 1.5511815831814602e-07,
587
+ 2.8814191921355814e-08,
588
+ -1.3597663439668395e-08
589
+ ]
590
+ }
591
+ },
592
+ {
593
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
594
+ "pose": {
595
+ "pos": [
596
+ 1.5395278930664062,
597
+ 0.5094757080078125,
598
+ 0.8999999761581421
599
+ ],
600
+ "ori": [
601
+ 0.9609255790710449,
602
+ 1.0377316783660717e-09,
603
+ -2.2780998421012555e-08,
604
+ 0.27680703997612
605
+ ],
606
+ "scale": [
607
+ 1.0,
608
+ 1.0,
609
+ 1.0
610
+ ]
611
+ },
612
+ "dr": {
613
+ "visual": {
614
+ "kind": null,
615
+ "value": null,
616
+ "visible": true
617
+ },
618
+ "physics": {
619
+ "type": "rigid",
620
+ "mass": 0.5,
621
+ "physics_material": {
622
+ "static_friction": 0.9,
623
+ "dynamic_friction": 0.9,
624
+ "restitution": 0.0
625
+ },
626
+ "ratio": 1.0
627
+ },
628
+ "primitive_params": null
629
+ },
630
+ "type_specific": {
631
+ "linear_velocity": [
632
+ -2.162153511786613e-10,
633
+ -1.0525019744633823e-10,
634
+ 0.0
635
+ ],
636
+ "angular_velocity": [
637
+ -2.5393356750669227e-08,
638
+ -2.3793496950474946e-08,
639
+ -5.415450754497897e-09
640
+ ]
641
+ }
642
+ },
643
+ {
644
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
645
+ "pose": {
646
+ "pos": [
647
+ -1.396718978881836,
648
+ 0.7617053985595703,
649
+ 0.8999999761581421
650
+ ],
651
+ "ori": [
652
+ -0.7438350915908813,
653
+ -7.256703682401167e-09,
654
+ 6.632632665315441e-09,
655
+ 0.6683632135391235
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
+ -6.836059496251323e-11,
684
+ -1.9783896743064133e-11,
685
+ 0.0
686
+ ],
687
+ "angular_velocity": [
688
+ 5.142979375705181e-10,
689
+ -1.188988463241003e-08,
690
+ -1.4180754348558366e-09
691
+ ]
692
+ }
693
+ }
694
+ ],
695
+ "plate": [
696
+ {
697
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
698
+ "pose": {
699
+ "pos": [
700
+ 0.13854217529296875,
701
+ 0.44014835357666016,
702
+ 0.9180000424385071
703
+ ],
704
+ "ori": [
705
+ 0.9970177412033081,
706
+ -5.041341637479491e-07,
707
+ 1.8686510827592429e-07,
708
+ 0.07717370986938477
709
+ ],
710
+ "scale": [
711
+ 1.0,
712
+ 1.0,
713
+ 1.0
714
+ ]
715
+ },
716
+ "dr": {
717
+ "visual": {
718
+ "kind": null,
719
+ "value": null,
720
+ "visible": true
721
+ },
722
+ "physics": {
723
+ "type": "rigid",
724
+ "collision": true,
725
+ "mass": "asset",
726
+ "max_depenetration_velocity": 1.0,
727
+ "physics_material": {
728
+ "static_friction": 0.5,
729
+ "dynamic_friction": 0.45,
730
+ "restitution": 0.0,
731
+ "friction_combine_mode": "average"
732
+ },
733
+ "ratio": 1.0
734
+ },
735
+ "primitive_params": null
736
+ },
737
+ "type_specific": {
738
+ "linear_velocity": [
739
+ 2.6044313017337117e-07,
740
+ -1.0477549949428067e-05,
741
+ -1.1745840311050415e-05
742
+ ],
743
+ "angular_velocity": [
744
+ 0.00013818778097629547,
745
+ -2.768651393125765e-05,
746
+ -4.002153582405299e-05
747
+ ]
748
+ }
749
+ },
750
+ {
751
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
752
+ "pose": {
753
+ "pos": [
754
+ 0.21665191650390625,
755
+ 1.1463966369628906,
756
+ 0.9180000424385071
757
+ ],
758
+ "ori": [
759
+ -0.085751973092556,
760
+ -1.897334378497817e-08,
761
+ 1.0462901656183021e-09,
762
+ 0.9963165521621704
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
+ 2.4105641927008037e-08,
794
+ -6.835000121441226e-09,
795
+ -5.297362804412842e-06
796
+ ],
797
+ "angular_velocity": [
798
+ -7.319366090996482e-07,
799
+ 1.7680772543826606e-06,
800
+ 1.3467250425946986e-07
801
+ ]
802
+ }
803
+ },
804
+ {
805
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
806
+ "pose": {
807
+ "pos": [
808
+ 1.5435056686401367,
809
+ 0.5206670761108398,
810
+ 0.9180000424385071
811
+ ],
812
+ "ori": [
813
+ 0.9454554915428162,
814
+ -1.360263790495253e-09,
815
+ -2.3797168680061986e-08,
816
+ 0.32575127482414246
817
+ ],
818
+ "scale": [
819
+ 1.0,
820
+ 1.0,
821
+ 1.0
822
+ ]
823
+ },
824
+ "dr": {
825
+ "visual": {
826
+ "kind": null,
827
+ "value": null,
828
+ "visible": true
829
+ },
830
+ "physics": {
831
+ "type": "rigid",
832
+ "collision": true,
833
+ "mass": "asset",
834
+ "max_depenetration_velocity": 1.0,
835
+ "physics_material": {
836
+ "static_friction": 0.5,
837
+ "dynamic_friction": 0.45,
838
+ "restitution": 0.0,
839
+ "friction_combine_mode": "average"
840
+ },
841
+ "ratio": 1.0
842
+ },
843
+ "primitive_params": null
844
+ },
845
+ "type_specific": {
846
+ "linear_velocity": [
847
+ 9.609813389488409e-09,
848
+ -5.415699000366203e-09,
849
+ -5.558133125305176e-06
850
+ ],
851
+ "angular_velocity": [
852
+ 7.69783014220593e-07,
853
+ -1.7316247635790205e-07,
854
+ -7.787411249182696e-08
855
+ ]
856
+ }
857
+ },
858
+ {
859
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
860
+ "pose": {
861
+ "pos": [
862
+ -1.3943471908569336,
863
+ 0.7510299682617188,
864
+ 0.9179999828338623
865
+ ],
866
+ "ori": [
867
+ -0.6774473786354065,
868
+ -1.3085912797805577e-08,
869
+ 8.4597600036318e-09,
870
+ 0.7355712652206421
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
+ -5.7286541732537444e-08,
902
+ 7.4459364896029e-08,
903
+ -2.8796494007110596e-06
904
+ ],
905
+ "angular_velocity": [
906
+ -2.3059708382788813e-06,
907
+ -1.7196949784192839e-06,
908
+ -1.4030987927071692e-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": 2.639999999999966,
1107
+ "step": 528,
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": 3.614489621234923e-13
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": 0.2885999321968501,
1151
+ "holds": [],
1152
+ "station": "pick",
1153
+ "rider": "carrier_1",
1154
+ "arrived": true,
1155
+ "settle_count": 474,
1156
+ "released": {
1157
+ "pick": []
1158
+ },
1159
+ "last_pos": {
1160
+ "carrier_1": [
1161
+ -0.00513496994972229,
1162
+ 2.682209014892578e-06,
1163
+ 0.0
1164
+ ],
1165
+ "carrier_2": [
1166
+ 0.07383975386619568,
1167
+ 0.7000005841255188,
1168
+ 0.0
1169
+ ],
1170
+ "carrier_3": [
1171
+ 1.3895278871059418,
1172
+ 0.059475719928741455,
1173
+ 0.0
1174
+ ],
1175
+ "carrier_4": [
1176
+ -1.5467189848423004,
1177
+ 0.31170541048049927,
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
+ -0.04047906512897059,
1241
+ -0.13342394502156157,
1242
+ 3.0619206811243975
1243
+ ],
1244
+ "ori": [
1245
+ 9.409857619511616,
1246
+ -0.30797938352742626,
1247
+ -16.85766019450005
1248
+ ],
1249
+ "scale": [
1250
+ 1.0,
1251
+ 1.0,
1252
+ 1.0
1253
+ ]
1254
+ },
1255
+ "dr": {
1256
+ "color_temperature": 5129.5456649817315,
1257
+ "color": [
1258
+ 0.929600144762854,
1259
+ 0.8569060376415188,
1260
+ 0.9273824470754617
1261
+ ],
1262
+ "intensity": 5259.591580177791,
1263
+ "width": 2.1807088345814485,
1264
+ "height": 1.8449915562993082
1265
+ }
1266
+ },
1267
+ "key": {
1268
+ "type": "sphere",
1269
+ "pose": {
1270
+ "pos": [
1271
+ -0.49983935577500405,
1272
+ -0.5237547492392642,
1273
+ 1.9930433183667209
1274
+ ],
1275
+ "ori": [
1276
+ 2.172568432395046,
1277
+ 19.163232424156256,
1278
+ -12.899101909692092
1279
+ ],
1280
+ "scale": [
1281
+ 1.0,
1282
+ 1.0,
1283
+ 1.0
1284
+ ]
1285
+ },
1286
+ "dr": {
1287
+ "color_temperature": 6256.608963936025,
1288
+ "color": [
1289
+ 0.9459871454247429,
1290
+ 0.7696905176959028,
1291
+ 0.7958866910601569
1292
+ ],
1293
+ "intensity": 9845.203247290754,
1294
+ "radius": 0.22368541101370903
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": 895.6601259912869,
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
+ 0.9140999913215637,
1394
+ -1.7194000482559204,
1395
+ 2.0905001163482666,
1396
+ -1.9419000148773193,
1397
+ -1.5707999467849731,
1398
+ 2.4848999977111816,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 0.9140999913215637,
1404
+ -1.7194000482559204,
1405
+ 2.0905001163482666,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
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
+ 0.9140999913215637,
1424
+ -1.7194000482559204,
1425
+ 2.0905001163482666,
1426
+ -1.9419000148773193,
1427
+ -1.5707999467849731,
1428
+ 2.4848999977111816,
1429
+ 0.017999999225139618,
1430
+ 0.017999999225139618
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ 0.0,
1437
+ 0.0,
1438
+ 0.0,
1439
+ 0.0,
1440
+ 0.0,
1441
+ 0.0,
1442
+ 0.0
1443
+ ],
1444
+ [
1445
+ 0.0,
1446
+ 0.0,
1447
+ 0.0,
1448
+ 0.0,
1449
+ 0.0,
1450
+ 0.0,
1451
+ 0.0,
1452
+ 0.0
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
+ 0.0,
1466
+ 0.0,
1467
+ 0.0,
1468
+ 0.0,
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.050620049238204956,
1482
+ 0.003952888306230307,
1483
+ -0.03211987018585205,
1484
+ -0.2731188237667084,
1485
+ 0.6438062787055969,
1486
+ 0.6579321622848511,
1487
+ -0.27936509251594543
1488
+ ],
1489
+ [
1490
+ 0.049937233328819275,
1491
+ -0.0017909685848280787,
1492
+ -0.02927335351705551,
1493
+ -0.2773057818412781,
1494
+ 0.6525589227676392,
1495
+ 0.6440806984901428,
1496
+ -0.28710341453552246
1497
+ ],
1498
+ [
1499
+ 0.04963687062263489,
1500
+ 0.002233730163425207,
1501
+ -0.029474545270204544,
1502
+ -0.27705317735671997,
1503
+ 0.6519960165023804,
1504
+ 0.6513054370880127,
1505
+ -0.2719263434410095
1506
+ ],
1507
+ [
1508
+ 0.04943478852510452,
1509
+ 7.919515337562189e-05,
1510
+ -0.03350328654050827,
1511
+ -0.2834967076778412,
1512
+ 0.6526507139205933,
1513
+ 0.6440772414207458,
1514
+ -0.2807867228984833
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0352637805044651,
1520
+ 0.5725180506706238,
1521
+ 1.9314520359039307,
1522
+ 0.02819758653640747,
1523
+ 0.004276278428733349,
1524
+ 0.27744218707084656,
1525
+ 0.960318922996521
1526
+ ],
1527
+ [
1528
+ 0.026887336745858192,
1529
+ 0.5905939936637878,
1530
+ 1.9485931396484375,
1531
+ 0.03173764422535896,
1532
+ 0.005450202617794275,
1533
+ 0.2690671980381012,
1534
+ 0.9625828862190247
1535
+ ],
1536
+ [
1537
+ 0.058964528143405914,
1538
+ 0.5713739395141602,
1539
+ 1.9577159881591797,
1540
+ 0.033836301416158676,
1541
+ 0.013461370021104813,
1542
+ 0.2730834484100342,
1543
+ 0.9613008499145508
1544
+ ],
1545
+ [
1546
+ 0.052949558943510056,
1547
+ 0.6025164723396301,
1548
+ 1.9320783615112305,
1549
+ 0.0481845960021019,
1550
+ 0.006293288432061672,
1551
+ 0.2847432494163513,
1552
+ 0.9573713541030884
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p016_e002/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5bc825e52f4ab8e626336da671d36c8bc60c65735ba7d8bd2ab2e000e3426ee5
3
+ size 7027492
episodes/c9_p016_e003/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a1cecb7d9a66cfba7193068afbc291569049b11df56d5c09256b110c38247ad
3
+ size 191304
episodes/c9_p016_e003/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 124, "t": 0.62, "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": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 6723, "t": 33.615, "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": 7340, "t": 36.7, "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": 7340, "t": 36.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1139642729767143}, "cause": "task-0-1"}
7
+ {"env_id": 0, "seq": 7, "step": 7340, "t": 36.7, "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": 7340, "t": 36.7, "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": 7340, "t": 36.7, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
16
+ {"env_id": 0, "seq": 16, "step": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1139642729767143}, "cause": "program-0-3"}
19
+ {"env_id": 0, "seq": 19, "step": 8382, "t": 41.91, "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": 8382, "t": 41.91, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1150000000015936}, "cause": "program-0-3"}
21
+ {"env_id": 0, "seq": 21, "step": 8382, "t": 41.91, "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": 3.1150000000015936}}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 8382, "t": 41.91, "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": 8382, "t": 41.91, "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": 8382, "t": 41.91, "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": 8802, "t": 44.01, "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": 8802, "t": 44.01, "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": 8802, "t": 44.01, "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": 8802, "t": 44.01, "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": 8802, "t": 44.01, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
30
+ {"env_id": 0, "seq": 30, "step": 8802, "t": 44.01, "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": 9382, "t": 46.91, "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": 11140, "t": 55.7, "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": 11140, "t": 55.7, "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": 11140, "t": 55.7, "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": 11140, "t": 55.7, "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/c9_p016_e003/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8478cfc0f04a3e554b08359a935543aa85b0c204cb36ef20f06f62ac50d787f2
3
+ size 1229391
episodes/c9_p016_e003/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p016/magicsim/3",
3
+ "fps": 25,
4
+ "frames": 1212,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1212,
8
+ "env": 1212
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/c9_p016_e003/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 3,
3
+ "env_id": 0,
4
+ "run_id": "c9_p016",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.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_white/plate_96_white.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.47104358673095703,
335
+ 0.06777477264404297,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ 0.7125340700149536,
340
+ 0.0,
341
+ 0.0,
342
+ -0.7016375064849854
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
+ 4.337387220221256e-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": 0.2508153113093454,
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": -0.2928756154106952,
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": 0.2508153113093454,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ 0.1265878677368164,
492
+ 1.149998664855957,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ 4.075669858139008e-05,
497
+ -9.289409519386282e-12,
498
+ 5.24741805563167e-09,
499
+ 1.0
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ -9.336749151600543e-10,
528
+ 3.3863989390425786e-10,
529
+ 7.450580596923828e-09
530
+ ],
531
+ "angular_velocity": [
532
+ -2.545451138757926e-08,
533
+ -9.37703106274057e-08,
534
+ -9.825686930753363e-10
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ -1.2626228332519531,
543
+ 1.0741214752197266,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ -0.31902381777763367,
548
+ 2.1475767653100775e-07,
549
+ -1.0713193887568195e-08,
550
+ 0.9477466940879822
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
+ 9.763157322595362e-07,
579
+ 7.399651167361299e-07,
580
+ -2.8423964977264404e-06
581
+ ],
582
+ "angular_velocity": [
583
+ -6.369934999383986e-05,
584
+ 8.315429295180365e-05,
585
+ 6.828884124843171e-08
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ -0.1425933837890625,
594
+ 0.4478302001953125,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ 0.9999037981033325,
599
+ 4.6922350449563055e-09,
600
+ 1.4207762744078423e-10,
601
+ 0.013871150091290474
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ -5.676755177042025e-10,
630
+ -1.7985268829789902e-10,
631
+ 0.0
632
+ ],
633
+ "angular_velocity": [
634
+ 1.8087110476017187e-08,
635
+ -5.281373915977383e-08,
636
+ 1.6593736384962199e-09
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ 1.6969718933105469,
645
+ 0.8186073303222656,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ 0.693031370639801,
650
+ 1.0323552857016693e-07,
651
+ -3.95816268650151e-09,
652
+ 0.7209075093269348
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
+ 2.4594684067125172e-09,
681
+ -6.48035292094562e-10,
682
+ 1.4901161193847656e-08
683
+ ],
684
+ "angular_velocity": [
685
+ 9.088078911645425e-08,
686
+ 2.2503422769659664e-07,
687
+ 3.936859283015792e-09
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ 0.1396169662475586,
698
+ 1.1442642211914062,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ -0.018489612266421318,
703
+ -7.873371399291784e-10,
704
+ 9.044114790413005e-09,
705
+ 0.999829113483429
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 9.991137694953522e-09,
737
+ 1.649360648059428e-08,
738
+ 1.601874828338623e-07
739
+ ],
740
+ "angular_velocity": [
741
+ -1.624759761398309e-06,
742
+ 1.8926964457932627e-06,
743
+ -6.342207115039855e-08
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ -1.273594856262207,
752
+ 1.074448585510254,
753
+ 0.9179999828338623
754
+ ],
755
+ "ori": [
756
+ -0.3594200015068054,
757
+ 2.0507201270447695e-07,
758
+ -1.7051595690986687e-08,
759
+ 0.9331758618354797
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
+ 1.9954943581979023e-06,
791
+ 1.522471620774013e-06,
792
+ -1.9259750843048096e-06
793
+ ],
794
+ "angular_velocity": [
795
+ -6.452766683651134e-05,
796
+ 8.353774319402874e-05,
797
+ 1.259836608369369e-07
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ -0.15132617950439453,
806
+ 0.44565391540527344,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ 0.9980212450027466,
811
+ 4.87330797938057e-09,
812
+ 7.434398652250707e-10,
813
+ -0.06287862360477448
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ -2.7252154310986043e-08,
845
+ -8.222908576271948e-09,
846
+ -5.591660737991333e-06
847
+ ],
848
+ "angular_velocity": [
849
+ 1.6479089026688598e-07,
850
+ -1.915215761982836e-06,
851
+ 1.7428180854039965e-07
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ 1.686544418334961,
860
+ 0.8253364562988281,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.6390699148178101,
865
+ 1.0713881692936411e-07,
866
+ -7.704568538713374e-09,
867
+ 0.7691487669944763
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
+ 1.0366607483547341e-07,
899
+ -9.098465625356766e-08,
900
+ -8.344650268554688e-07
901
+ ],
902
+ "angular_velocity": [
903
+ 3.264891347498633e-06,
904
+ 4.039423856738722e-06,
905
+ 7.734440998774517e-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": 7.3999999999998645,
1104
+ "step": 1480,
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": 4.337387220221256e-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": 0.2508153113093454,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_3",
1151
+ "arrived": true,
1152
+ "settle_count": 1355,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -0.02341213822364807,
1159
+ 0.699998676776886,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ -1.4126228392124176,
1164
+ 0.6241214871406555,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ -0.292593389749527,
1169
+ -0.002169787883758545,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ 1.5469718873500824,
1174
+ 0.3686073422431946,
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
+ 0.11156101554115816,
1238
+ 0.38812155418298366,
1239
+ 2.6916842817332687
1240
+ ],
1241
+ "ori": [
1242
+ -4.705020331781579,
1243
+ 9.551908453529052,
1244
+ 7.2634413327537075
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 6316.655485979096,
1254
+ "color": [
1255
+ 0.8470609430385859,
1256
+ 0.9420225052263335,
1257
+ 0.9899815809873314
1258
+ ],
1259
+ "intensity": 4905.364189717673,
1260
+ "width": 2.695247213804186,
1261
+ "height": 0.9631445768955963
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "disk",
1266
+ "pose": {
1267
+ "pos": [
1268
+ -1.2505297779033084,
1269
+ 1.4729332253958016,
1270
+ 2.386266372533422
1271
+ ],
1272
+ "ori": [
1273
+ -4.811385040396232,
1274
+ -8.798376029529138,
1275
+ 11.122105932888438
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 4286.794679495263,
1285
+ "color": [
1286
+ 0.8107108580114645,
1287
+ 0.9073033715521652,
1288
+ 0.9118162856825396
1289
+ ],
1290
+ "intensity": 10756.225547000631,
1291
+ "radius": 0.4233295808348372
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": 895.6601259912869,
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
+ 0.9141119122505188,
1394
+ -1.7193934917449951,
1395
+ 2.0904970169067383,
1396
+ -1.9419018030166626,
1397
+ -1.5707999467849731,
1398
+ 2.4849064350128174,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 0.8378549814224243,
1404
+ -1.479701042175293,
1405
+ 2.08029842376709,
1406
+ -2.171405553817749,
1407
+ -1.5707917213439941,
1408
+ 2.6070756912231445,
1409
+ 0.007673991844058037,
1410
+ 0.007094195112586021
1411
+ ],
1412
+ [
1413
+ 1.2726151943206787,
1414
+ -1.460960030555725,
1415
+ 2.066171169281006,
1416
+ -2.176042079925537,
1417
+ -1.5707868337631226,
1418
+ 2.6396892070770264,
1419
+ 0.007689435966312885,
1420
+ 0.007130616344511509
1421
+ ],
1422
+ [
1423
+ 0.7802116274833679,
1424
+ -1.354724645614624,
1425
+ 1.9217995405197144,
1426
+ -2.1388723850250244,
1427
+ -1.5708065032958984,
1428
+ 2.1966190338134766,
1429
+ 0.007902842946350574,
1430
+ 0.007898743264377117
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 2.4431411715151965e-38,
1436
+ 0.0,
1437
+ 0.0,
1438
+ -5.575588120176031e-37,
1439
+ 3.763895746655613e-37,
1440
+ 1.8651843079549045e-37,
1441
+ 2.7494316649131506e-38,
1442
+ -1.1178709400994624e-37
1443
+ ],
1444
+ [
1445
+ 0.00013487416435964406,
1446
+ -0.006192178465425968,
1447
+ -0.0051888530142605305,
1448
+ 0.01055816374719143,
1449
+ 9.425402095075697e-05,
1450
+ 0.0002589940559118986,
1451
+ -0.007333768531680107,
1452
+ 0.00025427641230635345
1453
+ ],
1454
+ [
1455
+ 0.00022575794719159603,
1456
+ -0.008035409264266491,
1457
+ -0.006977726239711046,
1458
+ 0.014109567739069462,
1459
+ -2.1016798200435005e-05,
1460
+ -0.00014856285997666419,
1461
+ -0.00705174682661891,
1462
+ 0.00022792072559241205
1463
+ ],
1464
+ [
1465
+ 0.00011530549090821296,
1466
+ 0.0014723573112860322,
1467
+ 0.0035464330576360226,
1468
+ -0.0009540162864141166,
1469
+ 0.0010762219317257404,
1470
+ 0.0021611645352095366,
1471
+ -0.0026795335579663515,
1472
+ -0.002809354104101658
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05015088617801666,
1482
+ -3.239899160689674e-05,
1483
+ -0.03305426612496376,
1484
+ -0.2711488604545593,
1485
+ 0.6438250541687012,
1486
+ 0.6590273976325989,
1487
+ -0.27865833044052124
1488
+ ],
1489
+ [
1490
+ 0.0502975732088089,
1491
+ -0.003786451881751418,
1492
+ -0.02777900919318199,
1493
+ -0.26972654461860657,
1494
+ 0.6516881585121155,
1495
+ 0.6453475952148438,
1496
+ -0.29338812828063965
1497
+ ],
1498
+ [
1499
+ 0.046385183930397034,
1500
+ 0.0023463277611881495,
1501
+ -0.028547020629048347,
1502
+ -0.27989664673805237,
1503
+ 0.6514770984649658,
1504
+ 0.6519190669059753,
1505
+ -0.26876944303512573
1506
+ ],
1507
+ [
1508
+ 0.0463213175535202,
1509
+ -0.0016478493344038725,
1510
+ -0.03168797865509987,
1511
+ -0.2831984758377075,
1512
+ 0.6509760022163391,
1513
+ 0.6452353596687317,
1514
+ -0.28231218457221985
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0352637805044651,
1520
+ 0.5725180506706238,
1521
+ 1.9314520359039307,
1522
+ 0.02819758653640747,
1523
+ 0.004276278428733349,
1524
+ 0.27744218707084656,
1525
+ 0.960318922996521
1526
+ ],
1527
+ [
1528
+ 0.026887336745858192,
1529
+ 0.5905939936637878,
1530
+ 1.9485931396484375,
1531
+ 0.03173764422535896,
1532
+ 0.005450202617794275,
1533
+ 0.2690671980381012,
1534
+ 0.9625828862190247
1535
+ ],
1536
+ [
1537
+ 0.058964528143405914,
1538
+ 0.5713739395141602,
1539
+ 1.9577159881591797,
1540
+ 0.033836301416158676,
1541
+ 0.013461370021104813,
1542
+ 0.2730834484100342,
1543
+ 0.9613008499145508
1544
+ ],
1545
+ [
1546
+ 0.052949558943510056,
1547
+ 0.6025164723396301,
1548
+ 1.9320783615112305,
1549
+ 0.0481845960021019,
1550
+ 0.006293288432061672,
1551
+ 0.2847432494163513,
1552
+ 0.9573713541030884
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p016_e003/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07c9939b7b1199c163bc6cc500b87030bb6d3f160b5ea243a0cd14c3474c900d
3
+ size 7182502
index/episodes.csv CHANGED
@@ -3339,3 +3339,11 @@ c7_p011_e023,1,True,0.09784507751464844,0.4499988555908203,-0.002920154838704239
3339
  c8_p011_e028,2,True,-0.0702505111694336,0.4474496841430664,-0.007477057620195724,0.005775470825501198,-1.039326799504039,plate_384_black,0.470947265625,0.11478233337402344,-86.6555380947792,0.2717708625421806,553.2153017280766,rect,0.16524796010231257,0.03964235555873219,2.674073796527371,12870.954260580198,6844.4875915848,disk,1.7103631078065566,-1.0477754143408933,2.3001826621989263,3821.531524341429,5779.415553610759,0.0458001084625721,-0.000688977655954659,-0.02784709446132183,-0.28470849990844727,0.6485883593559265,0.6479480862617493,-0.28006693720817566,0.03194791451096535,0.6032570004463196,1.9281785488128662,0.05395806208252907,-0.003861082950606942,0.26011207699775696,0.9640619158744812,1254,1,,2.115349292755127,0.3310729336034053,0.0,0.0073804352432489395,0.5079744816586922,12,release,0.04227006435394287,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3340
  c8_p011_e029,3,True,0.051422119140625,0.4499998092651367,-0.004258155470935463,-0.0025882726735287406,-3.690261905630422,plate_48_clear,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.29237075317239747,553.2153017280766,rect,0.30970195054530547,0.0004432788239290275,3.0000548084174836,6660.968797512169,6641.992822450402,disk,0.1710399334163062,0.4600134872228894,1.7501095248081526,4727.932646511814,3645.6907672021225,0.05146217718720436,0.00343522266484797,-0.030456557869911194,-0.28559261560440063,0.64393550157547,0.6542025804519653,-0.2753233313560486,0.05866144225001335,0.5859748125076294,1.942399024963379,0.024751920253038406,-0.0018085152842104435,0.2779715061187744,0.9602686762809753,1210,1,,2.080693483352661,0.33998188572897375,0.0,0.007290748413652182,0.5198347107438016,12,release,0.042200565338134766,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3341
  c8_p011_e030,1,True,-0.13845157623291016,0.447357177734375,0.006785720202751842,-0.009349548781032956,-0.2370142268513291,deep_well_96_1ml,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.28053734535644137,1350.041629522541,rect,0.03143305517962525,-0.39852264875041504,3.148065870119827,14051.038817684199,6186.951134861261,disk,0.8954619852333212,0.9503186311885943,2.6051973821006777,2693.2471554165277,5834.4514459399015,0.05081532523036003,-0.00010476005991222337,-0.027241434901952744,-0.2916114628314972,0.6358909606933594,0.6551786065101624,-0.28521299362182617,0.07209925353527069,0.5968134999275208,1.9696916341781616,0.024583706632256508,0.012644212692975998,0.26766258478164673,0.9631160497665405,1222,1,,2.0643088817596436,0.2931060199653064,0.0,0.007471155375242233,0.5171849427168577,12,release,0.04231083393096924,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
 
 
 
3339
  c8_p011_e028,2,True,-0.0702505111694336,0.4474496841430664,-0.007477057620195724,0.005775470825501198,-1.039326799504039,plate_384_black,0.470947265625,0.11478233337402344,-86.6555380947792,0.2717708625421806,553.2153017280766,rect,0.16524796010231257,0.03964235555873219,2.674073796527371,12870.954260580198,6844.4875915848,disk,1.7103631078065566,-1.0477754143408933,2.3001826621989263,3821.531524341429,5779.415553610759,0.0458001084625721,-0.000688977655954659,-0.02784709446132183,-0.28470849990844727,0.6485883593559265,0.6479480862617493,-0.28006693720817566,0.03194791451096535,0.6032570004463196,1.9281785488128662,0.05395806208252907,-0.003861082950606942,0.26011207699775696,0.9640619158744812,1254,1,,2.115349292755127,0.3310729336034053,0.0,0.0073804352432489395,0.5079744816586922,12,release,0.04227006435394287,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3340
  c8_p011_e029,3,True,0.051422119140625,0.4499998092651367,-0.004258155470935463,-0.0025882726735287406,-3.690261905630422,plate_48_clear,0.4725770950317383,0.07769966125488281,-85.62539226203064,0.29237075317239747,553.2153017280766,rect,0.30970195054530547,0.0004432788239290275,3.0000548084174836,6660.968797512169,6641.992822450402,disk,0.1710399334163062,0.4600134872228894,1.7501095248081526,4727.932646511814,3645.6907672021225,0.05146217718720436,0.00343522266484797,-0.030456557869911194,-0.28559261560440063,0.64393550157547,0.6542025804519653,-0.2753233313560486,0.05866144225001335,0.5859748125076294,1.942399024963379,0.024751920253038406,-0.0018085152842104435,0.2779715061187744,0.9602686762809753,1210,1,,2.080693483352661,0.33998188572897375,0.0,0.007290748413652182,0.5198347107438016,12,release,0.042200565338134766,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3341
  c8_p011_e030,1,True,-0.13845157623291016,0.447357177734375,0.006785720202751842,-0.009349548781032956,-0.2370142268513291,deep_well_96_1ml,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.28053734535644137,1350.041629522541,rect,0.03143305517962525,-0.39852264875041504,3.148065870119827,14051.038817684199,6186.951134861261,disk,0.8954619852333212,0.9503186311885943,2.6051973821006777,2693.2471554165277,5834.4514459399015,0.05081532523036003,-0.00010476005991222337,-0.027241434901952744,-0.2916114628314972,0.6358909606933594,0.6551786065101624,-0.28521299362182617,0.07209925353527069,0.5968134999275208,1.9696916341781616,0.024583706632256508,0.012644212692975998,0.26766258478164673,0.9631160497665405,1222,1,,2.0643088817596436,0.2931060199653064,0.0,0.007471155375242233,0.5171849427168577,12,release,0.04231083393096924,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3342
+ c4_p010_e037,0,True,0.14555740356445312,0.4499979019165039,0.00606184479854589,0.0035557557430146184,-8.380427045084417,pcr_96_blue,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.1688483733558938,559.8532077346052,rect,0.7115096247686056,0.5106218164528358,2.924203382995282,12568.143036424106,6631.603730404049,disk,-0.3946707831179168,1.0524392949024783,2.0802430127346043,5015.14843644541,7441.714440512383,0.04946043714880943,0.0030321215745061636,-0.028996089473366737,-0.28004711866378784,0.64933180809021,0.6484180092811584,-0.2819502353668213,0.034315675497055054,0.5704680681228638,1.9462898969650269,0.04034753516316414,-0.0022235624492168427,0.27364876866340637,0.9609804749488831,1230,1,,2.0983548164367676,0.30970394289810943,0.0,0.006859533954411745,0.5252032520325203,12,release,0.04218161106109619,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3343
+ c4_p010_e038,2,True,-0.14710044860839844,0.44745731353759766,-0.0043209242607157115,0.0065451889760833335,2.5641703252493073,plate_24_clear,0.5234966278076172,0.1207571029663086,-94.96026412449318,0.29961319526627317,559.8532077346052,rect,-0.2295258821005276,0.3340132025843987,2.995549877898748,7380.676790963862,6101.504085990284,disk,0.5078491767250157,0.8776337270645211,2.028140407066475,4311.040095158194,6780.574441794992,0.05100318789482117,-0.0037499398458749056,-0.03025428019464016,-0.2829205095767975,0.6512080430984497,0.649355411529541,-0.27243655920028687,0.0586683414876461,0.5989596843719482,1.942463994026184,0.021716685965657234,0.0014223987236618996,0.2566896975040436,0.9662488102912903,1232,1,,2.038952112197876,0.2885817364703441,0.0,0.007325224578380585,0.512987012987013,12,release,0.04232907295227051,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3344
+ c6_p011_e004,1,True,0.08053207397460938,0.44748401641845703,-0.010745038170697616,0.010793533929512752,1.7520295777240165,plate_96_white,0.5262136459350586,0.07812881469726562,-87.10510678931891,0.23406598194688072,689.6047951577939,rect,-0.4867215357395771,0.04049540013424613,2.8578026993593446,10270.89316781598,5540.466562906038,disk,-1.0162332152369653,-0.7538337592589377,2.6157154188008818,7583.036221669462,4437.484681031692,0.050031159073114395,0.00048052790225483477,-0.02788054198026657,-0.2740093469619751,0.6483980417251587,0.6508100032806396,-0.28450867533683777,0.07285897433757782,0.5972743630409241,1.9264192581176758,0.05162133648991585,0.0034601776860654354,0.2601044774055481,0.9641934037208557,1154,1,,2.0811309814453125,0.29655207213215834,0.0,0.0072909328155219555,0.5441941074523396,12,release,0.042309701442718506,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3345
+ c8_p011_e031,0,True,-0.08997249603271484,0.45000457763671875,0.010958923847968576,0.00874846237374166,5.541291248715197,deep_well_96_2ml,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.27662335007577477,1350.041629522541,rect,0.09028313151092371,0.19598181803386117,2.7800002676370497,15980.844330838043,4839.486677301748,sphere,-1.4541975674538508,0.4927243118432183,2.6593721394381804,3503.7699045445424,7343.769714570266,0.04749676585197449,-0.0010008326498791575,-0.03122355230152607,-0.27357035875320435,0.6484472751617432,0.6577760577201843,-0.26833945512771606,0.05712246522307396,0.5582303404808044,1.9402425289154053,0.05161276087164879,-0.004504891578108072,0.28343772888183594,0.9575901627540588,1269,1,,2.0769882202148438,0.28550503552382905,0.0,0.007495012134313583,0.5508274231678487,12,release,0.044336557388305664,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3346
+ c9_p016_e000,1,True,0.063995361328125,0.4499979019165039,0.008675798097435726,0.010022924179519176,-11.3679494479926,plate_12_clear,0.46932029724121094,0.11342144012451172,-92.7353368630375,0.25984962570360964,895.6601259912869,rect,-0.48195962872018117,0.42886702446687464,2.9788897838767108,11559.98844855422,4401.339325749033,sphere,0.3777471768842353,0.7025081694809556,2.696046346223446,8575.74885173684,3028.186631661095,0.04988259822130203,-0.0025753879453986883,-0.02780679427087307,-0.2738646864891052,0.6567197442054749,0.6418332457542419,-0.2859500050544739,0.026887336745858192,0.5905939936637878,1.9485931396484375,0.03173764422535896,0.005450202617794275,0.2690671980381012,0.9625828862190247,1209,1,,2.0726420879364014,0.32502235624663245,0.0,0.007349344901740551,0.5244003308519437,12,release,0.042284488677978516,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3347
+ c9_p016_e001,2,True,-0.13581466674804688,0.4495229721069336,0.009123041612936828,0.009210744837228238,10.69744616070642,plate_1536_black,0.4793062210083008,0.06306743621826172,-86.66536905306221,0.250201891018373,895.6601259912869,rect,0.6341759609859404,-0.03202883687074287,2.811276337364046,14784.206916450168,6540.369850843123,sphere,-1.2924911510313466,-0.6419996685060692,2.4523137845072855,8211.425223282617,6545.956488267628,0.050632543861866,0.0036086319014430046,-0.028723219409585,-0.2792203724384308,0.6501495838165283,0.6532272696495056,-0.26951009035110474,0.058964528143405914,0.5713739395141602,1.9577159881591797,0.033836301416158676,0.013461370021104813,0.2730834484100342,0.9613008499145508,1238,1,,2.0828990936279297,0.25641161481792396,0.0,0.007384081371128559,0.5621970920840065,12,release,0.04230070114135742,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3348
+ c9_p016_e002,3,True,0.1448650360107422,0.45000267028808594,-0.00632178342719808,-0.009855007854134444,8.858521765117928,plate_48_clear,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.2885999321968501,895.6601259912869,rect,-0.04047906512897059,-0.13342394502156157,3.0619206811243975,5259.591580177791,5129.5456649817315,sphere,-0.49983935577500405,-0.5237547492392642,1.9930433183667209,9845.203247290754,6256.608963936025,0.04943478852510452,7.919515337562189e-05,-0.03350328654050827,-0.2834967076778412,0.6526507139205933,0.6440772414207458,-0.2807867228984833,0.052949558943510056,0.6025164723396301,1.9320783615112305,0.0481845960021019,0.006293288432061672,0.2847432494163513,0.9573713541030884,1251,1,,2.0459604263305664,0.2920437284463129,0.0,0.007349698804318905,0.504396482813749,12,release,0.042124271392822266,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
3349
+ c9_p016_e003,0,True,-0.1425933837890625,0.4478302001953125,-0.008789804519435012,-0.0019332027837753254,-8.799684130052555,pcr_96_blue,0.47104358673095703,0.06777477264404297,-89.11705891501327,0.2508153113093454,895.6601259912869,rect,0.11156101554115816,0.38812155418298366,2.6916842817332687,4905.364189717673,6316.655485979096,disk,-1.2505297779033084,1.4729332253958016,2.386266372533422,10756.225547000631,4286.794679495263,0.05015088617801666,-3.239899160689674e-05,-0.03305426612496376,-0.2711488604545593,0.6438250541687012,0.6590273976325989,-0.27865833044052124,0.0352637805044651,0.5725180506706238,1.9314520359039307,0.02819758653640747,0.004276278428733349,0.27744218707084656,0.960318922996521,1212,1,,2.0387308597564697,0.3319975519915273,0.0,0.006886858958750963,0.5239273927392739,12,release,0.04230690002441406,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False