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
1c2f26a
·
verified ·
1 Parent(s): a89b141

add 15 episodes (c2_p014_e012 .. c9_p017_e007); total 3619 {'v1': 1088, 'v2': 2531}

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. episodes/c2_p014_e012/data.npz +3 -0
  2. episodes/c2_p014_e012/device_events.jsonl +36 -0
  3. episodes/c2_p014_e012/env.mp4 +3 -0
  4. episodes/c2_p014_e012/meta.json +32 -0
  5. episodes/c2_p014_e012/scene_snapshot.json +1558 -0
  6. episodes/c2_p014_e012/wrist.mp4 +3 -0
  7. episodes/c3_p011_e017/data.npz +3 -0
  8. episodes/c3_p011_e017/device_events.jsonl +36 -0
  9. episodes/c3_p011_e017/env.mp4 +3 -0
  10. episodes/c3_p011_e017/meta.json +32 -0
  11. episodes/c3_p011_e017/scene_snapshot.json +1558 -0
  12. episodes/c3_p011_e017/wrist.mp4 +3 -0
  13. episodes/c3_p011_e018/data.npz +3 -0
  14. episodes/c3_p011_e018/device_events.jsonl +40 -0
  15. episodes/c3_p011_e018/env.mp4 +3 -0
  16. episodes/c3_p011_e018/meta.json +32 -0
  17. episodes/c3_p011_e018/scene_snapshot.json +1558 -0
  18. episodes/c3_p011_e018/wrist.mp4 +3 -0
  19. episodes/c4_p012_e000/data.npz +3 -0
  20. episodes/c4_p012_e000/device_events.jsonl +35 -0
  21. episodes/c4_p012_e000/env.mp4 +3 -0
  22. episodes/c4_p012_e000/meta.json +32 -0
  23. episodes/c4_p012_e000/scene_snapshot.json +1558 -0
  24. episodes/c4_p012_e000/wrist.mp4 +3 -0
  25. episodes/c4_p012_e001/data.npz +3 -0
  26. episodes/c4_p012_e001/device_events.jsonl +36 -0
  27. episodes/c4_p012_e001/env.mp4 +3 -0
  28. episodes/c4_p012_e001/meta.json +32 -0
  29. episodes/c4_p012_e001/scene_snapshot.json +1558 -0
  30. episodes/c4_p012_e001/wrist.mp4 +3 -0
  31. episodes/c4_p012_e002/data.npz +3 -0
  32. episodes/c4_p012_e002/device_events.jsonl +36 -0
  33. episodes/c4_p012_e002/env.mp4 +3 -0
  34. episodes/c4_p012_e002/meta.json +32 -0
  35. episodes/c4_p012_e002/scene_snapshot.json +1558 -0
  36. episodes/c4_p012_e002/wrist.mp4 +3 -0
  37. episodes/c4_p012_e003/data.npz +3 -0
  38. episodes/c4_p012_e003/device_events.jsonl +38 -0
  39. episodes/c4_p012_e003/env.mp4 +3 -0
  40. episodes/c4_p012_e003/meta.json +32 -0
  41. episodes/c4_p012_e003/scene_snapshot.json +1558 -0
  42. episodes/c4_p012_e003/wrist.mp4 +3 -0
  43. episodes/c5_p011_e012/data.npz +3 -0
  44. episodes/c5_p011_e012/device_events.jsonl +39 -0
  45. episodes/c5_p011_e012/env.mp4 +3 -0
  46. episodes/c5_p011_e012/meta.json +32 -0
  47. episodes/c5_p011_e012/scene_snapshot.json +1558 -0
  48. episodes/c5_p011_e012/wrist.mp4 +3 -0
  49. episodes/c7_p012_e020/data.npz +3 -0
  50. episodes/c7_p012_e020/device_events.jsonl +38 -0
episodes/c2_p014_e012/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:69d71fdfc895856cbbb99714d9ac36c45545db0423f94a9e20e1bb05eb7ce085
3
+ size 189206
episodes/c2_p014_e012/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 172, "t": 0.86, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 172, "t": 0.86, "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": 177, "t": 0.885, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 2018, "t": 10.09, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 3, "seq": 5, "step": 6695, "t": 33.475, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
6
+ {"env_id": 3, "seq": 6, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
7
+ {"env_id": 3, "seq": 7, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.479563090728875}, "cause": "task-3-1"}
8
+ {"env_id": 3, "seq": 8, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
9
+ {"env_id": 3, "seq": 9, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 3, "seq": 10, "step": 7308, "t": 36.54, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
11
+ {"env_id": 3, "seq": 11, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 3, "seq": 12, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
13
+ {"env_id": 3, "seq": 13, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
14
+ {"env_id": 3, "seq": 14, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
15
+ {"env_id": 3, "seq": 15, "step": 7727, "t": 38.635, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
16
+ {"env_id": 3, "seq": 16, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"}
17
+ {"env_id": 3, "seq": 17, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
18
+ {"env_id": 3, "seq": 18, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 3, "seq": 19, "step": 7727, "t": 38.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.479563090728875}, "cause": "program-3-3"}
20
+ {"env_id": 3, "seq": 20, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 3, "seq": 21, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4800000000012687}, "cause": "program-3-3"}
22
+ {"env_id": 3, "seq": 22, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4800000000012687}}, "cause": "program-3-3"}
23
+ {"env_id": 3, "seq": 23, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
24
+ {"env_id": 3, "seq": 24, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 3, "seq": 25, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
26
+ {"env_id": 3, "seq": 26, "step": 8643, "t": 43.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 3, "seq": 27, "step": 8643, "t": 43.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.203677819868972e-10}, "cause": "program-3-4"}
28
+ {"env_id": 3, "seq": 28, "step": 8643, "t": 43.215, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.203677819868972e-10}, "cause": "program-3-4"}
29
+ {"env_id": 3, "seq": 29, "step": 8643, "t": 43.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
30
+ {"env_id": 3, "seq": 30, "step": 8643, "t": 43.215, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
31
+ {"env_id": 3, "seq": 31, "step": 8643, "t": 43.215, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
32
+ {"env_id": 3, "seq": 32, "step": 9222, "t": 46.11, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
33
+ {"env_id": 3, "seq": 33, "step": 10976, "t": 54.88, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
34
+ {"env_id": 3, "seq": 34, "step": 10976, "t": 54.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"}
35
+ {"env_id": 3, "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": 3, "seq": 36, "step": 10976, "t": 54.88, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
episodes/c2_p014_e012/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0580075e2c28993db50550416bf2d6245e7e746879fed25278477233c2930c6a
3
+ size 1277451
episodes/c2_p014_e012/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c2_p014/magicsim/12",
3
+ "fps": 25,
4
+ "frames": 1180,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1180,
8
+ "env": 1180
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/c2_p014_e012/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 12,
3
+ "env_id": 3,
4
+ "run_id": "c2_p014",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
158
+ "pose": {
159
+ "pos": [
160
+ -0.6,
161
+ 0.02,
162
+ 0.9605
163
+ ],
164
+ "ori": [
165
+ 1.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0
169
+ ],
170
+ "scale": [
171
+ 1.0,
172
+ 1.0,
173
+ 1.0
174
+ ]
175
+ },
176
+ "dr": {
177
+ "visual": {
178
+ "kind": null,
179
+ "value": null,
180
+ "visible": true
181
+ },
182
+ "physics": {
183
+ "type": "geometry",
184
+ "collision": false,
185
+ "ratio": 1.0
186
+ },
187
+ "primitive_params": null
188
+ },
189
+ "type_specific": {}
190
+ },
191
+ {
192
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
193
+ "pose": {
194
+ "pos": [
195
+ -0.6,
196
+ 0.02,
197
+ 1.0285
198
+ ],
199
+ "ori": [
200
+ 6.123234262925839e-17,
201
+ 0.0,
202
+ 0.0,
203
+ 1.0
204
+ ],
205
+ "scale": [
206
+ 1.0,
207
+ 1.0,
208
+ 1.0
209
+ ]
210
+ },
211
+ "dr": {
212
+ "visual": {
213
+ "kind": null,
214
+ "value": null,
215
+ "visible": true
216
+ },
217
+ "physics": {
218
+ "type": "geometry",
219
+ "collision": false,
220
+ "ratio": 1.0
221
+ },
222
+ "primitive_params": null
223
+ },
224
+ "type_specific": {}
225
+ },
226
+ {
227
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
228
+ "pose": {
229
+ "pos": [
230
+ -0.6,
231
+ 0.02,
232
+ 1.0965
233
+ ],
234
+ "ori": [
235
+ 1.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "scale": [
241
+ 1.0,
242
+ 1.0,
243
+ 1.0
244
+ ]
245
+ },
246
+ "dr": {
247
+ "visual": {
248
+ "kind": null,
249
+ "value": null,
250
+ "visible": true
251
+ },
252
+ "physics": {
253
+ "type": "geometry",
254
+ "collision": false,
255
+ "ratio": 1.0
256
+ },
257
+ "primitive_params": null
258
+ },
259
+ "type_specific": {}
260
+ },
261
+ {
262
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
263
+ "pose": {
264
+ "pos": [
265
+ -0.6,
266
+ 0.02,
267
+ 1.1645
268
+ ],
269
+ "ori": [
270
+ 6.123234262925839e-17,
271
+ 0.0,
272
+ 0.0,
273
+ 1.0
274
+ ],
275
+ "scale": [
276
+ 1.0,
277
+ 1.0,
278
+ 1.0
279
+ ]
280
+ },
281
+ "dr": {
282
+ "visual": {
283
+ "kind": null,
284
+ "value": null,
285
+ "visible": true
286
+ },
287
+ "physics": {
288
+ "type": "geometry",
289
+ "collision": false,
290
+ "ratio": 1.0
291
+ },
292
+ "primitive_params": null
293
+ },
294
+ "type_specific": {}
295
+ },
296
+ {
297
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
298
+ "pose": {
299
+ "pos": [
300
+ -0.6,
301
+ 0.02,
302
+ 1.2325
303
+ ],
304
+ "ori": [
305
+ 1.0,
306
+ 0.0,
307
+ 0.0,
308
+ 0.0
309
+ ],
310
+ "scale": [
311
+ 1.0,
312
+ 1.0,
313
+ 1.0
314
+ ]
315
+ },
316
+ "dr": {
317
+ "visual": {
318
+ "kind": null,
319
+ "value": null,
320
+ "visible": true
321
+ },
322
+ "physics": {
323
+ "type": "geometry",
324
+ "collision": false,
325
+ "ratio": 1.0
326
+ },
327
+ "primitive_params": null
328
+ },
329
+ "type_specific": {}
330
+ }
331
+ ],
332
+ "a4s_sealer": [
333
+ {
334
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
335
+ "pose": {
336
+ "pos": [
337
+ 0.4701118469238281,
338
+ 0.05037117004394531,
339
+ 0.8999999761581421
340
+ ],
341
+ "ori": [
342
+ 0.7287750244140625,
343
+ 0.0,
344
+ 0.0,
345
+ -0.6847532391548157
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
+ 1.6820824247365529e-12
371
+ ],
372
+ "joint_velocity": [
373
+ 0.0
374
+ ],
375
+ "linear_velocity": [
376
+ 0.0,
377
+ 0.0,
378
+ 0.0
379
+ ],
380
+ "angular_velocity": [
381
+ 0.0,
382
+ 0.0,
383
+ 0.0
384
+ ]
385
+ }
386
+ }
387
+ ],
388
+ "conveyor": [
389
+ {
390
+ "asset": "Cube",
391
+ "pose": {
392
+ "pos": [
393
+ 0.15,
394
+ 0.45,
395
+ 0.9
396
+ ],
397
+ "ori": [
398
+ 1.0,
399
+ 0.0,
400
+ 0.0,
401
+ 0.0
402
+ ],
403
+ "scale": [
404
+ 1.0,
405
+ 1.0,
406
+ 1.0
407
+ ]
408
+ },
409
+ "dr": {
410
+ "visual": {
411
+ "kind": null,
412
+ "value": null,
413
+ "visible": true
414
+ },
415
+ "physics": {
416
+ "type": "conveyor",
417
+ "physics_material": {
418
+ "static_friction": 0.9,
419
+ "dynamic_friction": 0.9
420
+ },
421
+ "ratio": 1.0
422
+ },
423
+ "primitive_params": {
424
+ "size": [
425
+ 2.4,
426
+ 0.076,
427
+ 0.03
428
+ ]
429
+ },
430
+ "conveyor": {
431
+ "speed": 0.2240688762343391,
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": -0.192878675161041,
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": 0.2240688762343391,
480
+ "holds": [],
481
+ "station": "pick",
482
+ "rider": "carrier_4",
483
+ "arrived": true,
484
+ "applied_speed": 0.0
485
+ }
486
+ }
487
+ }
488
+ ],
489
+ "carrier": [
490
+ {
491
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
492
+ "pose": {
493
+ "pos": [
494
+ 0.39725589752197266,
495
+ 1.1524581909179688,
496
+ 0.8999999761581421
497
+ ],
498
+ "ori": [
499
+ -0.010629147291183472,
500
+ -1.8941959112339646e-10,
501
+ 3.3656244458057927e-09,
502
+ 0.9999435544013977
503
+ ],
504
+ "scale": [
505
+ 1.0,
506
+ 1.0,
507
+ 1.0
508
+ ]
509
+ },
510
+ "dr": {
511
+ "visual": {
512
+ "kind": null,
513
+ "value": null,
514
+ "visible": true
515
+ },
516
+ "physics": {
517
+ "type": "rigid",
518
+ "mass": 0.5,
519
+ "physics_material": {
520
+ "static_friction": 0.9,
521
+ "dynamic_friction": 0.9,
522
+ "restitution": 0.0
523
+ },
524
+ "ratio": 1.0
525
+ },
526
+ "primitive_params": null
527
+ },
528
+ "type_specific": {
529
+ "linear_velocity": [
530
+ -5.961120486119853e-11,
531
+ 2.331091542018271e-09,
532
+ 7.450580596923828e-09
533
+ ],
534
+ "angular_velocity": [
535
+ -1.176130695057509e-07,
536
+ -6.858653023300576e-08,
537
+ -4.019519828091234e-09
538
+ ]
539
+ }
540
+ },
541
+ {
542
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
543
+ "pose": {
544
+ "pos": [
545
+ -1.384354591369629,
546
+ 0.7040176391601562,
547
+ 0.8999999761581421
548
+ ],
549
+ "ori": [
550
+ -0.7935783863067627,
551
+ -1.6554729143081204e-07,
552
+ -4.7574843620168394e-08,
553
+ 0.6084680557250977
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
+ 2.2625266637987806e-07,
582
+ -9.439485211260035e-07,
583
+ -2.2239983081817627e-06
584
+ ],
585
+ "angular_velocity": [
586
+ 8.688343950780109e-05,
587
+ 1.0690777344279923e-05,
588
+ 2.835475470419624e-06
589
+ ]
590
+ }
591
+ },
592
+ {
593
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
594
+ "pose": {
595
+ "pos": [
596
+ 1.6744966506958008,
597
+ 0.9243927001953125,
598
+ 0.8999999761581421
599
+ ],
600
+ "ori": [
601
+ 0.5727675557136536,
602
+ -7.701986248775938e-08,
603
+ -2.7960643578239797e-08,
604
+ 0.8197178244590759
605
+ ],
606
+ "scale": [
607
+ 1.0,
608
+ 1.0,
609
+ 1.0
610
+ ]
611
+ },
612
+ "dr": {
613
+ "visual": {
614
+ "kind": null,
615
+ "value": null,
616
+ "visible": true
617
+ },
618
+ "physics": {
619
+ "type": "rigid",
620
+ "mass": 0.5,
621
+ "physics_material": {
622
+ "static_friction": 0.9,
623
+ "dynamic_friction": 0.9,
624
+ "restitution": 0.0
625
+ },
626
+ "ratio": 1.0
627
+ },
628
+ "primitive_params": null
629
+ },
630
+ "type_specific": {
631
+ "linear_velocity": [
632
+ -1.2179405262102705e-09,
633
+ 1.1748750861073631e-09,
634
+ 1.1175870895385742e-08
635
+ ],
636
+ "angular_velocity": [
637
+ -1.042040906895636e-07,
638
+ -1.0351399737373868e-07,
639
+ -4.1910641623843503e-10
640
+ ]
641
+ }
642
+ },
643
+ {
644
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
645
+ "pose": {
646
+ "pos": [
647
+ -0.04261589050292969,
648
+ 0.44750308990478516,
649
+ 0.8999999761581421
650
+ ],
651
+ "ori": [
652
+ 0.9999433159828186,
653
+ -2.3054912645648074e-08,
654
+ 4.443748125027014e-08,
655
+ 0.010650679469108582
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
+ -7.799582135703531e-08,
684
+ -2.762050144156092e-07,
685
+ 1.2293457984924316e-07
686
+ ],
687
+ "angular_velocity": [
688
+ 4.518558853305876e-06,
689
+ 2.504156100258115e-07,
690
+ 2.7257524379820097e-06
691
+ ]
692
+ }
693
+ }
694
+ ],
695
+ "plate": [
696
+ {
697
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
698
+ "pose": {
699
+ "pos": [
700
+ 0.3951253890991211,
701
+ 1.1619081497192383,
702
+ 0.9179999828338623
703
+ ],
704
+ "ori": [
705
+ -0.0018882231088355184,
706
+ 3.593562947212803e-10,
707
+ 2.521087338891448e-09,
708
+ 0.9999982714653015
709
+ ],
710
+ "scale": [
711
+ 1.0,
712
+ 1.0,
713
+ 1.0
714
+ ]
715
+ },
716
+ "dr": {
717
+ "visual": {
718
+ "kind": null,
719
+ "value": null,
720
+ "visible": true
721
+ },
722
+ "physics": {
723
+ "type": "rigid",
724
+ "collision": true,
725
+ "mass": "asset",
726
+ "max_depenetration_velocity": 1.0,
727
+ "physics_material": {
728
+ "static_friction": 0.5,
729
+ "dynamic_friction": 0.45,
730
+ "restitution": 0.0,
731
+ "friction_combine_mode": "average"
732
+ },
733
+ "ratio": 1.0
734
+ },
735
+ "primitive_params": null
736
+ },
737
+ "type_specific": {
738
+ "linear_velocity": [
739
+ 2.4623961536462957e-08,
740
+ 1.7240829208731157e-08,
741
+ 1.1548399925231934e-07
742
+ ],
743
+ "angular_velocity": [
744
+ -2.8064380330761196e-07,
745
+ 1.6744154436310055e-06,
746
+ 3.4957857053541375e-08
747
+ ]
748
+ }
749
+ },
750
+ {
751
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
752
+ "pose": {
753
+ "pos": [
754
+ -1.3780937194824219,
755
+ 0.7043771743774414,
756
+ 0.9179999828338623
757
+ ],
758
+ "ori": [
759
+ -0.7480756640434265,
760
+ -1.6066907448930579e-07,
761
+ -5.44339542329908e-08,
762
+ 0.663613498210907
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
+ 4.083872795490606e-07,
794
+ -2.041910647676559e-06,
795
+ -7.35744833946228e-06
796
+ ],
797
+ "angular_velocity": [
798
+ 8.721020276425406e-05,
799
+ 1.2723920917778742e-05,
800
+ 2.9071600238239625e-06
801
+ ]
802
+ }
803
+ },
804
+ {
805
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
806
+ "pose": {
807
+ "pos": [
808
+ 1.6700239181518555,
809
+ 0.9215984344482422,
810
+ 0.9180000424385071
811
+ ],
812
+ "ori": [
813
+ 0.5445372462272644,
814
+ -7.672729651631016e-08,
815
+ -2.4270594423114744e-08,
816
+ 0.8387365937232971
817
+ ],
818
+ "scale": [
819
+ 1.0,
820
+ 1.0,
821
+ 1.0
822
+ ]
823
+ },
824
+ "dr": {
825
+ "visual": {
826
+ "kind": null,
827
+ "value": null,
828
+ "visible": true
829
+ },
830
+ "physics": {
831
+ "type": "rigid",
832
+ "collision": true,
833
+ "mass": "asset",
834
+ "max_depenetration_velocity": 1.0,
835
+ "physics_material": {
836
+ "static_friction": 0.5,
837
+ "dynamic_friction": 0.45,
838
+ "restitution": 0.0,
839
+ "friction_combine_mode": "average"
840
+ },
841
+ "ratio": 1.0
842
+ },
843
+ "primitive_params": null
844
+ },
845
+ "type_specific": {
846
+ "linear_velocity": [
847
+ 5.484612763950736e-09,
848
+ 1.0429621610796858e-09,
849
+ -5.073845386505127e-06
850
+ ],
851
+ "angular_velocity": [
852
+ 1.3787968100587022e-06,
853
+ 1.5693453860876616e-06,
854
+ -5.2476018197467056e-08
855
+ ]
856
+ }
857
+ },
858
+ {
859
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
860
+ "pose": {
861
+ "pos": [
862
+ -0.05074310302734375,
863
+ 0.443450927734375,
864
+ 0.9180000424385071
865
+ ],
866
+ "ori": [
867
+ 0.995618462562561,
868
+ -2.0558775304380106e-07,
869
+ 3.1880540518614e-07,
870
+ -0.09350956231355667
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
+ -6.876852012283052e-07,
902
+ -4.7535140765830874e-06,
903
+ -6.1802566051483154e-06
904
+ ],
905
+ "angular_velocity": [
906
+ 3.919863229384646e-05,
907
+ 3.889528306899592e-05,
908
+ -6.576325176865794e-06
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": 7.859999999999855,
1107
+ "step": 1572,
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": 1.6820824247365529e-12
1124
+ },
1125
+ "heater": {
1126
+ "state": "ready",
1127
+ "active": null,
1128
+ "duration": 0.0,
1129
+ "t_start": null,
1130
+ "elapsed": 0.0
1131
+ }
1132
+ },
1133
+ "queues": {},
1134
+ "program": null,
1135
+ "sensors": {
1136
+ "plate_present": {
1137
+ "occupants": [],
1138
+ "pending": {}
1139
+ }
1140
+ },
1141
+ "interlocks": {}
1142
+ },
1143
+ "conveyor_1": {
1144
+ "mode": "auto",
1145
+ "units": {
1146
+ "belt": {
1147
+ "state": "at_station",
1148
+ "active": null,
1149
+ "controller": {
1150
+ "speed": 0.2240688762343391,
1151
+ "holds": [],
1152
+ "station": "pick",
1153
+ "rider": "carrier_4",
1154
+ "arrived": true,
1155
+ "settle_count": 1399,
1156
+ "released": {
1157
+ "pick": []
1158
+ },
1159
+ "last_pos": {
1160
+ "carrier_1": [
1161
+ 0.24725589156150818,
1162
+ 0.7024582028388977,
1163
+ 0.0
1164
+ ],
1165
+ "carrier_2": [
1166
+ -1.5343545973300934,
1167
+ 0.2540176510810852,
1168
+ 0.0
1169
+ ],
1170
+ "carrier_3": [
1171
+ 1.5244966447353363,
1172
+ 0.47439271211624146,
1173
+ 0.0
1174
+ ],
1175
+ "carrier_4": [
1176
+ -0.19261589646339417,
1177
+ -0.0024968981742858887,
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_4",
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
+ -0.5235136622371686,
1241
+ 0.47892818128984194,
1242
+ 2.9388918136946365
1243
+ ],
1244
+ "ori": [
1245
+ 6.8320812923041565,
1246
+ -11.691071846540709,
1247
+ -13.991029260187258
1248
+ ],
1249
+ "scale": [
1250
+ 1.0,
1251
+ 1.0,
1252
+ 1.0
1253
+ ]
1254
+ },
1255
+ "dr": {
1256
+ "color_temperature": 3452.6910021742437,
1257
+ "color": [
1258
+ 0.8587701987143445,
1259
+ 0.8055530945065095,
1260
+ 0.9965899973296891
1261
+ ],
1262
+ "intensity": 14762.632605912964,
1263
+ "width": 2.289646402596211,
1264
+ "height": 1.6912513010904222
1265
+ }
1266
+ },
1267
+ "key": {
1268
+ "type": "disk",
1269
+ "pose": {
1270
+ "pos": [
1271
+ 1.2240747617770213,
1272
+ -0.6580218130738131,
1273
+ 2.1065206980522015
1274
+ ],
1275
+ "ori": [
1276
+ 38.07762066078516,
1277
+ 25.822838024509707,
1278
+ 11.89400865209408
1279
+ ],
1280
+ "scale": [
1281
+ 1.0,
1282
+ 1.0,
1283
+ 1.0
1284
+ ]
1285
+ },
1286
+ "dr": {
1287
+ "color_temperature": 6694.413568592006,
1288
+ "color": [
1289
+ 0.7601522760334027,
1290
+ 0.7649000317315365,
1291
+ 0.8175448917866616
1292
+ ],
1293
+ "intensity": 4029.0929271740597,
1294
+ "radius": 0.3071042724805294
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": 672.6851115746001,
1308
+ "texture": null,
1309
+ "color": [
1310
+ 0.92,
1311
+ 0.94,
1312
+ 0.96
1313
+ ]
1314
+ }
1315
+ }
1316
+ },
1317
+ "robots": {
1318
+ "UR5e": {
1319
+ "root_pose": [
1320
+ [
1321
+ 11.0,
1322
+ -11.0,
1323
+ 0.9150000214576721,
1324
+ 1.0,
1325
+ 0.0,
1326
+ 0.0,
1327
+ 0.0
1328
+ ],
1329
+ [
1330
+ 11.0,
1331
+ 11.0,
1332
+ 0.9150000214576721,
1333
+ 1.0,
1334
+ 0.0,
1335
+ 0.0,
1336
+ 0.0
1337
+ ],
1338
+ [
1339
+ -11.0,
1340
+ -11.0,
1341
+ 0.9150000214576721,
1342
+ 1.0,
1343
+ 0.0,
1344
+ 0.0,
1345
+ 0.0
1346
+ ],
1347
+ [
1348
+ -11.0,
1349
+ 11.0,
1350
+ 0.9150000214576721,
1351
+ 1.0,
1352
+ 0.0,
1353
+ 0.0,
1354
+ 0.0
1355
+ ]
1356
+ ],
1357
+ "root_vel": [
1358
+ [
1359
+ 0.0,
1360
+ 0.0,
1361
+ 0.0,
1362
+ 0.0,
1363
+ 0.0,
1364
+ 0.0
1365
+ ],
1366
+ [
1367
+ 0.0,
1368
+ 0.0,
1369
+ 0.0,
1370
+ 0.0,
1371
+ 0.0,
1372
+ 0.0
1373
+ ],
1374
+ [
1375
+ 0.0,
1376
+ 0.0,
1377
+ 0.0,
1378
+ 0.0,
1379
+ 0.0,
1380
+ 0.0
1381
+ ],
1382
+ [
1383
+ 0.0,
1384
+ 0.0,
1385
+ 0.0,
1386
+ 0.0,
1387
+ 0.0,
1388
+ 0.0
1389
+ ]
1390
+ ],
1391
+ "joint_pos": [
1392
+ [
1393
+ 1.4730446338653564,
1394
+ -1.832131266593933,
1395
+ 2.241243362426758,
1396
+ -1.979735255241394,
1397
+ -1.5706199407577515,
1398
+ 2.9905858039855957,
1399
+ 0.00818991381675005,
1400
+ 0.006689028814435005
1401
+ ],
1402
+ [
1403
+ 2.5294606685638428,
1404
+ -2.2546589374542236,
1405
+ 2.2526543140411377,
1406
+ -1.5693038702011108,
1407
+ -1.5709900856018066,
1408
+ 4.100263595581055,
1409
+ 0.008631547912955284,
1410
+ 0.006464814301580191
1411
+ ],
1412
+ [
1413
+ 2.8043692111968994,
1414
+ -1.5168389081954956,
1415
+ 2.1442952156066895,
1416
+ -2.1983213424682617,
1417
+ -1.5707067251205444,
1418
+ 4.375277996063232,
1419
+ 0.007892066612839699,
1420
+ 0.00715338159352541
1421
+ ],
1422
+ [
1423
+ 0.9141026735305786,
1424
+ -1.7193983793258667,
1425
+ 2.0904998779296875,
1426
+ -1.941901683807373,
1427
+ -1.5707999467849731,
1428
+ 2.4848999977111816,
1429
+ 0.01799999736249447,
1430
+ 0.018000001087784767
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.06793951243162155,
1436
+ -0.05681772157549858,
1437
+ 0.016435934230685234,
1438
+ 0.03428882732987404,
1439
+ 0.0003502402687445283,
1440
+ 0.07296735048294067,
1441
+ -0.005692889913916588,
1442
+ 0.0004415176226757467
1443
+ ],
1444
+ [
1445
+ 0.0011230655945837498,
1446
+ 0.0007838048040866852,
1447
+ 0.005241533741354942,
1448
+ 0.002500445581972599,
1449
+ 0.00395460007712245,
1450
+ -0.011081462725996971,
1451
+ -0.003454885445535183,
1452
+ -6.9896959757898e-05
1453
+ ],
1454
+ [
1455
+ -0.0003958208253607154,
1456
+ 7.336385897360742e-05,
1457
+ 0.0005272459238767624,
1458
+ -0.0007820740574970841,
1459
+ -0.00444323243573308,
1460
+ 0.00945935770869255,
1461
+ -0.00882070604711771,
1462
+ 0.0004990857560187578
1463
+ ],
1464
+ [
1465
+ -2.676160010291149e-38,
1466
+ 2.8604615869160774e-38,
1467
+ 1.7597954530499637e-38,
1468
+ 3.3271314182312083e-37,
1469
+ -7.57245278113517e-37,
1470
+ 2.1454305483546104e-37,
1471
+ 2.5990400942532688e-08,
1472
+ -2.5990388508034812e-08
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05325261130928993,
1482
+ 0.00026393478037789464,
1483
+ -0.028482504189014435,
1484
+ -0.26374486088752747,
1485
+ 0.6598945260047913,
1486
+ 0.6466014385223389,
1487
+ -0.27728036046028137
1488
+ ],
1489
+ [
1490
+ 0.0508674755692482,
1491
+ 0.004276891704648733,
1492
+ -0.031012101098895073,
1493
+ -0.2737081050872803,
1494
+ 0.6540101766586304,
1495
+ 0.6401792168617249,
1496
+ -0.2958464026451111
1497
+ ],
1498
+ [
1499
+ 0.04949263855814934,
1500
+ 0.002379057230427861,
1501
+ -0.03145625814795494,
1502
+ -0.287764310836792,
1503
+ 0.6473537683486938,
1504
+ 0.6470947265625,
1505
+ -0.2817681133747101
1506
+ ],
1507
+ [
1508
+ 0.05077298730611801,
1509
+ 0.003428888041526079,
1510
+ -0.02384231984615326,
1511
+ -0.28708600997924805,
1512
+ 0.6427668333053589,
1513
+ 0.6550679802894592,
1514
+ -0.27444198727607727
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.052803780883550644,
1520
+ 0.6030910015106201,
1521
+ 1.930646300315857,
1522
+ 0.053354594856500626,
1523
+ 0.004490694962441921,
1524
+ 0.2545270323753357,
1525
+ 0.9655822515487671
1526
+ ],
1527
+ [
1528
+ 0.04076085612177849,
1529
+ 0.559906542301178,
1530
+ 1.9746605157852173,
1531
+ 0.049497026950120926,
1532
+ 0.022926706820726395,
1533
+ 0.26619067788124084,
1534
+ 0.9623757004737854
1535
+ ],
1536
+ [
1537
+ 0.066432423889637,
1538
+ 0.6020342111587524,
1539
+ 1.966322898864746,
1540
+ 0.05993010848760605,
1541
+ 0.01851685531437397,
1542
+ 0.282819926738739,
1543
+ 0.9571198225021362
1544
+ ],
1545
+ [
1546
+ 0.052470508962869644,
1547
+ 0.5605062246322632,
1548
+ 1.944585919380188,
1549
+ 0.03895111754536629,
1550
+ 0.01592542976140976,
1551
+ 0.26458391547203064,
1552
+ 0.9634441137313843
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c2_p014_e012/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:819bda37fc5a76901b65f218952017c58620a8ee1667caa45ef73f617708ff8b
3
+ size 6202217
episodes/c3_p011_e017/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1421d482c29e78eb355042b93f1ab42ddcdb5f93a010799d3ea632e2a802a03d
3
+ size 199988
episodes/c3_p011_e017/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
3
+ {"env_id": 0, "seq": 3, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 2130, "t": 10.65, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 6919, "t": 34.595, "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": 7532, "t": 37.66, "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": 7532, "t": 37.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.838270901827509}, "cause": "task-0-1"}
8
+ {"env_id": 0, "seq": 8, "step": 7532, "t": 37.66, "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": 7532, "t": 37.66, "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": 7532, "t": 37.66, "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": 7951, "t": 39.755, "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": 7951, "t": 39.755, "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": 7951, "t": 39.755, "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": 7951, "t": 39.755, "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": 7951, "t": 39.755, "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": 7951, "t": 39.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
17
+ {"env_id": 0, "seq": 17, "step": 7951, "t": 39.755, "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": 7951, "t": 39.755, "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": 7951, "t": 39.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.838270901827509}, "cause": "program-0-3"}
20
+ {"env_id": 0, "seq": 20, "step": 8319, "t": 41.595, "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": 8319, "t": 41.595, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8400000000009413}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 8319, "t": 41.595, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.8400000000009413}}, "cause": "program-0-3"}
23
+ {"env_id": 0, "seq": 23, "step": 8319, "t": 41.595, "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": 8319, "t": 41.595, "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": 8319, "t": 41.595, "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": 8739, "t": 43.695, "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": 8739, "t": 43.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.823339239123925e-08}, "cause": "program-0-4"}
28
+ {"env_id": 0, "seq": 28, "step": 8739, "t": 43.695, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.823339239123925e-08}, "cause": "program-0-4"}
29
+ {"env_id": 0, "seq": 29, "step": 8739, "t": 43.695, "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": 8739, "t": 43.695, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
31
+ {"env_id": 0, "seq": 31, "step": 8739, "t": 43.695, "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": 9319, "t": 46.595, "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": 11568, "t": 57.84, "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": 11568, "t": 57.84, "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": 11568, "t": 57.84, "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": 11568, "t": 57.84, "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/c3_p011_e017/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b87cea70b2bf7dd535428ae30f61ebff7e44b05309da8fa3628868c89924baa1
3
+ size 1302482
episodes/c3_p011_e017/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c3_p011/magicsim/17",
3
+ "fps": 25,
4
+ "frames": 1237,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1237,
8
+ "env": 1237
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/c3_p011_e017/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 17,
3
+ "env_id": 0,
4
+ "run_id": "c3_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
190
+ "pose": {
191
+ "pos": [
192
+ -0.6,
193
+ 0.02,
194
+ 1.0285
195
+ ],
196
+ "ori": [
197
+ 6.123234262925839e-17,
198
+ 0.0,
199
+ 0.0,
200
+ 1.0
201
+ ],
202
+ "scale": [
203
+ 1.0,
204
+ 1.0,
205
+ 1.0
206
+ ]
207
+ },
208
+ "dr": {
209
+ "visual": {
210
+ "kind": null,
211
+ "value": null,
212
+ "visible": true
213
+ },
214
+ "physics": {
215
+ "type": "geometry",
216
+ "collision": false,
217
+ "ratio": 1.0
218
+ },
219
+ "primitive_params": null
220
+ },
221
+ "type_specific": {}
222
+ },
223
+ {
224
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
260
+ "pose": {
261
+ "pos": [
262
+ -0.6,
263
+ 0.02,
264
+ 1.1645
265
+ ],
266
+ "ori": [
267
+ 6.123234262925839e-17,
268
+ 0.0,
269
+ 0.0,
270
+ 1.0
271
+ ],
272
+ "scale": [
273
+ 1.0,
274
+ 1.0,
275
+ 1.0
276
+ ]
277
+ },
278
+ "dr": {
279
+ "visual": {
280
+ "kind": null,
281
+ "value": null,
282
+ "visible": true
283
+ },
284
+ "physics": {
285
+ "type": "geometry",
286
+ "collision": false,
287
+ "ratio": 1.0
288
+ },
289
+ "primitive_params": null
290
+ },
291
+ "type_specific": {}
292
+ },
293
+ {
294
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.5070743560791016,
335
+ 0.07066059112548828,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ 0.72294682264328,
340
+ 0.0,
341
+ 0.0,
342
+ -0.6909036636352539
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": 0.2697813792581967,
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": -0.17812801240478568,
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": 0.2697813792581967,
477
+ "holds": [],
478
+ "station": "pick",
479
+ "rider": "carrier_3",
480
+ "arrived": true,
481
+ "applied_speed": 0.0
482
+ }
483
+ }
484
+ }
485
+ ],
486
+ "carrier": [
487
+ {
488
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ -1.392746925354004,
492
+ 0.7415866851806641,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ -0.7578801512718201,
497
+ -5.6846914731067955e-08,
498
+ -1.0657720395101933e-07,
499
+ 0.6523938179016113
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ 1.8789093303439586e-07,
528
+ -1.1238670367674786e-06,
529
+ -2.6337802410125732e-06
530
+ ],
531
+ "angular_velocity": [
532
+ 9.80062031885609e-05,
533
+ 1.3485232557286508e-05,
534
+ -5.913545919611352e-07
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ 1.652242660522461,
543
+ 0.6290912628173828,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ 0.8684502840042114,
548
+ -7.378312005812404e-08,
549
+ -6.450748202269097e-08,
550
+ 0.4957764148712158
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
+ 2.8255110251507176e-08,
579
+ -2.3220392719736083e-08,
580
+ 1.043081283569336e-07
581
+ ],
582
+ "angular_velocity": [
583
+ 1.2650837106775725e-06,
584
+ -1.8136850599148602e-07,
585
+ -4.7414374648724333e-07
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ -0.028224945068359375,
594
+ 0.4500007629394531,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ 1.0,
599
+ 3.40456507430531e-09,
600
+ 2.705267954095092e-11,
601
+ -3.116798325208947e-05
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ -9.07228903113122e-10,
630
+ -9.923173394099649e-11,
631
+ 3.725290298461914e-09
632
+ ],
633
+ "angular_velocity": [
634
+ -1.4933903003111482e-09,
635
+ -7.376389277169437e-08,
636
+ 2.482201111320137e-09
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ -0.024674415588378906,
645
+ 1.1500043869018555,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ 7.078267663018778e-05,
650
+ 4.4137765664586937e-10,
651
+ 4.309222312315342e-09,
652
+ 1.0
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
+ -2.426189915638588e-09,
681
+ -2.3721855590963514e-09,
682
+ 1.1175870895385742e-08
683
+ ],
684
+ "angular_velocity": [
685
+ 1.8406915103241772e-07,
686
+ -2.3142628435834922e-07,
687
+ -9.631682118538265e-09
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ -1.3964729309082031,
698
+ 0.7553977966308594,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ -0.8201069235801697,
703
+ -5.531735070007926e-08,
704
+ -9.952539414825878e-08,
705
+ 0.572210431098938
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 3.8174613337105257e-07,
737
+ -2.5195133730449015e-06,
738
+ -1.1958181858062744e-06
739
+ ],
740
+ "angular_velocity": [
741
+ 9.752441110322252e-05,
742
+ 1.3035439224040601e-05,
743
+ -6.13992483522452e-07
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ 1.6526784896850586,
752
+ 0.626133918762207,
753
+ 0.9180000424385071
754
+ ],
755
+ "ori": [
756
+ 0.9080679416656494,
757
+ -6.874897451325523e-08,
758
+ -6.969329291450777e-08,
759
+ 0.4188229739665985
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
+ 1.957687700837596e-08,
791
+ -4.384540019941596e-08,
792
+ -5.166977643966675e-06
793
+ ],
794
+ "angular_velocity": [
795
+ 2.176534508180339e-06,
796
+ 5.779463663202478e-07,
797
+ -4.1971654241024225e-07
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ -0.04163837432861328,
806
+ 0.4524116516113281,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ 0.9999998807907104,
811
+ 2.8437445731555044e-09,
812
+ -6.114232453668933e-10,
813
+ -0.0005404327530413866
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ -1.3698278067408864e-08,
845
+ 7.75913822081975e-09,
846
+ -5.681067705154419e-06
847
+ ],
848
+ "angular_velocity": [
849
+ 6.582611717931286e-07,
850
+ -2.1305284008121816e-06,
851
+ 4.326175861990578e-09
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ -0.013851165771484375,
860
+ 1.1490259170532227,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.09848631918430328,
865
+ 7.547465985524582e-10,
866
+ 3.860108233055826e-09,
867
+ 0.9951384663581848
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
+ 2.2660962883946922e-08,
899
+ -2.4418971289463798e-09,
900
+ -1.1511147022247314e-06
901
+ ],
902
+ "angular_velocity": [
903
+ -6.350445005409711e-07,
904
+ 1.983000856853323e-06,
905
+ -4.629412941881128e-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": 8.519999999999932,
1104
+ "step": 1704,
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": 0.2697813792581967,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_3",
1151
+ "arrived": true,
1152
+ "settle_count": 1605,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -1.5427469313144684,
1159
+ 0.291586697101593,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ 1.5022426545619965,
1164
+ 0.17909127473831177,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ -0.17822495102882385,
1169
+ 7.748603820800781e-07,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ -0.17467442154884338,
1174
+ 0.7000043988227844,
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
+ 0.2695358694664395,
1238
+ -0.43818978909738276,
1239
+ 2.939894490638057
1240
+ ],
1241
+ "ori": [
1242
+ -6.017969432761246,
1243
+ 11.556990319136293,
1244
+ 27.502175295981317
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 4084.6173700877516,
1254
+ "color": [
1255
+ 0.8429670640159949,
1256
+ 0.8469225989131606,
1257
+ 0.8449810396561188
1258
+ ],
1259
+ "intensity": 15437.983965317355,
1260
+ "width": 2.1344902907707186,
1261
+ "height": 1.508673341845796
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "sphere",
1266
+ "pose": {
1267
+ "pos": [
1268
+ 1.178804161593844,
1269
+ -0.07795610293904343,
1270
+ 1.9176210192469032
1271
+ ],
1272
+ "ori": [
1273
+ -0.8597853962457407,
1274
+ 20.452821931731926,
1275
+ 35.014405898681275
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 6242.675538479058,
1285
+ "color": [
1286
+ 0.903699721062319,
1287
+ 0.9099893377690038,
1288
+ 0.9115929183020965
1289
+ ],
1290
+ "intensity": 8040.2025657502445,
1291
+ "radius": 0.13353356621379792
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": 1574.5910873065266,
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
+ 0.9141125082969666,
1394
+ -1.7193931341171265,
1395
+ 2.0904970169067383,
1396
+ -1.9419008493423462,
1397
+ -1.5707999467849731,
1398
+ 2.48490571975708,
1399
+ 0.01799999363720417,
1400
+ 0.018000004813075066
1401
+ ],
1402
+ [
1403
+ 0.9141024947166443,
1404
+ -1.7193981409072876,
1405
+ 2.090498924255371,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.484900951385498,
1409
+ 0.01799999736249447,
1410
+ 0.018000001087784767
1411
+ ],
1412
+ [
1413
+ 0.324446439743042,
1414
+ -1.9176995754241943,
1415
+ 2.300837278366089,
1416
+ -1.9532281160354614,
1417
+ -1.5707916021347046,
1418
+ 3.414013624191284,
1419
+ 0.006587815936654806,
1420
+ 0.008487311191856861
1421
+ ],
1422
+ [
1423
+ 2.805445671081543,
1424
+ -1.611602544784546,
1425
+ 2.0290868282318115,
1426
+ -1.9877294301986694,
1427
+ -1.570756196975708,
1428
+ 4.377478122711182,
1429
+ 0.018000012263655663,
1430
+ 0.017999986186623573
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 1.542043332811155e-16,
1436
+ 2.9245473482624726e-17,
1437
+ -4.833830153336304e-16,
1438
+ 2.4074997231242692e-15,
1439
+ -2.0081476171746266e-15,
1440
+ -7.804324406775892e-15,
1441
+ 7.797117973495915e-08,
1442
+ -7.797117973495915e-08
1443
+ ],
1444
+ [
1445
+ 0.0,
1446
+ -2.454474593234963e-38,
1447
+ -1.2499685997863728e-38,
1448
+ -4.265927400769919e-37,
1449
+ 2.7658317895163454e-37,
1450
+ 7.673397726246167e-38,
1451
+ 2.5990386731677972e-08,
1452
+ -2.5990386731677972e-08
1453
+ ],
1454
+ [
1455
+ 0.031063377857208252,
1456
+ 0.010197139345109463,
1457
+ -0.008639318868517876,
1458
+ -0.008939310908317566,
1459
+ -0.0002660071768332273,
1460
+ -0.07148414850234985,
1461
+ -0.004814235493540764,
1462
+ 0.0005691634141840041
1463
+ ],
1464
+ [
1465
+ 1.3623861377709545e-05,
1466
+ 6.8118911258352455e-06,
1467
+ -6.811959792685229e-06,
1468
+ 3.405976940484834e-06,
1469
+ -6.811957518948475e-06,
1470
+ -1.3623911399918143e-05,
1471
+ -1.8195017048583395e-07,
1472
+ 1.8194154449702182e-07
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05154001712799072,
1482
+ -0.0020038988441228867,
1483
+ -0.027831705287098885,
1484
+ -0.27776217460632324,
1485
+ 0.6481252908706665,
1486
+ 0.6532101035118103,
1487
+ -0.2758592963218689
1488
+ ],
1489
+ [
1490
+ 0.05220220983028412,
1491
+ 0.0010897169122472405,
1492
+ -0.03156888484954834,
1493
+ -0.2847294211387634,
1494
+ 0.6427018642425537,
1495
+ 0.6482884287834167,
1496
+ -0.29255008697509766
1497
+ ],
1498
+ [
1499
+ 0.044524483382701874,
1500
+ -0.002862538443878293,
1501
+ -0.030728278681635857,
1502
+ -0.27770164608955383,
1503
+ 0.6539171934127808,
1504
+ 0.6404258608818054,
1505
+ -0.2917683720588684
1506
+ ],
1507
+ [
1508
+ 0.050749272108078,
1509
+ 0.001493651419878006,
1510
+ -0.02942526713013649,
1511
+ -0.2854801118373871,
1512
+ 0.6439033150672913,
1513
+ 0.6530394554138184,
1514
+ -0.2782609164714813
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.043363094329833984,
1520
+ 0.5796500444412231,
1521
+ 1.9610581398010254,
1522
+ 0.02881239540874958,
1523
+ 0.0010017940076068044,
1524
+ 0.2708924114704132,
1525
+ 0.9621778130531311
1526
+ ],
1527
+ [
1528
+ 0.05353272333741188,
1529
+ 0.5558406114578247,
1530
+ 1.940881371498108,
1531
+ 0.03702623024582863,
1532
+ 0.014388114213943481,
1533
+ 0.28346049785614014,
1534
+ 0.9581608176231384
1535
+ ],
1536
+ [
1537
+ 0.05287165939807892,
1538
+ 0.6012502312660217,
1539
+ 1.9297785758972168,
1540
+ 0.025533372536301613,
1541
+ -0.0004078381462022662,
1542
+ 0.25503864884376526,
1543
+ 0.9665935635566711
1544
+ ],
1545
+ [
1546
+ 0.05639387667179108,
1547
+ 0.5785723328590393,
1548
+ 1.9532983303070068,
1549
+ 0.04102633148431778,
1550
+ 0.002211817307397723,
1551
+ 0.2864639461040497,
1552
+ 0.9572096467018127
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c3_p011_e017/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68cf136403f054bff66be7ea671c4216c3ce7596d0aca2075e16686c381df473
3
+ size 8267870
episodes/c3_p011_e018/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb2e9fcfd95dd8008199d2694886d68f3b9da97e823c37c511b6c511eb258b72
3
+ size 191892
episodes/c3_p011_e018/device_events.jsonl ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 34, "t": 0.17, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 34, "t": 0.17, "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": 39, "t": 0.195, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 1623, "t": 8.115, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 1688, "t": 8.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
6
+ {"env_id": 1, "seq": 6, "step": 1732, "t": 8.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
7
+ {"env_id": 1, "seq": 7, "step": 1778, "t": 8.89, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
8
+ {"env_id": 1, "seq": 8, "step": 1793, "t": 8.965, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
9
+ {"env_id": 1, "seq": 9, "step": 6369, "t": 31.845, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
10
+ {"env_id": 1, "seq": 10, "step": 6976, "t": 34.88, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
11
+ {"env_id": 1, "seq": 11, "step": 6976, "t": 34.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.315373167346519}, "cause": "task-1-1"}
12
+ {"env_id": 1, "seq": 12, "step": 6976, "t": 34.88, "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"}
13
+ {"env_id": 1, "seq": 13, "step": 6976, "t": 34.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
14
+ {"env_id": 1, "seq": 14, "step": 6976, "t": 34.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
15
+ {"env_id": 1, "seq": 15, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
16
+ {"env_id": 1, "seq": 16, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
17
+ {"env_id": 1, "seq": 17, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
18
+ {"env_id": 1, "seq": 18, "step": 7395, "t": 36.975, "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"}
19
+ {"env_id": 1, "seq": 19, "step": 7395, "t": 36.975, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
20
+ {"env_id": 1, "seq": 20, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
21
+ {"env_id": 1, "seq": 21, "step": 7395, "t": 36.975, "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"}
22
+ {"env_id": 1, "seq": 22, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
23
+ {"env_id": 1, "seq": 23, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.315373167346519}, "cause": "program-1-3"}
24
+ {"env_id": 1, "seq": 24, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
25
+ {"env_id": 1, "seq": 25, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.32000000000221}, "cause": "program-1-3"}
26
+ {"env_id": 1, "seq": 26, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.32000000000221}}, "cause": "program-1-3"}
27
+ {"env_id": 1, "seq": 27, "step": 8259, "t": 41.295, "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"}
28
+ {"env_id": 1, "seq": 28, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
29
+ {"env_id": 1, "seq": 29, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
30
+ {"env_id": 1, "seq": 30, "step": 8679, "t": 43.395, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
31
+ {"env_id": 1, "seq": 31, "step": 8679, "t": 43.395, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
32
+ {"env_id": 1, "seq": 32, "step": 8679, "t": 43.395, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
33
+ {"env_id": 1, "seq": 33, "step": 8679, "t": 43.395, "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"}
34
+ {"env_id": 1, "seq": 34, "step": 8679, "t": 43.395, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
35
+ {"env_id": 1, "seq": 35, "step": 8679, "t": 43.395, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
36
+ {"env_id": 1, "seq": 36, "step": 9255, "t": 46.275, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
37
+ {"env_id": 1, "seq": 37, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
38
+ {"env_id": 1, "seq": 38, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
39
+ {"env_id": 1, "seq": 39, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
40
+ {"env_id": 1, "seq": 40, "step": 10964, "t": 54.82, "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/c3_p011_e018/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe3702dde91e3d1a5cf48ef7889b37292b0d85cd38051ce895a62ee3757e8808
3
+ size 1212963
episodes/c3_p011_e018/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c3_p011/magicsim/18",
3
+ "fps": 25,
4
+ "frames": 1225,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1225,
8
+ "env": 1225
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/c3_p011_e018/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 18,
3
+ "env_id": 1,
4
+ "run_id": "c3_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.4727363586425781,
336
+ 0.10762405395507812,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.6868088245391846,
341
+ 0.0,
342
+ 0.0,
343
+ 0.7268381118774414
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
+ 4.037002069440243e-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": 0.2478395575268731,
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": -0.221351279615291,
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": 0.2478395575268731,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_4",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ 1.6956205368041992,
493
+ 0.7510709762573242,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 0.757111132144928,
498
+ 1.047989002245231e-07,
499
+ -3.803967629778526e-08,
500
+ 0.6532860994338989
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ -1.1073617400825242e-07,
529
+ 4.043748447202233e-09,
530
+ 4.0978193283081055e-08
531
+ ],
532
+ "angular_velocity": [
533
+ -1.087520900000527e-06,
534
+ -4.403653747431235e-06,
535
+ 6.097317282183212e-07
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 0.12302684783935547,
544
+ 1.1499977111816406,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 2.1722344172303565e-05,
549
+ -1.8293818015990837e-08,
550
+ -3.918930957524935e-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
+ -4.4496328843735e-10,
580
+ -4.681717236110217e-10,
581
+ 0.0
582
+ ],
583
+ "angular_velocity": [
584
+ 6.046970923989647e-08,
585
+ -2.7636499311256557e-08,
586
+ -8.572935250583669e-09
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ -1.3985395431518555,
595
+ 0.8153820037841797,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -0.692351222038269,
600
+ 5.4759322409836386e-08,
601
+ 3.4160059669829934e-08,
602
+ 0.7215607166290283
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 2.417604449966859e-10,
631
+ 9.240130882659514e-11,
632
+ 0.0
633
+ ],
634
+ "angular_velocity": [
635
+ -3.0647022697394277e-09,
636
+ 4.9125389978144085e-08,
637
+ 3.4645504243258074e-09
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -0.07182502746582031,
646
+ 0.4499969482421875,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ 1.0,
651
+ 9.78967878983994e-11,
652
+ 4.660833385905505e-10,
653
+ 4.764255209011026e-05
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
+ 1.2113796632462481e-09,
682
+ 1.2632550561164635e-10,
683
+ 1.4901161193847656e-08
684
+ ],
685
+ "angular_velocity": [
686
+ 6.731298185513879e-09,
687
+ 1.1990124448857387e-07,
688
+ -8.204194656968866e-09
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ 1.6846380233764648,
699
+ 0.7438602447509766,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ 0.7087844610214233,
704
+ 9.026951488522172e-07,
705
+ 4.267319013706583e-07,
706
+ 0.7054251432418823
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ -5.809713002236094e-06,
738
+ 7.049929536151467e-06,
739
+ -5.941838026046753e-06
740
+ ],
741
+ "angular_velocity": [
742
+ -3.068834848818369e-05,
743
+ -4.064931999891996e-06,
744
+ 1.2858468835474923e-05
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 0.13463783264160156,
753
+ 1.1605682373046875,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ -0.03106158971786499,
758
+ -1.722352038768804e-08,
759
+ -2.93813684493216e-09,
760
+ 0.9995175004005432
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
+ 1.8775745402876964e-08,
792
+ -1.525872939112105e-08,
793
+ -5.21540641784668e-06
794
+ ],
795
+ "angular_velocity": [
796
+ -8.625650025351206e-07,
797
+ 1.9004669411515351e-06,
798
+ 1.1519877318733052e-07
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ -1.398453712463379,
807
+ 0.8277645111083984,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ -0.7126310467720032,
812
+ 5.6250218705145016e-08,
813
+ 3.184819163948305e-08,
814
+ 0.7015390992164612
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ 4.782450879758926e-09,
846
+ 3.376437973656721e-08,
847
+ -5.967915058135986e-06
848
+ ],
849
+ "angular_velocity": [
850
+ -1.6832849496495328e-06,
851
+ -6.352908599183138e-07,
852
+ 1.5210636661322496e-07
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -0.08681774139404297,
861
+ 0.45142555236816406,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.9984168410301208,
866
+ -4.740326797758598e-09,
867
+ 9.416424584518523e-11,
868
+ 0.05624789372086525
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
+ -1.434139118572375e-08,
900
+ -2.6654596751995996e-08,
901
+ 2.2351741790771484e-07
902
+ ],
903
+ "angular_velocity": [
904
+ 2.1464873043441912e-06,
905
+ -1.9462052023300203e-06,
906
+ -1.059645526879649e-07
907
+ ]
908
+ }
909
+ }
910
+ ],
911
+ "deco_hub_west": [
912
+ {
913
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
914
+ "pose": {
915
+ "pos": [
916
+ -3.36,
917
+ 0.0,
918
+ 0.0
919
+ ],
920
+ "ori": [
921
+ 1.0,
922
+ 0.0,
923
+ 0.0,
924
+ 0.0
925
+ ],
926
+ "scale": [
927
+ 1.0,
928
+ 1.0,
929
+ 1.0
930
+ ]
931
+ },
932
+ "dr": {
933
+ "visual": {
934
+ "kind": null,
935
+ "value": null,
936
+ "visible": true
937
+ },
938
+ "physics": {
939
+ "type": "geometry",
940
+ "collision": false,
941
+ "ratio": 1.0
942
+ },
943
+ "primitive_params": null
944
+ },
945
+ "type_specific": {}
946
+ }
947
+ ],
948
+ "deco_hub_east": [
949
+ {
950
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
951
+ "pose": {
952
+ "pos": [
953
+ 3.36,
954
+ 0.0,
955
+ 0.0
956
+ ],
957
+ "ori": [
958
+ 1.0,
959
+ 0.0,
960
+ 0.0,
961
+ 0.0
962
+ ],
963
+ "scale": [
964
+ 1.0,
965
+ 1.0,
966
+ 1.0
967
+ ]
968
+ },
969
+ "dr": {
970
+ "visual": {
971
+ "kind": null,
972
+ "value": null,
973
+ "visible": true
974
+ },
975
+ "physics": {
976
+ "type": "geometry",
977
+ "collision": false,
978
+ "ratio": 1.0
979
+ },
980
+ "primitive_params": null
981
+ },
982
+ "type_specific": {}
983
+ }
984
+ ],
985
+ "deco_hub_back": [
986
+ {
987
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
988
+ "pose": {
989
+ "pos": [
990
+ -3.0,
991
+ -2.1,
992
+ 0.0
993
+ ],
994
+ "ori": [
995
+ 1.0,
996
+ 0.0,
997
+ 0.0,
998
+ 0.0
999
+ ],
1000
+ "scale": [
1001
+ 1.0,
1002
+ 1.0,
1003
+ 1.0
1004
+ ]
1005
+ },
1006
+ "dr": {
1007
+ "visual": {
1008
+ "kind": null,
1009
+ "value": null,
1010
+ "visible": true
1011
+ },
1012
+ "physics": {
1013
+ "type": "geometry",
1014
+ "collision": false,
1015
+ "ratio": 1.0
1016
+ },
1017
+ "primitive_params": null
1018
+ },
1019
+ "type_specific": {}
1020
+ }
1021
+ ],
1022
+ "deco_bench_east": [
1023
+ {
1024
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
1025
+ "pose": {
1026
+ "pos": [
1027
+ 2.6,
1028
+ -2.5,
1029
+ 0.0
1030
+ ],
1031
+ "ori": [
1032
+ 6.123234262925839e-17,
1033
+ 0.0,
1034
+ 0.0,
1035
+ 1.0
1036
+ ],
1037
+ "scale": [
1038
+ 1.0,
1039
+ 1.0,
1040
+ 1.0
1041
+ ]
1042
+ },
1043
+ "dr": {
1044
+ "visual": {
1045
+ "kind": null,
1046
+ "value": null,
1047
+ "visible": true
1048
+ },
1049
+ "physics": {
1050
+ "type": "geometry",
1051
+ "collision": false,
1052
+ "ratio": 1.0
1053
+ },
1054
+ "primitive_params": null
1055
+ },
1056
+ "type_specific": {}
1057
+ }
1058
+ ],
1059
+ "deco_bench_gap": [
1060
+ {
1061
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1062
+ "pose": {
1063
+ "pos": [
1064
+ -0.1,
1065
+ -2.9,
1066
+ 0.0
1067
+ ],
1068
+ "ori": [
1069
+ 1.0,
1070
+ 0.0,
1071
+ 0.0,
1072
+ 0.0
1073
+ ],
1074
+ "scale": [
1075
+ 1.0,
1076
+ 1.0,
1077
+ 1.0
1078
+ ]
1079
+ },
1080
+ "dr": {
1081
+ "visual": {
1082
+ "kind": null,
1083
+ "value": null,
1084
+ "visible": true
1085
+ },
1086
+ "physics": {
1087
+ "type": "geometry",
1088
+ "collision": false,
1089
+ "ratio": 1.0
1090
+ },
1091
+ "primitive_params": null
1092
+ },
1093
+ "type_specific": {}
1094
+ }
1095
+ ]
1096
+ },
1097
+ {},
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ {
1104
+ "t": 5.979999999999895,
1105
+ "step": 1196,
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": 4.037002069440243e-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": 0.2478395575268731,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_4",
1152
+ "arrived": true,
1153
+ "settle_count": 1161,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ 1.5456205308437347,
1160
+ 0.3010709881782532,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ -0.02697315812110901,
1165
+ 0.6999977231025696,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ -1.54853954911232,
1170
+ 0.36538201570510864,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -0.2218250334262848,
1175
+ -3.039836883544922e-06,
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_4",
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
+ 0.5035825705469962,
1239
+ -0.45586897734869286,
1240
+ 3.0106092852704323
1241
+ ],
1242
+ "ori": [
1243
+ 10.308229740597422,
1244
+ -7.014644756903171,
1245
+ -6.212959324471683
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 6049.998144720585,
1255
+ "color": [
1256
+ 0.9934925050910957,
1257
+ 0.8433080998265852,
1258
+ 0.8011954584754768
1259
+ ],
1260
+ "intensity": 13487.4604850921,
1261
+ "width": 2.089339581860717,
1262
+ "height": 1.106167564090854
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ -0.41471975998058674,
1270
+ -0.006031210614134919,
1271
+ 2.2982989810723278
1272
+ ],
1273
+ "ori": [
1274
+ 30.38999400722585,
1275
+ -39.84213865708709,
1276
+ 24.538128830795202
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 4961.817298059581,
1286
+ "color": [
1287
+ 0.7701730340869624,
1288
+ 0.8507776025452415,
1289
+ 0.7806100004752636
1290
+ ],
1291
+ "intensity": 2501.858698678433,
1292
+ "radius": 0.1804203234668848
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": 1574.5910873065266,
1308
+ "texture": null,
1309
+ "color": [
1310
+ 0.92,
1311
+ 0.94,
1312
+ 0.96
1313
+ ]
1314
+ }
1315
+ }
1316
+ },
1317
+ "robots": {
1318
+ "UR5e": {
1319
+ "root_pose": [
1320
+ [
1321
+ 11.0,
1322
+ -11.0,
1323
+ 0.9150000214576721,
1324
+ 1.0,
1325
+ 0.0,
1326
+ 0.0,
1327
+ 0.0
1328
+ ],
1329
+ [
1330
+ 11.0,
1331
+ 11.0,
1332
+ 0.9150000214576721,
1333
+ 1.0,
1334
+ 0.0,
1335
+ 0.0,
1336
+ 0.0
1337
+ ],
1338
+ [
1339
+ -11.0,
1340
+ -11.0,
1341
+ 0.9150000214576721,
1342
+ 1.0,
1343
+ 0.0,
1344
+ 0.0,
1345
+ 0.0
1346
+ ],
1347
+ [
1348
+ -11.0,
1349
+ 11.0,
1350
+ 0.9150000214576721,
1351
+ 1.0,
1352
+ 0.0,
1353
+ 0.0,
1354
+ 0.0
1355
+ ]
1356
+ ],
1357
+ "root_vel": [
1358
+ [
1359
+ 0.0,
1360
+ 0.0,
1361
+ 0.0,
1362
+ 0.0,
1363
+ 0.0,
1364
+ 0.0
1365
+ ],
1366
+ [
1367
+ 0.0,
1368
+ 0.0,
1369
+ 0.0,
1370
+ 0.0,
1371
+ 0.0,
1372
+ 0.0
1373
+ ],
1374
+ [
1375
+ 0.0,
1376
+ 0.0,
1377
+ 0.0,
1378
+ 0.0,
1379
+ 0.0,
1380
+ 0.0
1381
+ ],
1382
+ [
1383
+ 0.0,
1384
+ 0.0,
1385
+ 0.0,
1386
+ 0.0,
1387
+ 0.0,
1388
+ 0.0
1389
+ ]
1390
+ ],
1391
+ "joint_pos": [
1392
+ [
1393
+ 1.0640559196472168,
1394
+ -1.395063042640686,
1395
+ 2.208556652069092,
1396
+ -2.3842451572418213,
1397
+ -1.5707966089248657,
1398
+ 2.6359331607818604,
1399
+ 0.018000053241848946,
1400
+ 0.01799994520843029
1401
+ ],
1402
+ [
1403
+ 0.9141024947166443,
1404
+ -1.7193981409072876,
1405
+ 2.090498924255371,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.484900951385498,
1409
+ 0.01799999736249447,
1410
+ 0.018000001087784767
1411
+ ],
1412
+ [
1413
+ 0.9413700699806213,
1414
+ -1.703721046447754,
1415
+ 2.2048850059509277,
1416
+ -2.07338285446167,
1417
+ -1.570548176765442,
1418
+ 1.8811612129211426,
1419
+ 0.00875056441873312,
1420
+ 0.006241694092750549
1421
+ ],
1422
+ [
1423
+ 2.698723316192627,
1424
+ -1.9091547727584839,
1425
+ 2.26023006439209,
1426
+ -1.9213416576385498,
1427
+ -1.570816159248352,
1428
+ 4.270753383636475,
1429
+ 0.018000023439526558,
1430
+ 0.017999975010752678
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -7.231144263641909e-05,
1436
+ 0.01745018921792507,
1437
+ 0.008133960887789726,
1438
+ -0.024360405281186104,
1439
+ -7.894768714322709e-06,
1440
+ 6.763546116417274e-05,
1441
+ -7.5508883128350135e-06,
1442
+ 7.552571332780644e-06
1443
+ ],
1444
+ [
1445
+ 0.0,
1446
+ -2.454474593234963e-38,
1447
+ -1.2499685997863728e-38,
1448
+ -4.265927400769919e-37,
1449
+ 2.7658317895163454e-37,
1450
+ 7.673397726246167e-38,
1451
+ 2.5990386731677972e-08,
1452
+ -2.5990386731677972e-08
1453
+ ],
1454
+ [
1455
+ 0.03419851139187813,
1456
+ 0.013369946740567684,
1457
+ 0.0038656177930533886,
1458
+ -0.005086556077003479,
1459
+ 0.0009714530897326767,
1460
+ -0.06939545273780823,
1461
+ -0.006941111758351326,
1462
+ 0.00044131718459539115
1463
+ ],
1464
+ [
1465
+ -0.010125217027962208,
1466
+ -0.02483237162232399,
1467
+ 0.015038078650832176,
1468
+ 0.0093205152079463,
1469
+ -1.609271021152381e-05,
1470
+ -0.010259105823934078,
1471
+ -3.117847882094793e-06,
1472
+ 3.118016593361972e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05243488401174545,
1482
+ -0.0013393242843449116,
1483
+ -0.028318513184785843,
1484
+ -0.26915040612220764,
1485
+ 0.6505114436149597,
1486
+ 0.6554117202758789,
1487
+ -0.27354779839515686
1488
+ ],
1489
+ [
1490
+ 0.05271881818771362,
1491
+ -0.00038244546158239245,
1492
+ -0.029873864725232124,
1493
+ -0.2804147005081177,
1494
+ 0.6426780223846436,
1495
+ 0.6491132974624634,
1496
+ -0.2949313521385193
1497
+ ],
1498
+ [
1499
+ 0.046480242162942886,
1500
+ -0.00045242137275636196,
1501
+ -0.03165648132562637,
1502
+ -0.27375558018684387,
1503
+ 0.653205931186676,
1504
+ 0.6406192183494568,
1505
+ -0.2966259717941284
1506
+ ],
1507
+ [
1508
+ 0.051932696253061295,
1509
+ 0.00023669855727348477,
1510
+ -0.02984113059937954,
1511
+ -0.2932572066783905,
1512
+ 0.6465544104576111,
1513
+ 0.6492192149162292,
1514
+ -0.27291399240493774
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.043363094329833984,
1520
+ 0.5796500444412231,
1521
+ 1.9610581398010254,
1522
+ 0.02881239540874958,
1523
+ 0.0010017940076068044,
1524
+ 0.2708924114704132,
1525
+ 0.9621778130531311
1526
+ ],
1527
+ [
1528
+ 0.05353272333741188,
1529
+ 0.5558406114578247,
1530
+ 1.940881371498108,
1531
+ 0.03702623024582863,
1532
+ 0.014388114213943481,
1533
+ 0.28346049785614014,
1534
+ 0.9581608176231384
1535
+ ],
1536
+ [
1537
+ 0.05287165939807892,
1538
+ 0.6012502312660217,
1539
+ 1.9297785758972168,
1540
+ 0.025533372536301613,
1541
+ -0.0004078381462022662,
1542
+ 0.25503864884376526,
1543
+ 0.9665935635566711
1544
+ ],
1545
+ [
1546
+ 0.05639387667179108,
1547
+ 0.5785723328590393,
1548
+ 1.9532983303070068,
1549
+ 0.04102633148431778,
1550
+ 0.002211817307397723,
1551
+ 0.2864639461040497,
1552
+ 0.9572096467018127
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c3_p011_e018/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80fd6eccbbd877cebd2a693d8317cedc8dc453e4cb0a3f5459e795fce176de1e
3
+ size 5973871
episodes/c4_p012_e000/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90936a52c3af9454ea24ba334a1681f14d571474c5032b44cf0e0f9af37d308b
3
+ size 192240
episodes/c4_p012_e000/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
3
+ {"env_id": 2, "seq": 3, "step": 108, "t": 0.54, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 6141, "t": 30.705, "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": 6748, "t": 33.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
6
+ {"env_id": 2, "seq": 6, "step": 6748, "t": 33.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.5286022669792296}, "cause": "task-2-1"}
7
+ {"env_id": 2, "seq": 7, "step": 6748, "t": 33.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
8
+ {"env_id": 2, "seq": 8, "step": 6748, "t": 33.74, "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": 6748, "t": 33.74, "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": 7167, "t": 35.835, "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": 7167, "t": 35.835, "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": 7167, "t": 35.835, "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": 7167, "t": 35.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
14
+ {"env_id": 2, "seq": 14, "step": 7167, "t": 35.835, "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": 7167, "t": 35.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
16
+ {"env_id": 2, "seq": 16, "step": 7167, "t": 35.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
17
+ {"env_id": 2, "seq": 17, "step": 7167, "t": 35.835, "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": 7167, "t": 35.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.5286022669792296}, "cause": "program-2-3"}
19
+ {"env_id": 2, "seq": 19, "step": 7873, "t": 39.365, "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": 7873, "t": 39.365, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.530000000001806}, "cause": "program-2-3"}
21
+ {"env_id": 2, "seq": 21, "step": 7873, "t": 39.365, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.530000000001806}}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 7873, "t": 39.365, "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": 7873, "t": 39.365, "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": 7873, "t": 39.365, "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": 8293, "t": 41.465, "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": 8293, "t": 41.465, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.7579588612880457e-10}, "cause": "program-2-4"}
27
+ {"env_id": 2, "seq": 27, "step": 8293, "t": 41.465, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.7579588612880457e-10}, "cause": "program-2-4"}
28
+ {"env_id": 2, "seq": 28, "step": 8293, "t": 41.465, "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": 8293, "t": 41.465, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
30
+ {"env_id": 2, "seq": 30, "step": 8293, "t": 41.465, "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": 8871, "t": 44.355, "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": 10588, "t": 52.94, "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": 10588, "t": 52.94, "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": 10588, "t": 52.94, "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": 10588, "t": 52.94, "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_p012_e000/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2075d87b5da8bda437f46cdb6cad7bef9bff9b937caa1028146f644dcccbcc36
3
+ size 1295818
episodes/c4_p012_e000/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p012/magicsim/0",
3
+ "fps": 25,
4
+ "frames": 1258,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1258,
8
+ "env": 1258
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_p012_e000/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 0,
3
+ "env_id": 2,
4
+ "run_id": "c4_p012",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 2,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {
23
+ "rac_cell": [
24
+ {
25
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
26
+ "pose": {
27
+ "pos": [
28
+ 0.0,
29
+ 0.0,
30
+ 0.0
31
+ ],
32
+ "ori": [
33
+ 1.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0
37
+ ],
38
+ "scale": [
39
+ 1.0,
40
+ 1.0,
41
+ 1.0
42
+ ]
43
+ },
44
+ "dr": {
45
+ "visual": {
46
+ "kind": null,
47
+ "value": null,
48
+ "visible": true
49
+ },
50
+ "physics": {
51
+ "type": "geometry",
52
+ "collision": false,
53
+ "physics_material": {
54
+ "static_friction": 0.6,
55
+ "dynamic_friction": 0.5,
56
+ "restitution": 0.0
57
+ },
58
+ "ratio": 1.0
59
+ },
60
+ "primitive_params": null
61
+ },
62
+ "type_specific": {}
63
+ }
64
+ ],
65
+ "robot_mount": [
66
+ {
67
+ "asset": "Cube",
68
+ "pose": {
69
+ "pos": [
70
+ 0.0,
71
+ 0.0,
72
+ 0.9075
73
+ ],
74
+ "ori": [
75
+ 1.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0
79
+ ],
80
+ "scale": [
81
+ 1.0,
82
+ 1.0,
83
+ 1.0
84
+ ]
85
+ },
86
+ "dr": {
87
+ "visual": {
88
+ "kind": "color",
89
+ "value": [
90
+ 0.55,
91
+ 0.56,
92
+ 0.58
93
+ ],
94
+ "visible": true
95
+ },
96
+ "physics": {
97
+ "type": "geometry",
98
+ "collision": false,
99
+ "ratio": 1.0
100
+ },
101
+ "primitive_params": {
102
+ "size": [
103
+ 0.2,
104
+ 0.2,
105
+ 0.015
106
+ ]
107
+ }
108
+ },
109
+ "type_specific": {}
110
+ }
111
+ ],
112
+ "plate_rack": [
113
+ {
114
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
115
+ "pose": {
116
+ "pos": [
117
+ -0.6,
118
+ 0.02,
119
+ 0.9
120
+ ],
121
+ "ori": [
122
+ 6.123234262925839e-17,
123
+ 0.0,
124
+ 0.0,
125
+ 1.0
126
+ ],
127
+ "scale": [
128
+ 1.0,
129
+ 1.0,
130
+ 1.0
131
+ ]
132
+ },
133
+ "dr": {
134
+ "visual": {
135
+ "kind": null,
136
+ "value": null,
137
+ "visible": true
138
+ },
139
+ "physics": {
140
+ "type": "geometry",
141
+ "collision": false,
142
+ "physics_material": {
143
+ "static_friction": 0.6,
144
+ "dynamic_friction": 0.5,
145
+ "restitution": 0.0
146
+ },
147
+ "ratio": 1.0
148
+ },
149
+ "primitive_params": null
150
+ },
151
+ "type_specific": {}
152
+ }
153
+ ],
154
+ "hotel_plate": [
155
+ {
156
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.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/pcr_96_blue/pcr_96_blue.usd",
262
+ "pose": {
263
+ "pos": [
264
+ -0.6,
265
+ 0.02,
266
+ 1.1645
267
+ ],
268
+ "ori": [
269
+ 6.123234262925839e-17,
270
+ 0.0,
271
+ 0.0,
272
+ 1.0
273
+ ],
274
+ "scale": [
275
+ 1.0,
276
+ 1.0,
277
+ 1.0
278
+ ]
279
+ },
280
+ "dr": {
281
+ "visual": {
282
+ "kind": null,
283
+ "value": null,
284
+ "visible": true
285
+ },
286
+ "physics": {
287
+ "type": "geometry",
288
+ "collision": false,
289
+ "ratio": 1.0
290
+ },
291
+ "primitive_params": null
292
+ },
293
+ "type_specific": {}
294
+ },
295
+ {
296
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.4986705780029297,
337
+ 0.0822305679321289,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ -0.7055243253707886,
342
+ 0.0,
343
+ 0.0,
344
+ 0.7086856961250305
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
+ 2.891591046466635e-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": 0.2742208444526045,
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": -0.001636502787725591,
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": 0.2742208444526045,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 0.14786624908447266,
494
+ 0.45000362396240234,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ 1.0,
499
+ 5.633033151042355e-09,
500
+ -8.109868887551386e-10,
501
+ -5.697381857316941e-05
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ 1.3676977328458406e-09,
530
+ 1.3130498910385313e-09,
531
+ 1.1175870895385742e-08
532
+ ],
533
+ "angular_velocity": [
534
+ -1.0189407362304337e-07,
535
+ 1.299435723467468e-07,
536
+ -5.079880960323635e-09
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ 0.19632911682128906,
545
+ 1.1499977111816406,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ -3.655976979644038e-05,
550
+ -7.941044266601693e-09,
551
+ -1.2816524508352245e-09,
552
+ 1.0
553
+ ],
554
+ "scale": [
555
+ 1.0,
556
+ 1.0,
557
+ 1.0
558
+ ]
559
+ },
560
+ "dr": {
561
+ "visual": {
562
+ "kind": null,
563
+ "value": null,
564
+ "visible": true
565
+ },
566
+ "physics": {
567
+ "type": "rigid",
568
+ "mass": 0.5,
569
+ "physics_material": {
570
+ "static_friction": 0.9,
571
+ "dynamic_friction": 0.9,
572
+ "restitution": 0.0
573
+ },
574
+ "ratio": 1.0
575
+ },
576
+ "primitive_params": null
577
+ },
578
+ "type_specific": {
579
+ "linear_velocity": [
580
+ -1.3252159369869787e-09,
581
+ -6.782233663571446e-10,
582
+ 1.4901161193847656e-08
583
+ ],
584
+ "angular_velocity": [
585
+ -1.770473545548157e-08,
586
+ -1.2482939837354934e-07,
587
+ -2.621116479417651e-08
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ -1.3905210494995117,
596
+ 0.8688240051269531,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ -0.6259379386901855,
601
+ 3.717760677091064e-08,
602
+ 1.2125896731163266e-08,
603
+ 0.7798728942871094
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ -6.831069043755633e-10,
632
+ 1.5326397928561164e-09,
633
+ 1.4901161193847656e-08
634
+ ],
635
+ "angular_velocity": [
636
+ -1.0422628804462875e-07,
637
+ 3.470869103239238e-08,
638
+ -2.3360414047601807e-08
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ 1.6194400787353516,
647
+ 1.0201950073242188,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ 0.4365440607070923,
652
+ 1.7001443097797164e-07,
653
+ -1.2916297364995444e-08,
654
+ 0.8996829986572266
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
+ 7.122249030544481e-07,
683
+ -1.1725280728569487e-06,
684
+ -3.032386302947998e-06
685
+ ],
686
+ "angular_velocity": [
687
+ 9.559087629895657e-05,
688
+ 7.170955359470099e-05,
689
+ -3.288564812464756e-06
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 0.14646244049072266,
700
+ 0.4436368942260742,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ 0.9970009922981262,
705
+ 5.772362143829923e-09,
706
+ -2.3685007288776205e-09,
707
+ 0.07738889753818512
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ -1.1747591344146713e-08,
739
+ 5.359075405664271e-09,
740
+ 1.4528632164001465e-07
741
+ ],
742
+ "angular_velocity": [
743
+ 5.601768293672649e-07,
744
+ -1.5945238374115434e-06,
745
+ -2.9669601886439523e-08
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ 0.19890213012695312,
754
+ 1.1574888229370117,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.09952203929424286,
759
+ -8.814413199331739e-09,
760
+ -1.8081316444096274e-09,
761
+ 0.9950354099273682
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
+ 8.34510505143271e-09,
793
+ -2.3665819526286214e-08,
794
+ -5.148351192474365e-06
795
+ ],
796
+ "angular_velocity": [
797
+ 7.77195964474231e-07,
798
+ 1.8180643337473157e-06,
799
+ -2.0373951414853764e-08
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ -1.3938255310058594,
808
+ 0.8665304183959961,
809
+ 0.9180000424385071
810
+ ],
811
+ "ori": [
812
+ -0.57163405418396,
813
+ 3.7010607911724946e-08,
814
+ 1.3630125472730015e-08,
815
+ 0.8205087184906006
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ 8.377521787394926e-09,
847
+ 3.1724272986366486e-08,
848
+ -5.315989255905151e-06
849
+ ],
850
+ "angular_velocity": [
851
+ -2.9685450044780737e-06,
852
+ 6.48084153453965e-07,
853
+ -4.901326278172746e-08
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ 1.6369695663452148,
862
+ 1.0173234939575195,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ 0.4082792103290558,
867
+ 1.3085914929433784e-07,
868
+ 3.9367904491882655e-09,
869
+ 0.9128571152687073
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
+ 2.3629065708519192e-06,
901
+ -2.8048036710970337e-06,
902
+ -5.535781383514404e-06
903
+ ],
904
+ "angular_velocity": [
905
+ 7.731358346063644e-05,
906
+ 6.545423821080476e-05,
907
+ -4.582567726174602e-06
908
+ ]
909
+ }
910
+ }
911
+ ],
912
+ "deco_hub_west": [
913
+ {
914
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
915
+ "pose": {
916
+ "pos": [
917
+ -3.36,
918
+ 0.0,
919
+ 0.0
920
+ ],
921
+ "ori": [
922
+ 1.0,
923
+ 0.0,
924
+ 0.0,
925
+ 0.0
926
+ ],
927
+ "scale": [
928
+ 1.0,
929
+ 1.0,
930
+ 1.0
931
+ ]
932
+ },
933
+ "dr": {
934
+ "visual": {
935
+ "kind": null,
936
+ "value": null,
937
+ "visible": true
938
+ },
939
+ "physics": {
940
+ "type": "geometry",
941
+ "collision": false,
942
+ "ratio": 1.0
943
+ },
944
+ "primitive_params": null
945
+ },
946
+ "type_specific": {}
947
+ }
948
+ ],
949
+ "deco_hub_east": [
950
+ {
951
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
952
+ "pose": {
953
+ "pos": [
954
+ 3.36,
955
+ 0.0,
956
+ 0.0
957
+ ],
958
+ "ori": [
959
+ 1.0,
960
+ 0.0,
961
+ 0.0,
962
+ 0.0
963
+ ],
964
+ "scale": [
965
+ 1.0,
966
+ 1.0,
967
+ 1.0
968
+ ]
969
+ },
970
+ "dr": {
971
+ "visual": {
972
+ "kind": null,
973
+ "value": null,
974
+ "visible": true
975
+ },
976
+ "physics": {
977
+ "type": "geometry",
978
+ "collision": false,
979
+ "ratio": 1.0
980
+ },
981
+ "primitive_params": null
982
+ },
983
+ "type_specific": {}
984
+ }
985
+ ],
986
+ "deco_hub_back": [
987
+ {
988
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
989
+ "pose": {
990
+ "pos": [
991
+ -3.0,
992
+ -2.1,
993
+ 0.0
994
+ ],
995
+ "ori": [
996
+ 1.0,
997
+ 0.0,
998
+ 0.0,
999
+ 0.0
1000
+ ],
1001
+ "scale": [
1002
+ 1.0,
1003
+ 1.0,
1004
+ 1.0
1005
+ ]
1006
+ },
1007
+ "dr": {
1008
+ "visual": {
1009
+ "kind": null,
1010
+ "value": null,
1011
+ "visible": true
1012
+ },
1013
+ "physics": {
1014
+ "type": "geometry",
1015
+ "collision": false,
1016
+ "ratio": 1.0
1017
+ },
1018
+ "primitive_params": null
1019
+ },
1020
+ "type_specific": {}
1021
+ }
1022
+ ],
1023
+ "deco_bench_east": [
1024
+ {
1025
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1026
+ "pose": {
1027
+ "pos": [
1028
+ 2.6,
1029
+ -2.5,
1030
+ 0.0
1031
+ ],
1032
+ "ori": [
1033
+ 6.123234262925839e-17,
1034
+ 0.0,
1035
+ 0.0,
1036
+ 1.0
1037
+ ],
1038
+ "scale": [
1039
+ 1.0,
1040
+ 1.0,
1041
+ 1.0
1042
+ ]
1043
+ },
1044
+ "dr": {
1045
+ "visual": {
1046
+ "kind": null,
1047
+ "value": null,
1048
+ "visible": true
1049
+ },
1050
+ "physics": {
1051
+ "type": "geometry",
1052
+ "collision": false,
1053
+ "ratio": 1.0
1054
+ },
1055
+ "primitive_params": null
1056
+ },
1057
+ "type_specific": {}
1058
+ }
1059
+ ],
1060
+ "deco_bench_gap": [
1061
+ {
1062
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1063
+ "pose": {
1064
+ "pos": [
1065
+ -0.1,
1066
+ -2.9,
1067
+ 0.0
1068
+ ],
1069
+ "ori": [
1070
+ 1.0,
1071
+ 0.0,
1072
+ 0.0,
1073
+ 0.0
1074
+ ],
1075
+ "scale": [
1076
+ 1.0,
1077
+ 1.0,
1078
+ 1.0
1079
+ ]
1080
+ },
1081
+ "dr": {
1082
+ "visual": {
1083
+ "kind": null,
1084
+ "value": null,
1085
+ "visible": true
1086
+ },
1087
+ "physics": {
1088
+ "type": "geometry",
1089
+ "collision": false,
1090
+ "ratio": 1.0
1091
+ },
1092
+ "primitive_params": null
1093
+ },
1094
+ "type_specific": {}
1095
+ }
1096
+ ]
1097
+ },
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ null,
1104
+ {
1105
+ "t": 2.7999999999999625,
1106
+ "step": 560,
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": 2.891591046466635e-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": 0.2742208444526045,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_1",
1153
+ "arrived": true,
1154
+ "settle_count": 456,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ -0.0021337568759918213,
1161
+ 3.635883331298828e-06,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ 0.046329110860824585,
1166
+ 0.6999977231025696,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ -1.5405210554599762,
1171
+ 0.4188240170478821,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ 1.469440072774887,
1176
+ 0.5701950192451477,
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
+ -0.21101065183458323,
1240
+ 0.5058295230748644,
1241
+ 3.0044445327979434
1242
+ ],
1243
+ "ori": [
1244
+ 14.689466849713174,
1245
+ 0.029457492247525252,
1246
+ 1.6809918265239006
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 6079.9353157041505,
1256
+ "color": [
1257
+ 0.8536407514476969,
1258
+ 0.9964759868654229,
1259
+ 0.9665940650432041
1260
+ ],
1261
+ "intensity": 4727.805545375789,
1262
+ "width": 1.7097507762626134,
1263
+ "height": 1.8956031131031024
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "disk",
1268
+ "pose": {
1269
+ "pos": [
1270
+ 0.663892462498783,
1271
+ 0.6546703888381658,
1272
+ 2.7611706038176616
1273
+ ],
1274
+ "ori": [
1275
+ -1.712455801300024,
1276
+ -36.061846392147025,
1277
+ 34.22443767408869
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 7382.894359321464,
1287
+ "color": [
1288
+ 0.7570854347977131,
1289
+ 0.9023597947059946,
1290
+ 0.8793307019266062
1291
+ ],
1292
+ "intensity": 10657.07870873999,
1293
+ "radius": 0.21487692453891613
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": 1297.2723320977275,
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
+ 0.051593657582998276,
1482
+ 0.003300574142485857,
1483
+ -0.027251895517110825,
1484
+ -0.2783416211605072,
1485
+ 0.6510520577430725,
1486
+ 0.6436424255371094,
1487
+ -0.2904851734638214
1488
+ ],
1489
+ [
1490
+ 0.04998491331934929,
1491
+ 0.00026633337256498635,
1492
+ -0.028136778622865677,
1493
+ -0.2782142758369446,
1494
+ 0.6438155770301819,
1495
+ 0.651418924331665,
1496
+ -0.2893989086151123
1497
+ ],
1498
+ [
1499
+ 0.046531762927770615,
1500
+ 0.0012520388700067997,
1501
+ -0.030894700437784195,
1502
+ -0.27731791138648987,
1503
+ 0.6535434126853943,
1504
+ 0.6469361186027527,
1505
+ -0.2782975137233734
1506
+ ],
1507
+ [
1508
+ 0.051744360476732254,
1509
+ -0.0017363779479637742,
1510
+ -0.032735537737607956,
1511
+ -0.27343326807022095,
1512
+ 0.6607351303100586,
1513
+ 0.6433283090591431,
1514
+ -0.2734813094139099
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0489988811314106,
1520
+ 0.5578171014785767,
1521
+ 1.945243000984192,
1522
+ 0.035682182759046555,
1523
+ 0.027791352942585945,
1524
+ 0.26952195167541504,
1525
+ 0.961931586265564
1526
+ ],
1527
+ [
1528
+ 0.0745827853679657,
1529
+ 0.5795809626579285,
1530
+ 1.9601750373840332,
1531
+ 0.027247218415141106,
1532
+ -3.046071287826635e-05,
1533
+ 0.2561684250831604,
1534
+ 0.966248095035553
1535
+ ],
1536
+ [
1537
+ 0.07201118022203445,
1538
+ 0.5646981000900269,
1539
+ 1.9533905982971191,
1540
+ 0.051043227314949036,
1541
+ 0.017643218860030174,
1542
+ 0.25782114267349243,
1543
+ 0.9646821022033691
1544
+ ],
1545
+ [
1546
+ 0.06980837881565094,
1547
+ 0.5869247913360596,
1548
+ 1.950273036956787,
1549
+ 0.030343947932124138,
1550
+ 0.0033051487989723682,
1551
+ 0.28654608130455017,
1552
+ 0.9575800895690918
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p012_e000/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50a05924707477a89d4dd73e02cc50175215c8c3f0f8cad5cd4e944f299cb6c5
3
+ size 6959264
episodes/c4_p012_e001/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:34986aaec9a4935417230a0c0f6a7bf1f12afbb4fbfd393112a8c16bb8460502
3
+ size 192071
episodes/c4_p012_e001/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 170, "t": 0.85, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 170, "t": 0.85, "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": 175, "t": 0.875, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 1722, "t": 8.61, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 6542, "t": 32.71, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
6
+ {"env_id": 1, "seq": 6, "step": 7156, "t": 35.78, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
7
+ {"env_id": 1, "seq": 7, "step": 7156, "t": 35.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.495559087099179}, "cause": "task-1-1"}
8
+ {"env_id": 1, "seq": 8, "step": 7156, "t": 35.78, "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"}
9
+ {"env_id": 1, "seq": 9, "step": 7156, "t": 35.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 1, "seq": 10, "step": 7156, "t": 35.78, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
11
+ {"env_id": 1, "seq": 11, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 1, "seq": 12, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
13
+ {"env_id": 1, "seq": 13, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
14
+ {"env_id": 1, "seq": 14, "step": 7575, "t": 37.875, "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"}
15
+ {"env_id": 1, "seq": 15, "step": 7575, "t": 37.875, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
16
+ {"env_id": 1, "seq": 16, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"}
17
+ {"env_id": 1, "seq": 17, "step": 7575, "t": 37.875, "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"}
18
+ {"env_id": 1, "seq": 18, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 1, "seq": 19, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.495559087099179}, "cause": "program-1-3"}
20
+ {"env_id": 1, "seq": 20, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 1, "seq": 21, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.500000000002302}, "cause": "program-1-3"}
22
+ {"env_id": 1, "seq": 22, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.500000000002302}}, "cause": "program-1-3"}
23
+ {"env_id": 1, "seq": 23, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
24
+ {"env_id": 1, "seq": 24, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 1, "seq": 25, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
26
+ {"env_id": 1, "seq": 26, "step": 8895, "t": 44.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 1, "seq": 27, "step": 8895, "t": 44.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.2971453345354007e-10}, "cause": "program-1-4"}
28
+ {"env_id": 1, "seq": 28, "step": 8895, "t": 44.475, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.2971453345354007e-10}, "cause": "program-1-4"}
29
+ {"env_id": 1, "seq": 29, "step": 8895, "t": 44.475, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
30
+ {"env_id": 1, "seq": 30, "step": 8895, "t": 44.475, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
31
+ {"env_id": 1, "seq": 31, "step": 8895, "t": 44.475, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
32
+ {"env_id": 1, "seq": 32, "step": 9469, "t": 47.345, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
33
+ {"env_id": 1, "seq": 33, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
34
+ {"env_id": 1, "seq": 34, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"}
35
+ {"env_id": 1, "seq": 35, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
36
+ {"env_id": 1, "seq": 36, "step": 11256, "t": 56.28, "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/c4_p012_e001/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:799d23f6d0a9c16484d765d1b40b41fc878797064fd43bbd7e45f1fccc57bc34
3
+ size 1258121
episodes/c4_p012_e001/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p012/magicsim/1",
3
+ "fps": 25,
4
+ "frames": 1275,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1275,
8
+ "env": 1275
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_p012_e001/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 1,
3
+ "env_id": 1,
4
+ "run_id": "c4_p012",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
191
+ "pose": {
192
+ "pos": [
193
+ -0.6,
194
+ 0.02,
195
+ 1.0285
196
+ ],
197
+ "ori": [
198
+ 6.123234262925839e-17,
199
+ 0.0,
200
+ 0.0,
201
+ 1.0
202
+ ],
203
+ "scale": [
204
+ 1.0,
205
+ 1.0,
206
+ 1.0
207
+ ]
208
+ },
209
+ "dr": {
210
+ "visual": {
211
+ "kind": null,
212
+ "value": null,
213
+ "visible": true
214
+ },
215
+ "physics": {
216
+ "type": "geometry",
217
+ "collision": false,
218
+ "ratio": 1.0
219
+ },
220
+ "primitive_params": null
221
+ },
222
+ "type_specific": {}
223
+ },
224
+ {
225
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.4789886474609375,
336
+ 0.10606861114501953,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.690825879573822,
341
+ 0.0,
342
+ 0.0,
343
+ 0.7230211496353149
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
+ 1.0843466966350968e-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": 0.25694780878533885,
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": -0.23327817903609666,
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": 0.25694780878533885,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ 1.4454965591430664,
493
+ 0.46636199951171875,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 0.9918926358222961,
498
+ -9.072159912193456e-08,
499
+ -5.5565472223406687e-08,
500
+ 0.12707923352718353
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ 3.6305941586434187e-10,
529
+ -8.384765104452185e-12,
530
+ 0.0
531
+ ],
532
+ "angular_velocity": [
533
+ 9.918544208176172e-09,
534
+ 3.574705687015012e-08,
535
+ 1.604741006744348e-09
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ -0.08359336853027344,
544
+ 0.4474315643310547,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 0.9999450445175171,
549
+ -3.611017973526032e-08,
550
+ 1.0374152736858377e-07,
551
+ 0.010483365505933762
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
+ 8.918461276152811e-07,
580
+ 3.1476730555368704e-07,
581
+ -3.468245267868042e-06
582
+ ],
583
+ "angular_velocity": [
584
+ -3.366678720340133e-05,
585
+ 7.597232615808025e-05,
586
+ -1.27245277781185e-06
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ 0.7869806289672852,
595
+ 1.152461051940918,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -0.009425022639334202,
600
+ 5.2807096473372894e-09,
601
+ 2.0126540434262097e-09,
602
+ 0.9999555945396423
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 4.040308643205037e-10,
631
+ 1.7701318189011772e-10,
632
+ 0.0
633
+ ],
634
+ "angular_velocity": [
635
+ -2.6097595196006296e-08,
636
+ 3.1285367185773794e-08,
637
+ -4.769331596321535e-10
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -1.0882501602172852,
646
+ 1.1451635360717773,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ -0.045321643352508545,
651
+ 9.490521790667117e-08,
652
+ 1.4201469866748084e-07,
653
+ 0.9989725351333618
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
+ -2.2945471300772624e-08,
682
+ 1.0895149671341642e-07,
683
+ 2.3096799850463867e-07
684
+ ],
685
+ "angular_velocity": [
686
+ -9.075214620679617e-06,
687
+ -1.8612226995173842e-06,
688
+ -2.5579993234714493e-08
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ 1.4481210708618164,
699
+ 0.4570350646972656,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ 0.9975496530532837,
704
+ -9.079283813662187e-08,
705
+ -6.126298757180848e-08,
706
+ 0.06996199488639832
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ -4.03199962306644e-08,
738
+ 1.1550929102099872e-09,
739
+ 8.940696716308594e-08
740
+ ],
741
+ "angular_velocity": [
742
+ -1.612775406556466e-07,
743
+ -1.8609538301461725e-06,
744
+ 1.4850718343950575e-07
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ -0.07991600036621094,
753
+ 0.437713623046875,
754
+ 0.9179999828338623
755
+ ],
756
+ "ori": [
757
+ -0.9957684278488159,
758
+ 3.9968263365608436e-08,
759
+ -9.477686546688346e-08,
760
+ 0.09189900755882263
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
+ 1.7825760778578115e-06,
792
+ 6.978465876272821e-07,
793
+ -8.128583431243896e-06
794
+ ],
795
+ "angular_velocity": [
796
+ -3.2342686608899385e-05,
797
+ 7.436235318891704e-05,
798
+ -1.3830859870722634e-06
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ 0.7762317657470703,
807
+ 1.1638240814208984,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ -0.05234510079026222,
812
+ 5.369052313852762e-09,
813
+ 1.2345631184018657e-09,
814
+ 0.9986290335655212
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ 1.660521320445696e-08,
846
+ -8.869307066561305e-09,
847
+ -5.815178155899048e-06
848
+ ],
849
+ "angular_velocity": [
850
+ -1.3767609630122024e-07,
851
+ 1.0549291573624942e-06,
852
+ 1.6933121571582888e-07
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -1.101475715637207,
861
+ 1.1345386505126953,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.0478198416531086,
866
+ 3.075439849453687e-07,
867
+ -4.1879968648572685e-07,
868
+ 0.9988560080528259
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
+ -2.820440840878291e-06,
900
+ 5.051758307672571e-06,
901
+ -2.942979335784912e-06
902
+ ],
903
+ "angular_velocity": [
904
+ -0.00033844387507997453,
905
+ 3.9678554458078e-05,
906
+ -3.8275808037724346e-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": 5.459999999999906,
1105
+ "step": 1092,
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": 1.0843466966350968e-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": 0.25694780878533885,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_2",
1152
+ "arrived": true,
1153
+ "settle_count": 921,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ 1.295496553182602,
1160
+ 0.016362011432647705,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ -0.23359337449073792,
1165
+ -0.0025684237480163574,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ 0.6369806230068207,
1170
+ 0.7024610638618469,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -1.2382501661777496,
1175
+ 0.6951635479927063,
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
+ -0.016028085981654283,
1239
+ 0.42537949529725727,
1240
+ 3.131051167948296
1241
+ ],
1242
+ "ori": [
1243
+ -8.604492534100956,
1244
+ -3.681052208843983,
1245
+ 22.35864525800485
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 4678.595121188779,
1255
+ "color": [
1256
+ 0.9931332778495596,
1257
+ 0.8715973411378862,
1258
+ 0.8809935810330604
1259
+ ],
1260
+ "intensity": 11676.057011148572,
1261
+ "width": 2.1488774407331324,
1262
+ "height": 1.0709345116570357
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ 0.7474550099880584,
1270
+ -1.1537137783304305,
1271
+ 2.642826742338981
1272
+ ],
1273
+ "ori": [
1274
+ 6.31914506014607,
1275
+ -28.311594820603094,
1276
+ -28.122790060015
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 4492.385139734975,
1286
+ "color": [
1287
+ 0.9350933725148782,
1288
+ 0.9770993630366924,
1289
+ 0.8076314429594799
1290
+ ],
1291
+ "intensity": 7890.059698495957,
1292
+ "radius": 0.13476896644464115
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": 1297.2723320977275,
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
+ 0.7746378779411316,
1414
+ -1.1373120546340942,
1415
+ 2.014529228210449,
1416
+ -2.4480233192443848,
1417
+ -1.5707895755767822,
1418
+ 2.1905274391174316,
1419
+ 0.007745297159999609,
1420
+ 0.00701499916613102
1421
+ ],
1422
+ [
1423
+ 0.9141013622283936,
1424
+ -1.7193995714187622,
1425
+ 2.0905003547668457,
1426
+ -1.9419008493423462,
1427
+ -1.5707999467849731,
1428
+ 2.48490047454834,
1429
+ 0.01799999736249447,
1430
+ 0.018000001087784767
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
+ 6.369402399286628e-05,
1456
+ 1.9660961697809398e-05,
1457
+ -0.00013924769882578403,
1458
+ -0.00037348218029364944,
1459
+ 0.0009469241485930979,
1460
+ 0.0020085859578102827,
1461
+ -0.00936258677393198,
1462
+ 0.000284740817733109
1463
+ ],
1464
+ [
1465
+ -2.527969334572485e-38,
1466
+ 1.5499014020516852e-38,
1467
+ 3.8572760902926146e-38,
1468
+ 5.210929902362941e-37,
1469
+ -4.883688819832621e-38,
1470
+ 4.337454158544144e-37,
1471
+ 2.5990399166175848e-08,
1472
+ -2.5990386731677972e-08
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.050624724477529526,
1482
+ 0.0014391670702025294,
1483
+ -0.02810497023165226,
1484
+ -0.2787581980228424,
1485
+ 0.6510910987854004,
1486
+ 0.6465370059013367,
1487
+ -0.2834857702255249
1488
+ ],
1489
+ [
1490
+ 0.05000811442732811,
1491
+ 0.004182340111583471,
1492
+ -0.028676029294729233,
1493
+ -0.28203773498535156,
1494
+ 0.6449119448661804,
1495
+ 0.6504403948783875,
1496
+ -0.2854304611682892
1497
+ ],
1498
+ [
1499
+ 0.04671883210539818,
1500
+ 0.0012139821192249656,
1501
+ -0.029563579708337784,
1502
+ -0.2749498784542084,
1503
+ 0.6550118327140808,
1504
+ 0.6450036764144897,
1505
+ -0.28165993094444275
1506
+ ],
1507
+ [
1508
+ 0.04931235685944557,
1509
+ -0.004348524380475283,
1510
+ -0.028803568333387375,
1511
+ -0.27672913670539856,
1512
+ 0.6578006148338318,
1513
+ 0.641990602016449,
1514
+ -0.2802986800670624
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0489988811314106,
1520
+ 0.5578171014785767,
1521
+ 1.945243000984192,
1522
+ 0.035682182759046555,
1523
+ 0.027791352942585945,
1524
+ 0.26952195167541504,
1525
+ 0.961931586265564
1526
+ ],
1527
+ [
1528
+ 0.0745827853679657,
1529
+ 0.5795809626579285,
1530
+ 1.9601750373840332,
1531
+ 0.027247218415141106,
1532
+ -3.046071287826635e-05,
1533
+ 0.2561684250831604,
1534
+ 0.966248095035553
1535
+ ],
1536
+ [
1537
+ 0.07201118022203445,
1538
+ 0.5646981000900269,
1539
+ 1.9533905982971191,
1540
+ 0.051043227314949036,
1541
+ 0.017643218860030174,
1542
+ 0.25782114267349243,
1543
+ 0.9646821022033691
1544
+ ],
1545
+ [
1546
+ 0.06980837881565094,
1547
+ 0.5869247913360596,
1548
+ 1.950273036956787,
1549
+ 0.030343947932124138,
1550
+ 0.0033051487989723682,
1551
+ 0.28654608130455017,
1552
+ 0.9575800895690918
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p012_e001/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:608d070979409c8c5af57c9dd7bda81c8eed73ed6d1db04958ef399d2f4bd9b8
3
+ size 7125467
episodes/c4_p012_e002/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ba47128d028531821b6430b191f9d92fded91eb8ab5e71a36e3f8c0535fa70a
3
+ size 189734
episodes/c4_p012_e002/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 136, "t": 0.68, "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": 141, "t": 0.705, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 1985, "t": 9.925, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 6798, "t": 33.99, "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": 7408, "t": 37.04, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
7
+ {"env_id": 0, "seq": 7, "step": 7408, "t": 37.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.500168849717145}, "cause": "task-0-1"}
8
+ {"env_id": 0, "seq": 8, "step": 7408, "t": 37.04, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
9
+ {"env_id": 0, "seq": 9, "step": 7408, "t": 37.04, "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": 7408, "t": 37.04, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "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": 7827, "t": 39.135, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
15
+ {"env_id": 0, "seq": 15, "step": 7827, "t": 39.135, "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": 7827, "t": 39.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"}
17
+ {"env_id": 0, "seq": 17, "step": 7827, "t": 39.135, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
18
+ {"env_id": 0, "seq": 18, "step": 7827, "t": 39.135, "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": 7827, "t": 39.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.500168849717145}, "cause": "program-0-3"}
20
+ {"env_id": 0, "seq": 20, "step": 8728, "t": 43.64, "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": 8728, "t": 43.64, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.505000000002305}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 8728, "t": 43.64, "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": 4.505000000002305}}, "cause": "program-0-3"}
23
+ {"env_id": 0, "seq": 23, "step": 8728, "t": 43.64, "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": 8728, "t": 43.64, "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": 8728, "t": 43.64, "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": 9148, "t": 45.74, "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": 9148, "t": 45.74, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0125266181049142e-09}, "cause": "program-0-4"}
28
+ {"env_id": 0, "seq": 28, "step": 9148, "t": 45.74, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0125266181049142e-09}, "cause": "program-0-4"}
29
+ {"env_id": 0, "seq": 29, "step": 9148, "t": 45.74, "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": 9148, "t": 45.74, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
31
+ {"env_id": 0, "seq": 31, "step": 9148, "t": 45.74, "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": 9727, "t": 48.635, "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": 11436, "t": 57.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
34
+ {"env_id": 0, "seq": 34, "step": 11436, "t": 57.18, "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": 11436, "t": 57.18, "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": 11436, "t": 57.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
episodes/c4_p012_e002/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:af32fb2b4a3052d2317bc1d43732e88c2936e18a1b7ca611bc48007063a714ca
3
+ size 1292481
episodes/c4_p012_e002/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p012/magicsim/2",
3
+ "fps": 25,
4
+ "frames": 1236,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1236,
8
+ "env": 1236
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_p012_e002/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 2,
3
+ "env_id": 0,
4
+ "run_id": "c4_p012",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
260
+ "pose": {
261
+ "pos": [
262
+ -0.6,
263
+ 0.02,
264
+ 1.1645
265
+ ],
266
+ "ori": [
267
+ 6.123234262925839e-17,
268
+ 0.0,
269
+ 0.0,
270
+ 1.0
271
+ ],
272
+ "scale": [
273
+ 1.0,
274
+ 1.0,
275
+ 1.0
276
+ ]
277
+ },
278
+ "dr": {
279
+ "visual": {
280
+ "kind": null,
281
+ "value": null,
282
+ "visible": true
283
+ },
284
+ "physics": {
285
+ "type": "geometry",
286
+ "collision": false,
287
+ "ratio": 1.0
288
+ },
289
+ "primitive_params": null
290
+ },
291
+ "type_specific": {}
292
+ },
293
+ {
294
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.5234966278076172,
335
+ 0.1207571029663086,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ -0.6758458018302917,
340
+ 0.0,
341
+ 0.0,
342
+ 0.737043023109436
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
+ 3.9759380683623835e-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": 0.29537380785392886,
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": -0.06569304645534285,
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": 0.29537380785392886,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ -0.14423465728759766,
492
+ 1.1500024795532227,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ 1.549196895211935e-05,
497
+ -2.0169217684884444e-10,
498
+ -1.5620005289207484e-09,
499
+ 1.0
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ 2.643674168467669e-10,
528
+ -1.3054697323156006e-09,
529
+ 0.0
530
+ ],
531
+ "angular_velocity": [
532
+ 1.3270654619645939e-07,
533
+ 3.739848608574903e-08,
534
+ -6.797955531823163e-09
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ -1.3963193893432617,
543
+ 0.8323020935058594,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ -0.6665332913398743,
548
+ 1.2960333251044176e-08,
549
+ -2.614986449600565e-09,
550
+ 0.7454752922058105
551
+ ],
552
+ "scale": [
553
+ 1.0,
554
+ 1.0,
555
+ 1.0
556
+ ]
557
+ },
558
+ "dr": {
559
+ "visual": {
560
+ "kind": null,
561
+ "value": null,
562
+ "visible": true
563
+ },
564
+ "physics": {
565
+ "type": "rigid",
566
+ "mass": 0.5,
567
+ "physics_material": {
568
+ "static_friction": 0.9,
569
+ "dynamic_friction": 0.9,
570
+ "restitution": 0.0
571
+ },
572
+ "ratio": 1.0
573
+ },
574
+ "primitive_params": null
575
+ },
576
+ "type_specific": {
577
+ "linear_velocity": [
578
+ 3.6160630045856124e-10,
579
+ -2.9656566091773584e-10,
580
+ 3.725290298461914e-09
581
+ ],
582
+ "angular_velocity": [
583
+ 3.062519482455173e-08,
584
+ 2.6297215072190738e-08,
585
+ -5.968625593766319e-10
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ 1.5851383209228516,
594
+ 0.5447607040405273,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ 0.9353694915771484,
599
+ 8.46674996779484e-09,
600
+ -1.0481531198536231e-09,
601
+ 0.3536722660064697
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ 2.7062596608118383e-10,
630
+ 2.5836316419614036e-10,
631
+ 0.0
632
+ ],
633
+ "angular_velocity": [
634
+ -1.526026949250081e-08,
635
+ 3.241902390982432e-08,
636
+ -3.6954546089873475e-09
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ 0.08381938934326172,
645
+ 0.4474325180053711,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ 0.9999476671218872,
650
+ -3.5497078609836308e-09,
651
+ 3.7127450003282547e-09,
652
+ 0.010235854424536228
653
+ ],
654
+ "scale": [
655
+ 1.0,
656
+ 1.0,
657
+ 1.0
658
+ ]
659
+ },
660
+ "dr": {
661
+ "visual": {
662
+ "kind": null,
663
+ "value": null,
664
+ "visible": true
665
+ },
666
+ "physics": {
667
+ "type": "rigid",
668
+ "mass": 0.5,
669
+ "physics_material": {
670
+ "static_friction": 0.9,
671
+ "dynamic_friction": 0.9,
672
+ "restitution": 0.0
673
+ },
674
+ "ratio": 1.0
675
+ },
676
+ "primitive_params": null
677
+ },
678
+ "type_specific": {
679
+ "linear_velocity": [
680
+ -5.6673439274845805e-09,
681
+ -4.49603065888482e-09,
682
+ 4.0978193283081055e-08
683
+ ],
684
+ "angular_velocity": [
685
+ 2.520490056667768e-07,
686
+ -5.054993152953102e-07,
687
+ -4.9661988299476434e-08
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ -0.15648841857910156,
698
+ 1.1438207626342773,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ -0.08198244124650955,
703
+ 8.347419977461357e-10,
704
+ 1.7162578025420316e-09,
705
+ 0.996633768081665
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 3.529155989667743e-08,
737
+ 1.503789803791733e-08,
738
+ 9.685754776000977e-08
739
+ ],
740
+ "angular_velocity": [
741
+ -9.112115435527812e-07,
742
+ 1.7369287661495036e-06,
743
+ 1.4348157151289342e-07
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ -1.4019956588745117,
752
+ 0.8235406875610352,
753
+ 0.9180000424385071
754
+ ],
755
+ "ori": [
756
+ -0.5903143286705017,
757
+ 1.2485266154271812e-08,
758
+ 2.9961988445847965e-10,
759
+ 0.8071734309196472
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
+ 7.244967736852459e-09,
791
+ 1.4251748226001837e-08,
792
+ -5.714595317840576e-06
793
+ ],
794
+ "angular_velocity": [
795
+ -1.2871157650806708e-06,
796
+ 2.702632286855078e-07,
797
+ 3.62417864607778e-08
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ 1.5716533660888672,
806
+ 0.5472049713134766,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ 0.9086190462112427,
811
+ 8.916752669563266e-09,
812
+ -1.529047999326849e-09,
813
+ 0.4176260232925415
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ -1.24387424804695e-08,
845
+ -1.3979685853371393e-08,
846
+ -5.7891011238098145e-06
847
+ ],
848
+ "angular_velocity": [
849
+ 1.5738208958282485e-06,
850
+ -4.5269734982866794e-07,
851
+ 6.905189309236448e-08
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ 0.06857872009277344,
860
+ 0.43690013885498047,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.9965278506278992,
865
+ -1.97349780961531e-09,
866
+ 2.536346244141896e-09,
867
+ -0.0832611694931984
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
+ -1.241723026623731e-07,
899
+ -1.4999962161255098e-08,
900
+ -1.0095536708831787e-06
901
+ ],
902
+ "angular_velocity": [
903
+ 2.0556046820274787e-07,
904
+ -3.859395746985683e-06,
905
+ -1.6917074674438481e-07
906
+ ]
907
+ }
908
+ }
909
+ ],
910
+ "deco_hub_west": [
911
+ {
912
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
913
+ "pose": {
914
+ "pos": [
915
+ -3.36,
916
+ 0.0,
917
+ 0.0
918
+ ],
919
+ "ori": [
920
+ 1.0,
921
+ 0.0,
922
+ 0.0,
923
+ 0.0
924
+ ],
925
+ "scale": [
926
+ 1.0,
927
+ 1.0,
928
+ 1.0
929
+ ]
930
+ },
931
+ "dr": {
932
+ "visual": {
933
+ "kind": null,
934
+ "value": null,
935
+ "visible": true
936
+ },
937
+ "physics": {
938
+ "type": "geometry",
939
+ "collision": false,
940
+ "ratio": 1.0
941
+ },
942
+ "primitive_params": null
943
+ },
944
+ "type_specific": {}
945
+ }
946
+ ],
947
+ "deco_hub_east": [
948
+ {
949
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
950
+ "pose": {
951
+ "pos": [
952
+ 3.36,
953
+ 0.0,
954
+ 0.0
955
+ ],
956
+ "ori": [
957
+ 1.0,
958
+ 0.0,
959
+ 0.0,
960
+ 0.0
961
+ ],
962
+ "scale": [
963
+ 1.0,
964
+ 1.0,
965
+ 1.0
966
+ ]
967
+ },
968
+ "dr": {
969
+ "visual": {
970
+ "kind": null,
971
+ "value": null,
972
+ "visible": true
973
+ },
974
+ "physics": {
975
+ "type": "geometry",
976
+ "collision": false,
977
+ "ratio": 1.0
978
+ },
979
+ "primitive_params": null
980
+ },
981
+ "type_specific": {}
982
+ }
983
+ ],
984
+ "deco_hub_back": [
985
+ {
986
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
987
+ "pose": {
988
+ "pos": [
989
+ -3.0,
990
+ -2.1,
991
+ 0.0
992
+ ],
993
+ "ori": [
994
+ 1.0,
995
+ 0.0,
996
+ 0.0,
997
+ 0.0
998
+ ],
999
+ "scale": [
1000
+ 1.0,
1001
+ 1.0,
1002
+ 1.0
1003
+ ]
1004
+ },
1005
+ "dr": {
1006
+ "visual": {
1007
+ "kind": null,
1008
+ "value": null,
1009
+ "visible": true
1010
+ },
1011
+ "physics": {
1012
+ "type": "geometry",
1013
+ "collision": false,
1014
+ "ratio": 1.0
1015
+ },
1016
+ "primitive_params": null
1017
+ },
1018
+ "type_specific": {}
1019
+ }
1020
+ ],
1021
+ "deco_bench_east": [
1022
+ {
1023
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1024
+ "pose": {
1025
+ "pos": [
1026
+ 2.6,
1027
+ -2.5,
1028
+ 0.0
1029
+ ],
1030
+ "ori": [
1031
+ 6.123234262925839e-17,
1032
+ 0.0,
1033
+ 0.0,
1034
+ 1.0
1035
+ ],
1036
+ "scale": [
1037
+ 1.0,
1038
+ 1.0,
1039
+ 1.0
1040
+ ]
1041
+ },
1042
+ "dr": {
1043
+ "visual": {
1044
+ "kind": null,
1045
+ "value": null,
1046
+ "visible": true
1047
+ },
1048
+ "physics": {
1049
+ "type": "geometry",
1050
+ "collision": false,
1051
+ "ratio": 1.0
1052
+ },
1053
+ "primitive_params": null
1054
+ },
1055
+ "type_specific": {}
1056
+ }
1057
+ ],
1058
+ "deco_bench_gap": [
1059
+ {
1060
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1061
+ "pose": {
1062
+ "pos": [
1063
+ -0.1,
1064
+ -2.9,
1065
+ 0.0
1066
+ ],
1067
+ "ori": [
1068
+ 1.0,
1069
+ 0.0,
1070
+ 0.0,
1071
+ 0.0
1072
+ ],
1073
+ "scale": [
1074
+ 1.0,
1075
+ 1.0,
1076
+ 1.0
1077
+ ]
1078
+ },
1079
+ "dr": {
1080
+ "visual": {
1081
+ "kind": null,
1082
+ "value": null,
1083
+ "visible": true
1084
+ },
1085
+ "physics": {
1086
+ "type": "geometry",
1087
+ "collision": false,
1088
+ "ratio": 1.0
1089
+ },
1090
+ "primitive_params": null
1091
+ },
1092
+ "type_specific": {}
1093
+ }
1094
+ ]
1095
+ },
1096
+ {},
1097
+ {},
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ {
1103
+ "t": 7.899999999999854,
1104
+ "step": 1580,
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": 3.9759380683623835e-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": 0.29537380785392886,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_4",
1151
+ "arrived": true,
1152
+ "settle_count": 1443,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -0.29423466324806213,
1159
+ 0.7000024914741516,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ -1.5463193953037262,
1164
+ 0.38230210542678833,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ 1.435138314962387,
1169
+ 0.0947607159614563,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ -0.06618061661720276,
1174
+ -0.002567470073699951,
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
+ -0.38398437720414963,
1238
+ 0.05567992352905271,
1239
+ 3.072538495734222
1240
+ ],
1241
+ "ori": [
1242
+ 8.44937297148293,
1243
+ 13.673287654478127,
1244
+ -25.745911106293327
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 3952.247692009244,
1254
+ "color": [
1255
+ 0.8332440773208577,
1256
+ 0.9984732623031125,
1257
+ 0.7956768339578747
1258
+ ],
1259
+ "intensity": 4042.377879759965,
1260
+ "width": 2.204292890773834,
1261
+ "height": 1.0055489004723295
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "disk",
1266
+ "pose": {
1267
+ "pos": [
1268
+ -0.5396720794029068,
1269
+ -0.8001322894845686,
1270
+ 1.7318247415651074
1271
+ ],
1272
+ "ori": [
1273
+ 16.47256008406002,
1274
+ -19.226947825508436,
1275
+ -4.281844038022442
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 3913.8676104329757,
1285
+ "color": [
1286
+ 0.8118553880619304,
1287
+ 0.8959129498842484,
1288
+ 0.8952082043168502
1289
+ ],
1290
+ "intensity": 3469.7185908028605,
1291
+ "radius": 0.15560176018733715
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": 1297.2723320977275,
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
+ 1.1055738925933838,
1404
+ -1.3673053979873657,
1405
+ 2.3772830963134766,
1406
+ -2.5807759761810303,
1407
+ -1.5708067417144775,
1408
+ 2.8602914810180664,
1409
+ 0.007603155914694071,
1410
+ 0.007043546065688133
1411
+ ],
1412
+ [
1413
+ 0.7742210030555725,
1414
+ -1.3387101888656616,
1415
+ 1.9020419120788574,
1416
+ -2.13468337059021,
1417
+ -1.5708624124526978,
1418
+ 2.1906826496124268,
1419
+ 0.007643077988177538,
1420
+ 0.007004476618021727
1421
+ ],
1422
+ [
1423
+ 0.9141013622283936,
1424
+ -1.7193995714187622,
1425
+ 2.0905003547668457,
1426
+ -1.9419008493423462,
1427
+ -1.5707999467849731,
1428
+ 2.48490047454834,
1429
+ 0.01799999736249447,
1430
+ 0.018000001087784767
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
+ -0.0007885744562372565,
1446
+ -0.0001254872331628576,
1447
+ 0.00018204924708697945,
1448
+ -0.0013499638298526406,
1449
+ 0.0007187591982074082,
1450
+ 0.0044107879512012005,
1451
+ -0.007540527731180191,
1452
+ 0.0002509421610739082
1453
+ ],
1454
+ [
1455
+ 0.0035789792891591787,
1456
+ 0.0018403526628389955,
1457
+ 0.0074802483431994915,
1458
+ 0.004497263114899397,
1459
+ -0.0009566092630848289,
1460
+ -0.0020275884307920933,
1461
+ -0.008793806657195091,
1462
+ 0.00018971710233017802
1463
+ ],
1464
+ [
1465
+ -2.527969334572485e-38,
1466
+ 1.5499014020516852e-38,
1467
+ 3.8572760902926146e-38,
1468
+ 5.210929902362941e-37,
1469
+ -4.883688819832621e-38,
1470
+ 4.337454158544144e-37,
1471
+ 2.5990399166175848e-08,
1472
+ -2.5990386731677972e-08
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.051167137920856476,
1482
+ 0.002799483248963952,
1483
+ -0.027484813705086708,
1484
+ -0.2790563106536865,
1485
+ 0.6481084823608398,
1486
+ 0.6470939517021179,
1487
+ -0.2887080907821655
1488
+ ],
1489
+ [
1490
+ 0.051873985677957535,
1491
+ 0.003331169718876481,
1492
+ -0.026654377579689026,
1493
+ -0.2788744568824768,
1494
+ 0.6471971869468689,
1495
+ 0.6487536430358887,
1496
+ -0.2871994972229004
1497
+ ],
1498
+ [
1499
+ 0.047015078365802765,
1500
+ 0.0018723689718171954,
1501
+ -0.029328571632504463,
1502
+ -0.28061485290527344,
1503
+ 0.6572078466415405,
1504
+ 0.64207923412323,
1505
+ -0.27761030197143555
1506
+ ],
1507
+ [
1508
+ 0.0522918775677681,
1509
+ -0.003679395653307438,
1510
+ -0.03171307593584061,
1511
+ -0.2695571780204773,
1512
+ 0.655243992805481,
1513
+ 0.6480227112770081,
1514
+ -0.27939361333847046
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0489988811314106,
1520
+ 0.5578171014785767,
1521
+ 1.945243000984192,
1522
+ 0.035682182759046555,
1523
+ 0.027791352942585945,
1524
+ 0.26952195167541504,
1525
+ 0.961931586265564
1526
+ ],
1527
+ [
1528
+ 0.0745827853679657,
1529
+ 0.5795809626579285,
1530
+ 1.9601750373840332,
1531
+ 0.027247218415141106,
1532
+ -3.046071287826635e-05,
1533
+ 0.2561684250831604,
1534
+ 0.966248095035553
1535
+ ],
1536
+ [
1537
+ 0.07201118022203445,
1538
+ 0.5646981000900269,
1539
+ 1.9533905982971191,
1540
+ 0.051043227314949036,
1541
+ 0.017643218860030174,
1542
+ 0.25782114267349243,
1543
+ 0.9646821022033691
1544
+ ],
1545
+ [
1546
+ 0.06980837881565094,
1547
+ 0.5869247913360596,
1548
+ 1.950273036956787,
1549
+ 0.030343947932124138,
1550
+ 0.0033051487989723682,
1551
+ 0.28654608130455017,
1552
+ 0.9575800895690918
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p012_e002/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2d3e92edabc4be1326ca2dc2cc17cbf90e4a265d5f8e68c5204f9fa5c6ee1e4
3
+ size 6631785
episodes/c4_p012_e003/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48de5f61dfdb21406f3e76c76228e16106f6d48f6c14643b19800e52f6f403a3
3
+ size 191721
episodes/c4_p012_e003/device_events.jsonl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 120, "t": 0.6, "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": 125, "t": 0.625, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 2192, "t": 10.96, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 3, "seq": 5, "step": 2228, "t": 11.14, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
6
+ {"env_id": 3, "seq": 6, "step": 2277, "t": 11.385, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
7
+ {"env_id": 3, "seq": 7, "step": 7243, "t": 36.215, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
8
+ {"env_id": 3, "seq": 8, "step": 7852, "t": 39.26, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
9
+ {"env_id": 3, "seq": 9, "step": 7852, "t": 39.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.993503892109378}, "cause": "task-3-1"}
10
+ {"env_id": 3, "seq": 10, "step": 7852, "t": 39.26, "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"}
11
+ {"env_id": 3, "seq": 11, "step": 7852, "t": 39.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
12
+ {"env_id": 3, "seq": 12, "step": 7852, "t": 39.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
13
+ {"env_id": 3, "seq": 13, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
14
+ {"env_id": 3, "seq": 14, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.2999999225139618}, "cause": "program-3-2"}
15
+ {"env_id": 3, "seq": 15, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.2999999225139618}, "cause": "program-3-2"}
16
+ {"env_id": 3, "seq": 16, "step": 8271, "t": 41.355, "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"}
17
+ {"env_id": 3, "seq": 17, "step": 8271, "t": 41.355, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
18
+ {"env_id": 3, "seq": 18, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"}
19
+ {"env_id": 3, "seq": 19, "step": 8271, "t": 41.355, "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"}
20
+ {"env_id": 3, "seq": 20, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
21
+ {"env_id": 3, "seq": 21, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.993503892109378}, "cause": "program-3-3"}
22
+ {"env_id": 3, "seq": 22, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
23
+ {"env_id": 3, "seq": 23, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.995000000002044}, "cause": "program-3-3"}
24
+ {"env_id": 3, "seq": 24, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.995000000002044}}, "cause": "program-3-3"}
25
+ {"env_id": 3, "seq": 25, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
26
+ {"env_id": 3, "seq": 26, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
27
+ {"env_id": 3, "seq": 27, "step": 9070, "t": 45.35, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
28
+ {"env_id": 3, "seq": 28, "step": 9489, "t": 47.445, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
29
+ {"env_id": 3, "seq": 29, "step": 9489, "t": 47.445, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.6866986066464982e-11}, "cause": "program-3-4"}
30
+ {"env_id": 3, "seq": 30, "step": 9489, "t": 47.445, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.6866986066464982e-11}, "cause": "program-3-4"}
31
+ {"env_id": 3, "seq": 31, "step": 9489, "t": 47.445, "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"}
32
+ {"env_id": 3, "seq": 32, "step": 9489, "t": 47.445, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
33
+ {"env_id": 3, "seq": 33, "step": 9489, "t": 47.445, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
34
+ {"env_id": 3, "seq": 34, "step": 10071, "t": 50.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
35
+ {"env_id": 3, "seq": 35, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
36
+ {"env_id": 3, "seq": 36, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"}
37
+ {"env_id": 3, "seq": 37, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
38
+ {"env_id": 3, "seq": 38, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
episodes/c4_p012_e003/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e754fd475ea07fa512c8da4ec3defdd2c9190e6de5a84cc855f505d6e20dbc8
3
+ size 1276392
episodes/c4_p012_e003/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p012/magicsim/3",
3
+ "fps": 25,
4
+ "frames": 1263,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1263,
8
+ "env": 1263
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_p012_e003/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 3,
3
+ "env_id": 3,
4
+ "run_id": "c4_p012",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 3,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {},
23
+ {
24
+ "rac_cell": [
25
+ {
26
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
27
+ "pose": {
28
+ "pos": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0
32
+ ],
33
+ "ori": [
34
+ 1.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0
38
+ ],
39
+ "scale": [
40
+ 1.0,
41
+ 1.0,
42
+ 1.0
43
+ ]
44
+ },
45
+ "dr": {
46
+ "visual": {
47
+ "kind": null,
48
+ "value": null,
49
+ "visible": true
50
+ },
51
+ "physics": {
52
+ "type": "geometry",
53
+ "collision": false,
54
+ "physics_material": {
55
+ "static_friction": 0.6,
56
+ "dynamic_friction": 0.5,
57
+ "restitution": 0.0
58
+ },
59
+ "ratio": 1.0
60
+ },
61
+ "primitive_params": null
62
+ },
63
+ "type_specific": {}
64
+ }
65
+ ],
66
+ "robot_mount": [
67
+ {
68
+ "asset": "Cube",
69
+ "pose": {
70
+ "pos": [
71
+ 0.0,
72
+ 0.0,
73
+ 0.9075
74
+ ],
75
+ "ori": [
76
+ 1.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "scale": [
82
+ 1.0,
83
+ 1.0,
84
+ 1.0
85
+ ]
86
+ },
87
+ "dr": {
88
+ "visual": {
89
+ "kind": "color",
90
+ "value": [
91
+ 0.55,
92
+ 0.56,
93
+ 0.58
94
+ ],
95
+ "visible": true
96
+ },
97
+ "physics": {
98
+ "type": "geometry",
99
+ "collision": false,
100
+ "ratio": 1.0
101
+ },
102
+ "primitive_params": {
103
+ "size": [
104
+ 0.2,
105
+ 0.2,
106
+ 0.015
107
+ ]
108
+ }
109
+ },
110
+ "type_specific": {}
111
+ }
112
+ ],
113
+ "plate_rack": [
114
+ {
115
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
116
+ "pose": {
117
+ "pos": [
118
+ -0.6,
119
+ 0.02,
120
+ 0.9
121
+ ],
122
+ "ori": [
123
+ 6.123234262925839e-17,
124
+ 0.0,
125
+ 0.0,
126
+ 1.0
127
+ ],
128
+ "scale": [
129
+ 1.0,
130
+ 1.0,
131
+ 1.0
132
+ ]
133
+ },
134
+ "dr": {
135
+ "visual": {
136
+ "kind": null,
137
+ "value": null,
138
+ "visible": true
139
+ },
140
+ "physics": {
141
+ "type": "geometry",
142
+ "collision": false,
143
+ "physics_material": {
144
+ "static_friction": 0.6,
145
+ "dynamic_friction": 0.5,
146
+ "restitution": 0.0
147
+ },
148
+ "ratio": 1.0
149
+ },
150
+ "primitive_params": null
151
+ },
152
+ "type_specific": {}
153
+ }
154
+ ],
155
+ "hotel_plate": [
156
+ {
157
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
158
+ "pose": {
159
+ "pos": [
160
+ -0.6,
161
+ 0.02,
162
+ 0.9605
163
+ ],
164
+ "ori": [
165
+ 1.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0
169
+ ],
170
+ "scale": [
171
+ 1.0,
172
+ 1.0,
173
+ 1.0
174
+ ]
175
+ },
176
+ "dr": {
177
+ "visual": {
178
+ "kind": null,
179
+ "value": null,
180
+ "visible": true
181
+ },
182
+ "physics": {
183
+ "type": "geometry",
184
+ "collision": false,
185
+ "ratio": 1.0
186
+ },
187
+ "primitive_params": null
188
+ },
189
+ "type_specific": {}
190
+ },
191
+ {
192
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
193
+ "pose": {
194
+ "pos": [
195
+ -0.6,
196
+ 0.02,
197
+ 1.0285
198
+ ],
199
+ "ori": [
200
+ 6.123234262925839e-17,
201
+ 0.0,
202
+ 0.0,
203
+ 1.0
204
+ ],
205
+ "scale": [
206
+ 1.0,
207
+ 1.0,
208
+ 1.0
209
+ ]
210
+ },
211
+ "dr": {
212
+ "visual": {
213
+ "kind": null,
214
+ "value": null,
215
+ "visible": true
216
+ },
217
+ "physics": {
218
+ "type": "geometry",
219
+ "collision": false,
220
+ "ratio": 1.0
221
+ },
222
+ "primitive_params": null
223
+ },
224
+ "type_specific": {}
225
+ },
226
+ {
227
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
228
+ "pose": {
229
+ "pos": [
230
+ -0.6,
231
+ 0.02,
232
+ 1.0965
233
+ ],
234
+ "ori": [
235
+ 1.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "scale": [
241
+ 1.0,
242
+ 1.0,
243
+ 1.0
244
+ ]
245
+ },
246
+ "dr": {
247
+ "visual": {
248
+ "kind": null,
249
+ "value": null,
250
+ "visible": true
251
+ },
252
+ "physics": {
253
+ "type": "geometry",
254
+ "collision": false,
255
+ "ratio": 1.0
256
+ },
257
+ "primitive_params": null
258
+ },
259
+ "type_specific": {}
260
+ },
261
+ {
262
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
263
+ "pose": {
264
+ "pos": [
265
+ -0.6,
266
+ 0.02,
267
+ 1.1645
268
+ ],
269
+ "ori": [
270
+ 6.123234262925839e-17,
271
+ 0.0,
272
+ 0.0,
273
+ 1.0
274
+ ],
275
+ "scale": [
276
+ 1.0,
277
+ 1.0,
278
+ 1.0
279
+ ]
280
+ },
281
+ "dr": {
282
+ "visual": {
283
+ "kind": null,
284
+ "value": null,
285
+ "visible": true
286
+ },
287
+ "physics": {
288
+ "type": "geometry",
289
+ "collision": false,
290
+ "ratio": 1.0
291
+ },
292
+ "primitive_params": null
293
+ },
294
+ "type_specific": {}
295
+ },
296
+ {
297
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
298
+ "pose": {
299
+ "pos": [
300
+ -0.6,
301
+ 0.02,
302
+ 1.2325
303
+ ],
304
+ "ori": [
305
+ 1.0,
306
+ 0.0,
307
+ 0.0,
308
+ 0.0
309
+ ],
310
+ "scale": [
311
+ 1.0,
312
+ 1.0,
313
+ 1.0
314
+ ]
315
+ },
316
+ "dr": {
317
+ "visual": {
318
+ "kind": null,
319
+ "value": null,
320
+ "visible": true
321
+ },
322
+ "physics": {
323
+ "type": "geometry",
324
+ "collision": false,
325
+ "ratio": 1.0
326
+ },
327
+ "primitive_params": null
328
+ },
329
+ "type_specific": {}
330
+ }
331
+ ],
332
+ "a4s_sealer": [
333
+ {
334
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
335
+ "pose": {
336
+ "pos": [
337
+ 0.47370147705078125,
338
+ 0.12525367736816406,
339
+ 0.8999999761581421
340
+ ],
341
+ "ori": [
342
+ 0.724022388458252,
343
+ 0.0,
344
+ 0.0,
345
+ -0.6897764801979065
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
+ 3.2530384636020315e-12
371
+ ],
372
+ "joint_velocity": [
373
+ 0.0
374
+ ],
375
+ "linear_velocity": [
376
+ 0.0,
377
+ 0.0,
378
+ 0.0
379
+ ],
380
+ "angular_velocity": [
381
+ 0.0,
382
+ 0.0,
383
+ 0.0
384
+ ]
385
+ }
386
+ }
387
+ ],
388
+ "conveyor": [
389
+ {
390
+ "asset": "Cube",
391
+ "pose": {
392
+ "pos": [
393
+ 0.15,
394
+ 0.45,
395
+ 0.9
396
+ ],
397
+ "ori": [
398
+ 1.0,
399
+ 0.0,
400
+ 0.0,
401
+ 0.0
402
+ ],
403
+ "scale": [
404
+ 1.0,
405
+ 1.0,
406
+ 1.0
407
+ ]
408
+ },
409
+ "dr": {
410
+ "visual": {
411
+ "kind": null,
412
+ "value": null,
413
+ "visible": true
414
+ },
415
+ "physics": {
416
+ "type": "conveyor",
417
+ "physics_material": {
418
+ "static_friction": 0.9,
419
+ "dynamic_friction": 0.9
420
+ },
421
+ "ratio": 1.0
422
+ },
423
+ "primitive_params": {
424
+ "size": [
425
+ 2.4,
426
+ 0.076,
427
+ 0.03
428
+ ]
429
+ },
430
+ "conveyor": {
431
+ "speed": 0.25210140570915796,
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": -0.2874530766806019,
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": 0.25210140570915796,
480
+ "holds": [],
481
+ "station": "pick",
482
+ "rider": "carrier_4",
483
+ "arrived": true,
484
+ "applied_speed": 0.0
485
+ }
486
+ }
487
+ }
488
+ ],
489
+ "carrier": [
490
+ {
491
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
492
+ "pose": {
493
+ "pos": [
494
+ 1.6837520599365234,
495
+ 0.8970537185668945,
496
+ 0.900000274181366
497
+ ],
498
+ "ori": [
499
+ 0.6071727871894836,
500
+ -4.070017894264311e-06,
501
+ -4.14058968090103e-06,
502
+ 0.7945697903633118
503
+ ],
504
+ "scale": [
505
+ 1.0,
506
+ 1.0,
507
+ 1.0
508
+ ]
509
+ },
510
+ "dr": {
511
+ "visual": {
512
+ "kind": null,
513
+ "value": null,
514
+ "visible": true
515
+ },
516
+ "physics": {
517
+ "type": "rigid",
518
+ "mass": 0.5,
519
+ "physics_material": {
520
+ "static_friction": 0.9,
521
+ "dynamic_friction": 0.9,
522
+ "restitution": 0.0
523
+ },
524
+ "ratio": 1.0
525
+ },
526
+ "primitive_params": null
527
+ },
528
+ "type_specific": {
529
+ "linear_velocity": [
530
+ 2.1901119907852262e-05,
531
+ 3.7174556837271666e-06,
532
+ -4.044920206069946e-05
533
+ ],
534
+ "angular_velocity": [
535
+ -0.0003299287345726043,
536
+ 0.0018647803226485848,
537
+ 3.2346097214031033e-06
538
+ ]
539
+ }
540
+ },
541
+ {
542
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
543
+ "pose": {
544
+ "pos": [
545
+ 0.6298885345458984,
546
+ 1.1525764465332031,
547
+ 0.8999999761581421
548
+ ],
549
+ "ori": [
550
+ -0.009676268324255943,
551
+ 2.5980484430476736e-10,
552
+ 3.066607523471987e-10,
553
+ 0.9999532699584961
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
+ 3.3527767229202254e-09,
582
+ 6.271218655484745e-09,
583
+ 1.4901161193847656e-08
584
+ ],
585
+ "angular_velocity": [
586
+ -2.56671796705632e-07,
587
+ 2.4477108695464267e-07,
588
+ -6.728382828669055e-08
589
+ ]
590
+ }
591
+ },
592
+ {
593
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
594
+ "pose": {
595
+ "pos": [
596
+ -1.1257858276367188,
597
+ 1.1383781433105469,
598
+ 0.8999999761581421
599
+ ],
600
+ "ori": [
601
+ -0.10358255356550217,
602
+ -9.462370798019037e-08,
603
+ -2.3528086146029636e-08,
604
+ 0.9946208596229553
605
+ ],
606
+ "scale": [
607
+ 1.0,
608
+ 1.0,
609
+ 1.0
610
+ ]
611
+ },
612
+ "dr": {
613
+ "visual": {
614
+ "kind": null,
615
+ "value": null,
616
+ "visible": true
617
+ },
618
+ "physics": {
619
+ "type": "rigid",
620
+ "mass": 0.5,
621
+ "physics_material": {
622
+ "static_friction": 0.9,
623
+ "dynamic_friction": 0.9,
624
+ "restitution": 0.0
625
+ },
626
+ "ratio": 1.0
627
+ },
628
+ "primitive_params": null
629
+ },
630
+ "type_specific": {
631
+ "linear_velocity": [
632
+ -5.388989254839771e-11,
633
+ 1.493153600762298e-09,
634
+ 0.0
635
+ ],
636
+ "angular_velocity": [
637
+ -1.9953516172677155e-08,
638
+ 2.6139801434510446e-10,
639
+ 5.050447171583983e-09
640
+ ]
641
+ }
642
+ },
643
+ {
644
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
645
+ "pose": {
646
+ "pos": [
647
+ -0.13698101043701172,
648
+ 0.4468975067138672,
649
+ 0.8999999761581421
650
+ ],
651
+ "ori": [
652
+ 0.9999765157699585,
653
+ -7.442347849107023e-10,
654
+ -8.988953331678928e-11,
655
+ 0.006853131577372551
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
+ -4.101315731475097e-09,
684
+ -7.3551968959861824e-09,
685
+ 2.9802322387695312e-08
686
+ ],
687
+ "angular_velocity": [
688
+ 3.0923357030587795e-07,
689
+ -3.4276249039066897e-07,
690
+ -5.539947522947841e-08
691
+ ]
692
+ }
693
+ }
694
+ ],
695
+ "plate": [
696
+ {
697
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
698
+ "pose": {
699
+ "pos": [
700
+ 1.6822280883789062,
701
+ 0.9113359451293945,
702
+ 0.9180001020431519
703
+ ],
704
+ "ori": [
705
+ 0.6485958695411682,
706
+ -5.461280125018675e-06,
707
+ -1.272385816264432e-06,
708
+ 0.7611330151557922
709
+ ],
710
+ "scale": [
711
+ 1.0,
712
+ 1.0,
713
+ 1.0
714
+ ]
715
+ },
716
+ "dr": {
717
+ "visual": {
718
+ "kind": null,
719
+ "value": null,
720
+ "visible": true
721
+ },
722
+ "physics": {
723
+ "type": "rigid",
724
+ "collision": true,
725
+ "mass": "asset",
726
+ "max_depenetration_velocity": 1.0,
727
+ "physics_material": {
728
+ "static_friction": 0.5,
729
+ "dynamic_friction": 0.45,
730
+ "restitution": 0.0,
731
+ "friction_combine_mode": "average"
732
+ },
733
+ "ratio": 1.0
734
+ },
735
+ "primitive_params": null
736
+ },
737
+ "type_specific": {
738
+ "linear_velocity": [
739
+ 4.036066457047127e-05,
740
+ 9.631396096665412e-06,
741
+ -7.412582635879517e-05
742
+ ],
743
+ "angular_velocity": [
744
+ 0.0003252544265706092,
745
+ 0.0008139892015606165,
746
+ -2.93973607767839e-05
747
+ ]
748
+ }
749
+ },
750
+ {
751
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
752
+ "pose": {
753
+ "pos": [
754
+ 0.6380395889282227,
755
+ 1.1426448822021484,
756
+ 0.9180000424385071
757
+ ],
758
+ "ori": [
759
+ 0.041336629539728165,
760
+ 4.561800936997429e-10,
761
+ -8.018585795355193e-11,
762
+ 0.9991452693939209
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
+ 5.208314846072426e-08,
794
+ 6.719719891634668e-08,
795
+ -6.038695573806763e-06
796
+ ],
797
+ "angular_velocity": [
798
+ -2.503160430933349e-06,
799
+ 3.3164562864840264e-06,
800
+ -5.640233169401654e-08
801
+ ]
802
+ }
803
+ },
804
+ {
805
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
806
+ "pose": {
807
+ "pos": [
808
+ -1.1209239959716797,
809
+ 1.1384105682373047,
810
+ 0.9180000424385071
811
+ ],
812
+ "ori": [
813
+ -0.1881960779428482,
814
+ -9.574457493499722e-08,
815
+ -1.6633652677455757e-08,
816
+ 0.9821315407752991
817
+ ],
818
+ "scale": [
819
+ 1.0,
820
+ 1.0,
821
+ 1.0
822
+ ]
823
+ },
824
+ "dr": {
825
+ "visual": {
826
+ "kind": null,
827
+ "value": null,
828
+ "visible": true
829
+ },
830
+ "physics": {
831
+ "type": "rigid",
832
+ "collision": true,
833
+ "mass": "asset",
834
+ "max_depenetration_velocity": 1.0,
835
+ "physics_material": {
836
+ "static_friction": 0.5,
837
+ "dynamic_friction": 0.45,
838
+ "restitution": 0.0,
839
+ "friction_combine_mode": "average"
840
+ },
841
+ "ratio": 1.0
842
+ },
843
+ "primitive_params": null
844
+ },
845
+ "type_specific": {
846
+ "linear_velocity": [
847
+ -2.0297319380802037e-09,
848
+ 1.8082024766385985e-08,
849
+ -5.241483449935913e-06
850
+ ],
851
+ "angular_velocity": [
852
+ -1.271652763534803e-06,
853
+ 8.32873865874717e-07,
854
+ -7.568036863858651e-08
855
+ ]
856
+ }
857
+ },
858
+ {
859
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
860
+ "pose": {
861
+ "pos": [
862
+ -0.15111255645751953,
863
+ 0.44875621795654297,
864
+ 0.9179999828338623
865
+ ],
866
+ "ori": [
867
+ 0.9996195435523987,
868
+ -5.191512553182065e-09,
869
+ -3.156414685179243e-09,
870
+ 0.027584994211792946
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
+ -1.6350304576917551e-07,
902
+ -1.0652556170498428e-08,
903
+ -9.238719940185547e-07
904
+ ],
905
+ "angular_velocity": [
906
+ -2.042494315901422e-06,
907
+ -6.4439627749379724e-06,
908
+ 7.143577818169433e-08
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": 8.679999999999957,
1107
+ "step": 1736,
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": 3.2530384636020315e-12
1124
+ },
1125
+ "heater": {
1126
+ "state": "ready",
1127
+ "active": null,
1128
+ "duration": 0.0,
1129
+ "t_start": null,
1130
+ "elapsed": 0.0
1131
+ }
1132
+ },
1133
+ "queues": {},
1134
+ "program": null,
1135
+ "sensors": {
1136
+ "plate_present": {
1137
+ "occupants": [],
1138
+ "pending": {}
1139
+ }
1140
+ },
1141
+ "interlocks": {}
1142
+ },
1143
+ "conveyor_1": {
1144
+ "mode": "auto",
1145
+ "units": {
1146
+ "belt": {
1147
+ "state": "at_station",
1148
+ "active": null,
1149
+ "controller": {
1150
+ "speed": 0.25210140570915796,
1151
+ "holds": [],
1152
+ "station": "pick",
1153
+ "rider": "carrier_4",
1154
+ "arrived": true,
1155
+ "settle_count": 1615,
1156
+ "released": {
1157
+ "pick": []
1158
+ },
1159
+ "last_pos": {
1160
+ "carrier_1": [
1161
+ 1.533752053976059,
1162
+ 0.4470537304878235,
1163
+ 2.384185791015625e-07
1164
+ ],
1165
+ "carrier_2": [
1166
+ 0.47988852858543396,
1167
+ 0.7025764584541321,
1168
+ 0.0
1169
+ ],
1170
+ "carrier_3": [
1171
+ -1.2757858335971832,
1172
+ 0.6883781552314758,
1173
+ 0.0
1174
+ ],
1175
+ "carrier_4": [
1176
+ -0.2869810163974762,
1177
+ -0.0031024813652038574,
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_4",
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
+ -0.5584234739139942,
1241
+ 0.2943765421150579,
1242
+ 2.711584628039236
1243
+ ],
1244
+ "ori": [
1245
+ -1.9769923191284828,
1246
+ 3.2874980901899633,
1247
+ 14.018941718983072
1248
+ ],
1249
+ "scale": [
1250
+ 1.0,
1251
+ 1.0,
1252
+ 1.0
1253
+ ]
1254
+ },
1255
+ "dr": {
1256
+ "color_temperature": 6397.753047305612,
1257
+ "color": [
1258
+ 0.9723633449121003,
1259
+ 0.8797363967570309,
1260
+ 0.8149629635774877
1261
+ ],
1262
+ "intensity": 11127.13855774808,
1263
+ "width": 2.390348545038293,
1264
+ "height": 1.2179026117684881
1265
+ }
1266
+ },
1267
+ "key": {
1268
+ "type": "sphere",
1269
+ "pose": {
1270
+ "pos": [
1271
+ -0.14169475055372227,
1272
+ 0.3586191844079758,
1273
+ 2.2415343030737476
1274
+ ],
1275
+ "ori": [
1276
+ 6.717604300349571,
1277
+ -20.7988057167016,
1278
+ 29.010867835336427
1279
+ ],
1280
+ "scale": [
1281
+ 1.0,
1282
+ 1.0,
1283
+ 1.0
1284
+ ]
1285
+ },
1286
+ "dr": {
1287
+ "color_temperature": 3588.9414864797945,
1288
+ "color": [
1289
+ 0.9017129600235592,
1290
+ 0.9913007537462886,
1291
+ 0.966980635207721
1292
+ ],
1293
+ "intensity": 8256.168590701764,
1294
+ "radius": 0.18280407568906454
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": 1297.2723320977275,
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
+ 0.8157458305358887,
1394
+ -1.5257645845413208,
1395
+ 2.1255605220794678,
1396
+ -2.1705729961395264,
1397
+ -1.5707967281341553,
1398
+ 2.552175998687744,
1399
+ 0.01800001598894596,
1400
+ 0.017999982461333275
1401
+ ],
1402
+ [
1403
+ 1.1055744886398315,
1404
+ -1.3675365447998047,
1405
+ 2.377237558364868,
1406
+ -2.580454111099243,
1407
+ -1.5708084106445312,
1408
+ 2.8601949214935303,
1409
+ 0.007555851247161627,
1410
+ 0.007071326486766338
1411
+ ],
1412
+ [
1413
+ 0.7746355533599854,
1414
+ -1.3388333320617676,
1415
+ 1.902422308921814,
1416
+ -2.1343817710876465,
1417
+ -1.5707794427871704,
1418
+ 2.190554618835449,
1419
+ 0.007695518899708986,
1420
+ 0.006955686956644058
1421
+ ],
1422
+ [
1423
+ 0.9141026139259338,
1424
+ -1.719398021697998,
1425
+ 2.0905003547668457,
1426
+ -1.9419009685516357,
1427
+ -1.5707999467849731,
1428
+ 2.484900951385498,
1429
+ 0.01799999549984932,
1430
+ 0.018000002950429916
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -2.1474224922712892e-05,
1436
+ 0.005050041247159243,
1437
+ 0.004522374365478754,
1438
+ -0.009063252247869968,
1439
+ 5.882921527700091e-07,
1440
+ -2.059948383248411e-05,
1441
+ -2.4257960831164382e-06,
1442
+ 2.4260482405225048e-06
1443
+ ],
1444
+ [
1445
+ -0.0006977369193919003,
1446
+ -0.0015187982935458422,
1447
+ -0.00031620607478544116,
1448
+ -0.00010954041499644518,
1449
+ 0.0006613649311475456,
1450
+ 0.006425098981708288,
1451
+ -0.006926339119672775,
1452
+ 0.00022525459644384682
1453
+ ],
1454
+ [
1455
+ 0.0001508460845798254,
1456
+ -4.252498001733329e-06,
1457
+ -0.00012514973059296608,
1458
+ 4.5211403630673885e-05,
1459
+ 0.00019192778563592583,
1460
+ 0.00031120431958697736,
1461
+ -0.00933466199785471,
1462
+ 0.0003070351085625589
1463
+ ],
1464
+ [
1465
+ 2.3645759718143613e-38,
1466
+ -1.6901573653459562e-38,
1467
+ 1.627927662363141e-38,
1468
+ -4.868056158372367e-37,
1469
+ 4.2111009817818866e-37,
1470
+ -2.8939064334160564e-37,
1471
+ 5.1980777016069624e-08,
1472
+ -5.1980773463355945e-08
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.049804408103227615,
1482
+ 0.0008859591907821596,
1483
+ -0.025899702683091164,
1484
+ -0.2799362540245056,
1485
+ 0.6500952839851379,
1486
+ 0.6438419222831726,
1487
+ -0.2906533181667328
1488
+ ],
1489
+ [
1490
+ 0.05019783228635788,
1491
+ 0.00369186676107347,
1492
+ -0.028677210211753845,
1493
+ -0.2728404402732849,
1494
+ 0.6425169706344604,
1495
+ 0.6519444584846497,
1496
+ -0.2961392402648926
1497
+ ],
1498
+ [
1499
+ 0.050853535532951355,
1500
+ 0.0012513381661847234,
1501
+ -0.029705815017223358,
1502
+ -0.27822497487068176,
1503
+ 0.6533898711204529,
1504
+ 0.6471961140632629,
1505
+ -0.277145653963089
1506
+ ],
1507
+ [
1508
+ 0.05137762799859047,
1509
+ -0.0019098735647276044,
1510
+ -0.03188237547874451,
1511
+ -0.2729698717594147,
1512
+ 0.6554944515228271,
1513
+ 0.647955596446991,
1514
+ -0.2756228744983673
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0489988811314106,
1520
+ 0.5578171014785767,
1521
+ 1.945243000984192,
1522
+ 0.035682182759046555,
1523
+ 0.027791352942585945,
1524
+ 0.26952195167541504,
1525
+ 0.961931586265564
1526
+ ],
1527
+ [
1528
+ 0.0745827853679657,
1529
+ 0.5795809626579285,
1530
+ 1.9601750373840332,
1531
+ 0.027247218415141106,
1532
+ -3.046071287826635e-05,
1533
+ 0.2561684250831604,
1534
+ 0.966248095035553
1535
+ ],
1536
+ [
1537
+ 0.07201118022203445,
1538
+ 0.5646981000900269,
1539
+ 1.9533905982971191,
1540
+ 0.051043227314949036,
1541
+ 0.017643218860030174,
1542
+ 0.25782114267349243,
1543
+ 0.9646821022033691
1544
+ ],
1545
+ [
1546
+ 0.06980837881565094,
1547
+ 0.5869247913360596,
1548
+ 1.950273036956787,
1549
+ 0.030343947932124138,
1550
+ 0.0033051487989723682,
1551
+ 0.28654608130455017,
1552
+ 0.9575800895690918
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p012_e003/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31e7cbc545ea5a72091715e5dfea473c674686a5270cb3226b68b570005fed04
3
+ size 7045446
episodes/c5_p011_e012/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7beec0e96a65022d77a622c48e33c74b974c53a6cbce0cf66b9608d1457d0fd
3
+ size 203737
episodes/c5_p011_e012/device_events.jsonl ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 187, "t": 0.935, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 187, "t": 0.935, "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": 192, "t": 0.96, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 665, "t": 3.325, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 698, "t": 3.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
6
+ {"env_id": 1, "seq": 6, "step": 744, "t": 3.72, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
7
+ {"env_id": 1, "seq": 7, "step": 784, "t": 3.92, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
8
+ {"env_id": 1, "seq": 8, "step": 5287, "t": 26.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
9
+ {"env_id": 1, "seq": 9, "step": 5900, "t": 29.5, "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": 5900, "t": 29.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.6885362238546375}, "cause": "task-1-1"}
11
+ {"env_id": 1, "seq": 11, "step": 5900, "t": 29.5, "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": 5900, "t": 29.5, "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": 5900, "t": 29.5, "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": 6319, "t": 31.595, "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": 6319, "t": 31.595, "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": 6319, "t": 31.595, "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": 6319, "t": 31.595, "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": 6319, "t": 31.595, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
19
+ {"env_id": 1, "seq": 19, "step": 6319, "t": 31.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
20
+ {"env_id": 1, "seq": 20, "step": 6319, "t": 31.595, "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": 6319, "t": 31.595, "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": 6319, "t": 31.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.6885362238546375}, "cause": "program-1-3"}
23
+ {"env_id": 1, "seq": 23, "step": 6857, "t": 34.285, "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": 6857, "t": 34.285, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.6900000000010884}, "cause": "program-1-3"}
25
+ {"env_id": 1, "seq": 25, "step": 6857, "t": 34.285, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.6900000000010884}}, "cause": "program-1-3"}
26
+ {"env_id": 1, "seq": 26, "step": 6857, "t": 34.285, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
27
+ {"env_id": 1, "seq": 27, "step": 6857, "t": 34.285, "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": 6857, "t": 34.285, "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": 7277, "t": 36.385, "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": 7277, "t": 36.385, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.798107208052297e-12}, "cause": "program-1-4"}
31
+ {"env_id": 1, "seq": 31, "step": 7277, "t": 36.385, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.798107208052297e-12}, "cause": "program-1-4"}
32
+ {"env_id": 1, "seq": 32, "step": 7277, "t": 36.385, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
33
+ {"env_id": 1, "seq": 33, "step": 7277, "t": 36.385, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
34
+ {"env_id": 1, "seq": 34, "step": 7277, "t": 36.385, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
35
+ {"env_id": 1, "seq": 35, "step": 7858, "t": 39.29, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
36
+ {"env_id": 1, "seq": 36, "step": 10148, "t": 50.74, "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": 10148, "t": 50.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
38
+ {"env_id": 1, "seq": 38, "step": 10148, "t": 50.74, "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": 10148, "t": 50.74, "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/c5_p011_e012/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9612e8855b77572eb44c5744899ea301d32a7ba77a374f799d651974f9636aee
3
+ size 1290001
episodes/c5_p011_e012/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c5_p011/magicsim/12",
3
+ "fps": 25,
4
+ "frames": 1244,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1244,
8
+ "env": 1244
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c5_p011_e012/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 12,
3
+ "env_id": 1,
4
+ "run_id": "c5_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
191
+ "pose": {
192
+ "pos": [
193
+ -0.6,
194
+ 0.02,
195
+ 1.0285
196
+ ],
197
+ "ori": [
198
+ 6.123234262925839e-17,
199
+ 0.0,
200
+ 0.0,
201
+ 1.0
202
+ ],
203
+ "scale": [
204
+ 1.0,
205
+ 1.0,
206
+ 1.0
207
+ ]
208
+ },
209
+ "dr": {
210
+ "visual": {
211
+ "kind": null,
212
+ "value": null,
213
+ "visible": true
214
+ },
215
+ "physics": {
216
+ "type": "geometry",
217
+ "collision": false,
218
+ "ratio": 1.0
219
+ },
220
+ "primitive_params": null
221
+ },
222
+ "type_specific": {}
223
+ },
224
+ {
225
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.4884967803955078,
336
+ 0.07336044311523438,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.6936663389205933,
341
+ 0.0,
342
+ 0.0,
343
+ 0.7202965021133423
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
+ 3.3641660420954955e-13
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": 0.158468926847123,
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": -0.166242441991653,
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": 0.158468926847123,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_4",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ -1.3843374252319336,
493
+ 0.8939590454101562,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ -0.607144832611084,
498
+ 3.7210892145367325e-08,
499
+ 1.653365444553856e-08,
500
+ 0.7945912480354309
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ 5.786402468288543e-10,
529
+ -3.4505093227110706e-11,
530
+ 0.0
531
+ ],
532
+ "angular_velocity": [
533
+ 2.649866992499028e-09,
534
+ 5.2124004668030466e-08,
535
+ -6.897750148837645e-10
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 1.5409440994262695,
544
+ 0.5102424621582031,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 0.9585994482040405,
549
+ 3.506952239717975e-08,
550
+ -5.0997769562854955e-08,
551
+ 0.2847582995891571
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
+ 8.444289711917463e-11,
580
+ 1.9038937093540653e-10,
581
+ 0.0
582
+ ],
583
+ "angular_velocity": [
584
+ -1.3626333839056315e-08,
585
+ -8.258378869641092e-09,
586
+ 3.181697127985217e-09
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ 0.7145462036132812,
595
+ 1.152353286743164,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -0.012740576639771461,
600
+ -8.269628182233646e-08,
601
+ -1.3782367247472394e-08,
602
+ 0.9999188780784607
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 3.920123115008778e-10,
631
+ -4.407259557304144e-10,
632
+ 3.725290298461914e-09
633
+ ],
634
+ "angular_velocity": [
635
+ 4.4350594308184554e-09,
636
+ 3.039558293949085e-08,
637
+ -1.1264321031489999e-08
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -0.016617774963378906,
646
+ 0.4466400146484375,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ 0.9999879598617554,
651
+ -1.274230054804093e-09,
652
+ -4.143064225026194e-10,
653
+ 0.004911108873784542
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
+ -2.0920962739978677e-09,
682
+ -1.9481491975170684e-09,
683
+ 1.862645149230957e-08
684
+ ],
685
+ "angular_velocity": [
686
+ 4.489650962113956e-08,
687
+ -1.6734237817672692e-07,
688
+ -3.701017803336981e-08
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ -1.3818244934082031,
699
+ 0.9054117202758789,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ -0.5328999161720276,
704
+ 3.7838685074120804e-08,
705
+ 1.983828212814842e-08,
706
+ 0.8461782932281494
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ -2.149753264291121e-09,
738
+ 1.990293796438891e-08,
739
+ 7.450580596923828e-08
740
+ ],
741
+ "angular_velocity": [
742
+ -1.602380393705971e-06,
743
+ -1.2203614119243866e-08,
744
+ -1.750101574771179e-08
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 1.5510883331298828,
753
+ 0.5060815811157227,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ 0.9755773544311523,
758
+ 3.8451009487516785e-08,
759
+ -4.9138655811020726e-08,
760
+ 0.21965645253658295
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
+ -2.286611078261558e-08,
792
+ -3.346851329411038e-08,
793
+ -4.7869980335235596e-06
794
+ ],
795
+ "angular_velocity": [
796
+ 9.026837233250262e-07,
797
+ -9.834753882387304e-07,
798
+ -5.490186083534354e-09
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ 0.7178144454956055,
807
+ 1.1636743545532227,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ 0.06933792680501938,
812
+ -8.086220049108306e-08,
813
+ -2.073456251139305e-08,
814
+ 0.9975932240486145
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ 1.0888158819000182e-08,
846
+ -2.6605286862491084e-09,
847
+ -5.606561899185181e-06
848
+ ],
849
+ "angular_velocity": [
850
+ 6.368181715288301e-08,
851
+ 1.2900377441837918e-06,
852
+ 1.1459405868663453e-08
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -0.01911449432373047,
861
+ 0.45226001739501953,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.9982386231422424,
866
+ 5.727090801599388e-09,
867
+ -1.13395903778013e-09,
868
+ 0.05932836979627609
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
+ -9.263278855087265e-08,
900
+ -7.779984656508532e-08,
901
+ 1.9744038581848145e-07
902
+ ],
903
+ "angular_velocity": [
904
+ 2.6265847736794967e-06,
905
+ -3.3731801067915512e-06,
906
+ 1.444804809125344e-07
907
+ ]
908
+ }
909
+ }
910
+ ],
911
+ "deco_hub_west": [
912
+ {
913
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
914
+ "pose": {
915
+ "pos": [
916
+ -3.36,
917
+ 0.0,
918
+ 0.0
919
+ ],
920
+ "ori": [
921
+ 1.0,
922
+ 0.0,
923
+ 0.0,
924
+ 0.0
925
+ ],
926
+ "scale": [
927
+ 1.0,
928
+ 1.0,
929
+ 1.0
930
+ ]
931
+ },
932
+ "dr": {
933
+ "visual": {
934
+ "kind": null,
935
+ "value": null,
936
+ "visible": true
937
+ },
938
+ "physics": {
939
+ "type": "geometry",
940
+ "collision": false,
941
+ "ratio": 1.0
942
+ },
943
+ "primitive_params": null
944
+ },
945
+ "type_specific": {}
946
+ }
947
+ ],
948
+ "deco_hub_east": [
949
+ {
950
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
951
+ "pose": {
952
+ "pos": [
953
+ 3.36,
954
+ 0.0,
955
+ 0.0
956
+ ],
957
+ "ori": [
958
+ 1.0,
959
+ 0.0,
960
+ 0.0,
961
+ 0.0
962
+ ],
963
+ "scale": [
964
+ 1.0,
965
+ 1.0,
966
+ 1.0
967
+ ]
968
+ },
969
+ "dr": {
970
+ "visual": {
971
+ "kind": null,
972
+ "value": null,
973
+ "visible": true
974
+ },
975
+ "physics": {
976
+ "type": "geometry",
977
+ "collision": false,
978
+ "ratio": 1.0
979
+ },
980
+ "primitive_params": null
981
+ },
982
+ "type_specific": {}
983
+ }
984
+ ],
985
+ "deco_hub_back": [
986
+ {
987
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
988
+ "pose": {
989
+ "pos": [
990
+ -3.0,
991
+ -2.1,
992
+ 0.0
993
+ ],
994
+ "ori": [
995
+ 1.0,
996
+ 0.0,
997
+ 0.0,
998
+ 0.0
999
+ ],
1000
+ "scale": [
1001
+ 1.0,
1002
+ 1.0,
1003
+ 1.0
1004
+ ]
1005
+ },
1006
+ "dr": {
1007
+ "visual": {
1008
+ "kind": null,
1009
+ "value": null,
1010
+ "visible": true
1011
+ },
1012
+ "physics": {
1013
+ "type": "geometry",
1014
+ "collision": false,
1015
+ "ratio": 1.0
1016
+ },
1017
+ "primitive_params": null
1018
+ },
1019
+ "type_specific": {}
1020
+ }
1021
+ ],
1022
+ "deco_bench_east": [
1023
+ {
1024
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
1025
+ "pose": {
1026
+ "pos": [
1027
+ 2.6,
1028
+ -2.5,
1029
+ 0.0
1030
+ ],
1031
+ "ori": [
1032
+ 6.123234262925839e-17,
1033
+ 0.0,
1034
+ 0.0,
1035
+ 1.0
1036
+ ],
1037
+ "scale": [
1038
+ 1.0,
1039
+ 1.0,
1040
+ 1.0
1041
+ ]
1042
+ },
1043
+ "dr": {
1044
+ "visual": {
1045
+ "kind": null,
1046
+ "value": null,
1047
+ "visible": true
1048
+ },
1049
+ "physics": {
1050
+ "type": "geometry",
1051
+ "collision": false,
1052
+ "ratio": 1.0
1053
+ },
1054
+ "primitive_params": null
1055
+ },
1056
+ "type_specific": {}
1057
+ }
1058
+ ],
1059
+ "deco_bench_gap": [
1060
+ {
1061
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1062
+ "pose": {
1063
+ "pos": [
1064
+ -0.1,
1065
+ -2.9,
1066
+ 0.0
1067
+ ],
1068
+ "ori": [
1069
+ 1.0,
1070
+ 0.0,
1071
+ 0.0,
1072
+ 0.0
1073
+ ],
1074
+ "scale": [
1075
+ 1.0,
1076
+ 1.0,
1077
+ 1.0
1078
+ ]
1079
+ },
1080
+ "dr": {
1081
+ "visual": {
1082
+ "kind": null,
1083
+ "value": null,
1084
+ "visible": true
1085
+ },
1086
+ "physics": {
1087
+ "type": "geometry",
1088
+ "collision": false,
1089
+ "ratio": 1.0
1090
+ },
1091
+ "primitive_params": null
1092
+ },
1093
+ "type_specific": {}
1094
+ }
1095
+ ]
1096
+ },
1097
+ {},
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ {
1104
+ "t": 1.2599999999999951,
1105
+ "step": 252,
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": 3.3641660420954955e-13
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": 0.158468926847123,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_4",
1152
+ "arrived": true,
1153
+ "settle_count": 64,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ -1.534337431192398,
1160
+ 0.4439590573310852,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ 1.390944093465805,
1165
+ 0.06024247407913208,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ 0.5645461976528168,
1170
+ 0.702353298664093,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -0.16661778092384338,
1175
+ -0.003359973430633545,
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_4",
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
+ 0.18708677726332212,
1239
+ 0.43726679811765756,
1240
+ 2.7795963281669307
1241
+ ],
1242
+ "ori": [
1243
+ -3.4807937727803377,
1244
+ -6.2644880972515935,
1245
+ 13.789959201166596
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 6464.252061198561,
1255
+ "color": [
1256
+ 0.8692285540013792,
1257
+ 0.8210666552516637,
1258
+ 0.7955520472759621
1259
+ ],
1260
+ "intensity": 11448.044183426497,
1261
+ "width": 2.6020299322433615,
1262
+ "height": 1.6106747871863627
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ 0.551295621298205,
1270
+ 0.724402469319835,
1271
+ 2.5501551013310633
1272
+ ],
1273
+ "ori": [
1274
+ -21.23099400166477,
1275
+ -11.541374837788439,
1276
+ 38.37969061541038
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 3026.048717276528,
1286
+ "color": [
1287
+ 0.8701191653618279,
1288
+ 0.777916273790676,
1289
+ 0.9792279657085012
1290
+ ],
1291
+ "intensity": 8686.653607167387,
1292
+ "radius": 0.07159474115090209
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": 563.9630499537409,
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
+ -0.2787172794342041,
1394
+ -2.014535903930664,
1395
+ 2.6568655967712402,
1396
+ -2.2130987644195557,
1397
+ -1.5707945823669434,
1398
+ 4.470746040344238,
1399
+ 0.01799999177455902,
1400
+ 0.018000006675720215
1401
+ ],
1402
+ [
1403
+ 0.9141011834144592,
1404
+ -1.7193987369537354,
1405
+ 2.0904998779296875,
1406
+ -1.9419009685516357,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.01799999549984932,
1410
+ 0.018000002950429916
1411
+ ],
1412
+ [
1413
+ 1.666945457458496,
1414
+ -1.3141032457351685,
1415
+ 2.1678881645202637,
1416
+ -2.424236297607422,
1417
+ -1.570683479309082,
1418
+ 0.09915377199649811,
1419
+ 0.007680436596274376,
1420
+ 0.0072435480542480946
1421
+ ],
1422
+ [
1423
+ -0.18299253284931183,
1424
+ -2.134598731994629,
1425
+ 2.395813465118408,
1426
+ -1.8313987255096436,
1427
+ -1.5707989931106567,
1428
+ 4.539823532104492,
1429
+ 0.008042868226766586,
1430
+ 0.006767011247575283
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -0.0004772453976329416,
1436
+ 0.014976280741393566,
1437
+ 0.012183201499283314,
1438
+ -0.026482466608285904,
1439
+ -9.549692549626343e-06,
1440
+ -0.00038148180465213954,
1441
+ -6.457007089011313e-07,
1442
+ 6.457496510847704e-07
1443
+ ],
1444
+ [
1445
+ 2.2883444945760127e-38,
1446
+ -2.1368271363030418e-38,
1447
+ -2.0352313160813353e-38,
1448
+ -3.4240120372762774e-37,
1449
+ 5.551163824254481e-37,
1450
+ -2.9739320103244723e-36,
1451
+ 5.1980745041646514e-08,
1452
+ -5.1980777016069624e-08
1453
+ ],
1454
+ [
1455
+ -0.00022413412807509303,
1456
+ 0.01822814904153347,
1457
+ 0.00660279393196106,
1458
+ -0.024145295843482018,
1459
+ -0.00011965103476541117,
1460
+ -0.002427985891699791,
1461
+ -0.005484992638230324,
1462
+ 0.00018641585484147072
1463
+ ],
1464
+ [
1465
+ -0.0009095623972825706,
1466
+ -0.0011302516795694828,
1467
+ -0.00436116848140955,
1468
+ 0.0001339931332040578,
1469
+ -0.0017884731059893966,
1470
+ 0.003951710648834705,
1471
+ -0.008122202008962631,
1472
+ 0.000311059266095981
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04850618913769722,
1482
+ 0.003263750346377492,
1483
+ -0.030710583552718163,
1484
+ -0.2651735246181488,
1485
+ 0.644542396068573,
1486
+ 0.6635806560516357,
1487
+ -0.2718617618083954
1488
+ ],
1489
+ [
1490
+ 0.04951344430446625,
1491
+ 0.00014810283028054982,
1492
+ -0.028966927900910378,
1493
+ -0.2756253480911255,
1494
+ 0.6554882526397705,
1495
+ 0.6478408575057983,
1496
+ -0.27325451374053955
1497
+ ],
1498
+ [
1499
+ 0.04716894403100014,
1500
+ 0.0017662708414718509,
1501
+ -0.030104773119091988,
1502
+ -0.27879565954208374,
1503
+ 0.6444427967071533,
1504
+ 0.6613456606864929,
1505
+ -0.2637961208820343
1506
+ ],
1507
+ [
1508
+ 0.046998802572488785,
1509
+ -0.000700901378877461,
1510
+ -0.030098697170615196,
1511
+ -0.2796148955821991,
1512
+ 0.6440631151199341,
1513
+ 0.652431845664978,
1514
+ -0.28518563508987427
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.04720369353890419,
1520
+ 0.5653011202812195,
1521
+ 1.9473103284835815,
1522
+ 0.03283335268497467,
1523
+ -0.004413374699652195,
1524
+ 0.2862299382686615,
1525
+ 0.9575880765914917
1526
+ ],
1527
+ [
1528
+ 0.026305239647626877,
1529
+ 0.563758134841919,
1530
+ 1.9383544921875,
1531
+ 0.050261858850717545,
1532
+ 0.018956540152430534,
1533
+ 0.28701746463775635,
1534
+ 0.956417977809906
1535
+ ],
1536
+ [
1537
+ 0.07379837334156036,
1538
+ 0.6010869741439819,
1539
+ 1.9717183113098145,
1540
+ 0.05475896596908569,
1541
+ 0.0034929662942886353,
1542
+ 0.2627114951610565,
1543
+ 0.9633129835128784
1544
+ ],
1545
+ [
1546
+ 0.04186324030160904,
1547
+ 0.6034460663795471,
1548
+ 1.9458962678909302,
1549
+ 0.02225394733250141,
1550
+ 0.008518941700458527,
1551
+ 0.25665339827537537,
1552
+ 0.9662097096443176
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c5_p011_e012/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:300a972174180ebaabd4b853a7ba06f12be48a0155e8b102c472dfd98b42959a
3
+ size 6805044
episodes/c7_p012_e020/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5b50ba9bdb211b5fd8e4ac902a2cc9895b19a81130c0059bf0f3ffd86c3d15f
3
+ size 187442
episodes/c7_p012_e020/device_events.jsonl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 106, "t": 0.53, "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": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 927, "t": 4.635, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 943, "t": 4.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
6
+ {"env_id": 2, "seq": 6, "step": 1129, "t": 5.645, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
7
+ {"env_id": 2, "seq": 7, "step": 5630, "t": 28.15, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
8
+ {"env_id": 2, "seq": 8, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
9
+ {"env_id": 2, "seq": 9, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1988558972985675}, "cause": "task-2-1"}
10
+ {"env_id": 2, "seq": 10, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
11
+ {"env_id": 2, "seq": 11, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
12
+ {"env_id": 2, "seq": 12, "step": 6244, "t": 31.22, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
13
+ {"env_id": 2, "seq": 13, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
14
+ {"env_id": 2, "seq": 14, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
15
+ {"env_id": 2, "seq": 15, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
16
+ {"env_id": 2, "seq": 16, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
17
+ {"env_id": 2, "seq": 17, "step": 6663, "t": 33.315, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
18
+ {"env_id": 2, "seq": 18, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"}
19
+ {"env_id": 2, "seq": 19, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
20
+ {"env_id": 2, "seq": 20, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
21
+ {"env_id": 2, "seq": 21, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1988558972985675}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
23
+ {"env_id": 2, "seq": 23, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.2000000000011255}, "cause": "program-2-3"}
24
+ {"env_id": 2, "seq": 24, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.2000000000011255}}, "cause": "program-2-3"}
25
+ {"env_id": 2, "seq": 25, "step": 7103, "t": 35.515, "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"}
26
+ {"env_id": 2, "seq": 26, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
27
+ {"env_id": 2, "seq": 27, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
28
+ {"env_id": 2, "seq": 28, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
29
+ {"env_id": 2, "seq": 29, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.157768464432607e-10}, "cause": "program-2-4"}
30
+ {"env_id": 2, "seq": 30, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.157768464432607e-10}, "cause": "program-2-4"}
31
+ {"env_id": 2, "seq": 31, "step": 7523, "t": 37.615, "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"}
32
+ {"env_id": 2, "seq": 32, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
33
+ {"env_id": 2, "seq": 33, "step": 7523, "t": 37.615, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
34
+ {"env_id": 2, "seq": 34, "step": 8098, "t": 40.49, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
35
+ {"env_id": 2, "seq": 35, "step": 9840, "t": 49.2, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
36
+ {"env_id": 2, "seq": 36, "step": 9840, "t": 49.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"}
37
+ {"env_id": 2, "seq": 37, "step": 9840, "t": 49.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
38
+ {"env_id": 2, "seq": 38, "step": 9840, "t": 49.2, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}