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
21c1a0a
·
verified ·
1 Parent(s): 230f953

add 3 episodes (c2_p019_e025 .. c2_p019_e027); total 4697 {'v1': 1088, 'v2': 3609}

Browse files
Files changed (19) hide show
  1. episodes/c2_p019_e025/data.npz +3 -0
  2. episodes/c2_p019_e025/device_events.jsonl +36 -0
  3. episodes/c2_p019_e025/env.mp4 +3 -0
  4. episodes/c2_p019_e025/meta.json +32 -0
  5. episodes/c2_p019_e025/scene_snapshot.json +1558 -0
  6. episodes/c2_p019_e025/wrist.mp4 +3 -0
  7. episodes/c2_p019_e026/data.npz +3 -0
  8. episodes/c2_p019_e026/device_events.jsonl +35 -0
  9. episodes/c2_p019_e026/env.mp4 +3 -0
  10. episodes/c2_p019_e026/meta.json +32 -0
  11. episodes/c2_p019_e026/scene_snapshot.json +1558 -0
  12. episodes/c2_p019_e026/wrist.mp4 +3 -0
  13. episodes/c2_p019_e027/data.npz +3 -0
  14. episodes/c2_p019_e027/device_events.jsonl +36 -0
  15. episodes/c2_p019_e027/env.mp4 +3 -0
  16. episodes/c2_p019_e027/meta.json +32 -0
  17. episodes/c2_p019_e027/scene_snapshot.json +1558 -0
  18. episodes/c2_p019_e027/wrist.mp4 +3 -0
  19. index/episodes.csv +3 -0
episodes/c2_p019_e025/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b09709415a4a2b724fd49d0f30cd8ae94de0f206e2b8c8048ece2e494f55fb6
3
+ size 183704
episodes/c2_p019_e025/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 183, "t": 0.915, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 183, "t": 0.915, "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": 188, "t": 0.94, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 646, "t": 3.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 5374, "t": 26.87, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
6
+ {"env_id": 2, "seq": 6, "step": 5988, "t": 29.94, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
7
+ {"env_id": 2, "seq": 7, "step": 5988, "t": 29.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.786622610399668}, "cause": "task-2-1"}
8
+ {"env_id": 2, "seq": 8, "step": 5988, "t": 29.94, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
9
+ {"env_id": 2, "seq": 9, "step": 5988, "t": 29.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 2, "seq": 10, "step": 5988, "t": 29.94, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
11
+ {"env_id": 2, "seq": 11, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 2, "seq": 12, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
13
+ {"env_id": 2, "seq": 13, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
14
+ {"env_id": 2, "seq": 14, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
15
+ {"env_id": 2, "seq": 15, "step": 6407, "t": 32.035, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
16
+ {"env_id": 2, "seq": 16, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"}
17
+ {"env_id": 2, "seq": 17, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
18
+ {"env_id": 2, "seq": 18, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 2, "seq": 19, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.786622610399668}, "cause": "program-2-3"}
20
+ {"env_id": 2, "seq": 20, "step": 6965, "t": 34.825, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 2, "seq": 21, "step": 6965, "t": 34.825, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7900000000014273}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 6965, "t": 34.825, "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": 2.7900000000014273}}, "cause": "program-2-3"}
23
+ {"env_id": 2, "seq": 23, "step": 6965, "t": 34.825, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
24
+ {"env_id": 2, "seq": 24, "step": 6965, "t": 34.825, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 2, "seq": 25, "step": 6965, "t": 34.825, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
26
+ {"env_id": 2, "seq": 26, "step": 7385, "t": 36.925, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 2, "seq": 27, "step": 7385, "t": 36.925, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"}
28
+ {"env_id": 2, "seq": 28, "step": 7385, "t": 36.925, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"}
29
+ {"env_id": 2, "seq": 29, "step": 7385, "t": 36.925, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
30
+ {"env_id": 2, "seq": 30, "step": 7385, "t": 36.925, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
31
+ {"env_id": 2, "seq": 31, "step": 7385, "t": 36.925, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
32
+ {"env_id": 2, "seq": 32, "step": 7966, "t": 39.83, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
33
+ {"env_id": 2, "seq": 33, "step": 9680, "t": 48.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
34
+ {"env_id": 2, "seq": 34, "step": 9680, "t": 48.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"}
35
+ {"env_id": 2, "seq": 35, "step": 9680, "t": 48.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
36
+ {"env_id": 2, "seq": 36, "step": 9680, "t": 48.4, "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/c2_p019_e025/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4322757c0ad32929a56aff3260b560b478c8a881a7d139d39134d8dca6b6b7cc
3
+ size 1246614
episodes/c2_p019_e025/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c2_p019/magicsim/25",
3
+ "fps": 25,
4
+ "frames": 1186,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1186,
8
+ "env": 1186
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_p019_e025/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 25,
3
+ "env_id": 2,
4
+ "run_id": "c2_p019",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 2,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {
23
+ "rac_cell": [
24
+ {
25
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
26
+ "pose": {
27
+ "pos": [
28
+ 0.0,
29
+ 0.0,
30
+ 0.0
31
+ ],
32
+ "ori": [
33
+ 1.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0
37
+ ],
38
+ "scale": [
39
+ 1.0,
40
+ 1.0,
41
+ 1.0
42
+ ]
43
+ },
44
+ "dr": {
45
+ "visual": {
46
+ "kind": null,
47
+ "value": null,
48
+ "visible": true
49
+ },
50
+ "physics": {
51
+ "type": "geometry",
52
+ "collision": false,
53
+ "physics_material": {
54
+ "static_friction": 0.6,
55
+ "dynamic_friction": 0.5,
56
+ "restitution": 0.0
57
+ },
58
+ "ratio": 1.0
59
+ },
60
+ "primitive_params": null
61
+ },
62
+ "type_specific": {}
63
+ }
64
+ ],
65
+ "robot_mount": [
66
+ {
67
+ "asset": "Cube",
68
+ "pose": {
69
+ "pos": [
70
+ 0.0,
71
+ 0.0,
72
+ 0.9075
73
+ ],
74
+ "ori": [
75
+ 1.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0
79
+ ],
80
+ "scale": [
81
+ 1.0,
82
+ 1.0,
83
+ 1.0
84
+ ]
85
+ },
86
+ "dr": {
87
+ "visual": {
88
+ "kind": "color",
89
+ "value": [
90
+ 0.55,
91
+ 0.56,
92
+ 0.58
93
+ ],
94
+ "visible": true
95
+ },
96
+ "physics": {
97
+ "type": "geometry",
98
+ "collision": false,
99
+ "ratio": 1.0
100
+ },
101
+ "primitive_params": {
102
+ "size": [
103
+ 0.2,
104
+ 0.2,
105
+ 0.015
106
+ ]
107
+ }
108
+ },
109
+ "type_specific": {}
110
+ }
111
+ ],
112
+ "plate_rack": [
113
+ {
114
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
115
+ "pose": {
116
+ "pos": [
117
+ -0.6,
118
+ 0.02,
119
+ 0.9
120
+ ],
121
+ "ori": [
122
+ 6.123234262925839e-17,
123
+ 0.0,
124
+ 0.0,
125
+ 1.0
126
+ ],
127
+ "scale": [
128
+ 1.0,
129
+ 1.0,
130
+ 1.0
131
+ ]
132
+ },
133
+ "dr": {
134
+ "visual": {
135
+ "kind": null,
136
+ "value": null,
137
+ "visible": true
138
+ },
139
+ "physics": {
140
+ "type": "geometry",
141
+ "collision": false,
142
+ "physics_material": {
143
+ "static_friction": 0.6,
144
+ "dynamic_friction": 0.5,
145
+ "restitution": 0.0
146
+ },
147
+ "ratio": 1.0
148
+ },
149
+ "primitive_params": null
150
+ },
151
+ "type_specific": {}
152
+ }
153
+ ],
154
+ "hotel_plate": [
155
+ {
156
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
192
+ "pose": {
193
+ "pos": [
194
+ -0.6,
195
+ 0.02,
196
+ 1.0285
197
+ ],
198
+ "ori": [
199
+ 6.123234262925839e-17,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ],
204
+ "scale": [
205
+ 1.0,
206
+ 1.0,
207
+ 1.0
208
+ ]
209
+ },
210
+ "dr": {
211
+ "visual": {
212
+ "kind": null,
213
+ "value": null,
214
+ "visible": true
215
+ },
216
+ "physics": {
217
+ "type": "geometry",
218
+ "collision": false,
219
+ "ratio": 1.0
220
+ },
221
+ "primitive_params": null
222
+ },
223
+ "type_specific": {}
224
+ },
225
+ {
226
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
262
+ "pose": {
263
+ "pos": [
264
+ -0.6,
265
+ 0.02,
266
+ 1.1645
267
+ ],
268
+ "ori": [
269
+ 6.123234262925839e-17,
270
+ 0.0,
271
+ 0.0,
272
+ 1.0
273
+ ],
274
+ "scale": [
275
+ 1.0,
276
+ 1.0,
277
+ 1.0
278
+ ]
279
+ },
280
+ "dr": {
281
+ "visual": {
282
+ "kind": null,
283
+ "value": null,
284
+ "visible": true
285
+ },
286
+ "physics": {
287
+ "type": "geometry",
288
+ "collision": false,
289
+ "ratio": 1.0
290
+ },
291
+ "primitive_params": null
292
+ },
293
+ "type_specific": {}
294
+ },
295
+ {
296
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.5298547744750977,
337
+ 0.07348442077636719,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ -0.6992824077606201,
342
+ 0.0,
343
+ 0.0,
344
+ 0.7148455381393433
345
+ ],
346
+ "scale": [
347
+ 1.0,
348
+ 1.0,
349
+ 1.0
350
+ ]
351
+ },
352
+ "dr": {
353
+ "visual": {
354
+ "kind": null,
355
+ "value": null,
356
+ "visible": true
357
+ },
358
+ "physics": {
359
+ "type": "articulation",
360
+ "solver_position_iteration_count": 16.0,
361
+ "solver_velocity_iteration_count": 1.0,
362
+ "enabled_self_collisions": false,
363
+ "ratio": 1.0
364
+ },
365
+ "primitive_params": null
366
+ },
367
+ "type_specific": {
368
+ "joint_position": [
369
+ 0.0
370
+ ],
371
+ "joint_velocity": [
372
+ 0.0
373
+ ],
374
+ "linear_velocity": [
375
+ 0.0,
376
+ 0.0,
377
+ 0.0
378
+ ],
379
+ "angular_velocity": [
380
+ 0.0,
381
+ 0.0,
382
+ 0.0
383
+ ]
384
+ }
385
+ }
386
+ ],
387
+ "conveyor": [
388
+ {
389
+ "asset": "Cube",
390
+ "pose": {
391
+ "pos": [
392
+ 0.15,
393
+ 0.45,
394
+ 0.9
395
+ ],
396
+ "ori": [
397
+ 1.0,
398
+ 0.0,
399
+ 0.0,
400
+ 0.0
401
+ ],
402
+ "scale": [
403
+ 1.0,
404
+ 1.0,
405
+ 1.0
406
+ ]
407
+ },
408
+ "dr": {
409
+ "visual": {
410
+ "kind": null,
411
+ "value": null,
412
+ "visible": true
413
+ },
414
+ "physics": {
415
+ "type": "conveyor",
416
+ "physics_material": {
417
+ "static_friction": 0.9,
418
+ "dynamic_friction": 0.9
419
+ },
420
+ "ratio": 1.0
421
+ },
422
+ "primitive_params": {
423
+ "size": [
424
+ 2.4,
425
+ 0.076,
426
+ 0.03
427
+ ]
428
+ },
429
+ "conveyor": {
430
+ "speed": 0.1999541090953872,
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": -0.14578641890538044,
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": 0.1999541090953872,
479
+ "holds": [],
480
+ "station": "pick",
481
+ "rider": "carrier_3",
482
+ "arrived": true,
483
+ "applied_speed": 0.0
484
+ }
485
+ }
486
+ }
487
+ ],
488
+ "carrier": [
489
+ {
490
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 1.5352115631103516,
494
+ 0.5068778991699219,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ 0.9621530771255493,
499
+ -3.5391110486671096e-08,
500
+ -1.5652143758870807e-07,
501
+ 0.27250978350639343
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ -2.75873768273982e-10,
530
+ -1.1187579751492649e-08,
531
+ 2.2351741790771484e-08
532
+ ],
533
+ "angular_velocity": [
534
+ 8.195490863727173e-07,
535
+ -3.5148211452451505e-08,
536
+ -1.4211298804411854e-09
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ 0.10743045806884766,
545
+ 1.1521997451782227,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ -0.014632456935942173,
550
+ -8.78401564818887e-08,
551
+ -4.787868590483413e-08,
552
+ 0.9998930096626282
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
+ 1.1378649134030638e-09,
581
+ 1.0968866703819913e-08,
582
+ 3.725290298461914e-09
583
+ ],
584
+ "angular_velocity": [
585
+ -5.208685820434766e-07,
586
+ 5.074916487046721e-08,
587
+ 2.22736193933315e-08
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ 0.0042171478271484375,
596
+ 0.4474363327026367,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ 0.9999462366104126,
601
+ -3.539064818980364e-09,
602
+ -4.586409585449758e-10,
603
+ 0.010379103012382984
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ -7.210969599213968e-10,
632
+ -1.2177585162476134e-08,
633
+ 7.450580596923828e-09
634
+ ],
635
+ "angular_velocity": [
636
+ 3.232542269415717e-07,
637
+ -2.3520325242998297e-08,
638
+ 4.317466206771314e-08
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ -1.2882452011108398,
647
+ 1.0524749755859375,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ -0.36747127771377563,
652
+ -6.597722546075602e-08,
653
+ -2.4736461767815854e-08,
654
+ 0.930034875869751
655
+ ],
656
+ "scale": [
657
+ 1.0,
658
+ 1.0,
659
+ 1.0
660
+ ]
661
+ },
662
+ "dr": {
663
+ "visual": {
664
+ "kind": null,
665
+ "value": null,
666
+ "visible": true
667
+ },
668
+ "physics": {
669
+ "type": "rigid",
670
+ "mass": 0.5,
671
+ "physics_material": {
672
+ "static_friction": 0.9,
673
+ "dynamic_friction": 0.9,
674
+ "restitution": 0.0
675
+ },
676
+ "ratio": 1.0
677
+ },
678
+ "primitive_params": null
679
+ },
680
+ "type_specific": {
681
+ "linear_velocity": [
682
+ 2.653344211012154e-09,
683
+ -2.5188700014666665e-09,
684
+ 7.450580596923828e-09
685
+ ],
686
+ "angular_velocity": [
687
+ 8.928614647629729e-08,
688
+ 2.2732292848104407e-07,
689
+ 7.911781452207833e-09
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 1.5369443893432617,
700
+ 0.508209228515625,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ 0.9294155836105347,
705
+ -2.1140760964044603e-07,
706
+ -2.1593695009869407e-07,
707
+ 0.3690349757671356
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ 1.5397654351545498e-06,
739
+ -1.1038082448067144e-07,
740
+ -3.293156623840332e-06
741
+ ],
742
+ "angular_velocity": [
743
+ 2.30140722123906e-05,
744
+ 5.819986472488381e-05,
745
+ -7.348233339143917e-06
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ 0.1072549819946289,
754
+ 1.158961296081543,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.06446488201618195,
759
+ -8.323779354668659e-08,
760
+ -5.645919642915942e-08,
761
+ 0.997920036315918
762
+ ],
763
+ "scale": [
764
+ 1.0,
765
+ 1.0,
766
+ 1.0
767
+ ]
768
+ },
769
+ "dr": {
770
+ "visual": {
771
+ "kind": null,
772
+ "value": null,
773
+ "visible": true
774
+ },
775
+ "physics": {
776
+ "type": "rigid",
777
+ "collision": true,
778
+ "mass": "asset",
779
+ "max_depenetration_velocity": 1.0,
780
+ "physics_material": {
781
+ "static_friction": 0.5,
782
+ "dynamic_friction": 0.45,
783
+ "restitution": 0.0,
784
+ "friction_combine_mode": "average"
785
+ },
786
+ "ratio": 1.0
787
+ },
788
+ "primitive_params": null
789
+ },
790
+ "type_specific": {
791
+ "linear_velocity": [
792
+ 1.6960576942892658e-08,
793
+ 7.879172159164227e-08,
794
+ -5.39049506187439e-06
795
+ ],
796
+ "angular_velocity": [
797
+ -1.1211498076590942e-06,
798
+ 1.975319264602149e-06,
799
+ -1.307001866734936e-07
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ 0.0070953369140625,
808
+ 0.4528465270996094,
809
+ 0.9180000424385071
810
+ ],
811
+ "ori": [
812
+ 0.9986748695373535,
813
+ -2.609367388828332e-09,
814
+ -1.0400034167190597e-09,
815
+ -0.05146557092666626
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ -1.0683984363879517e-08,
847
+ -8.77387833497778e-08,
848
+ -4.984438419342041e-06
849
+ ],
850
+ "angular_velocity": [
851
+ 1.9587248516472755e-06,
852
+ -1.9714070731424727e-06,
853
+ -7.301789395341984e-08
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ -1.2813825607299805,
862
+ 1.0453433990478516,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ -0.35093316435813904,
867
+ -6.306122202204278e-08,
868
+ -2.2575557423465398e-08,
869
+ 0.9364005923271179
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
+ -1.0840588515748095e-07,
901
+ 3.5583724411480944e-08,
902
+ -1.0766088962554932e-06
903
+ ],
904
+ "angular_velocity": [
905
+ -3.912428383046063e-06,
906
+ -1.5684809113736264e-06,
907
+ -5.897848041058751e-07
908
+ ]
909
+ }
910
+ }
911
+ ],
912
+ "deco_hub_west": [
913
+ {
914
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
915
+ "pose": {
916
+ "pos": [
917
+ -3.36,
918
+ 0.0,
919
+ 0.0
920
+ ],
921
+ "ori": [
922
+ 1.0,
923
+ 0.0,
924
+ 0.0,
925
+ 0.0
926
+ ],
927
+ "scale": [
928
+ 1.0,
929
+ 1.0,
930
+ 1.0
931
+ ]
932
+ },
933
+ "dr": {
934
+ "visual": {
935
+ "kind": null,
936
+ "value": null,
937
+ "visible": true
938
+ },
939
+ "physics": {
940
+ "type": "geometry",
941
+ "collision": false,
942
+ "ratio": 1.0
943
+ },
944
+ "primitive_params": null
945
+ },
946
+ "type_specific": {}
947
+ }
948
+ ],
949
+ "deco_hub_east": [
950
+ {
951
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
952
+ "pose": {
953
+ "pos": [
954
+ 3.36,
955
+ 0.0,
956
+ 0.0
957
+ ],
958
+ "ori": [
959
+ 1.0,
960
+ 0.0,
961
+ 0.0,
962
+ 0.0
963
+ ],
964
+ "scale": [
965
+ 1.0,
966
+ 1.0,
967
+ 1.0
968
+ ]
969
+ },
970
+ "dr": {
971
+ "visual": {
972
+ "kind": null,
973
+ "value": null,
974
+ "visible": true
975
+ },
976
+ "physics": {
977
+ "type": "geometry",
978
+ "collision": false,
979
+ "ratio": 1.0
980
+ },
981
+ "primitive_params": null
982
+ },
983
+ "type_specific": {}
984
+ }
985
+ ],
986
+ "deco_hub_back": [
987
+ {
988
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
989
+ "pose": {
990
+ "pos": [
991
+ -3.0,
992
+ -2.1,
993
+ 0.0
994
+ ],
995
+ "ori": [
996
+ 1.0,
997
+ 0.0,
998
+ 0.0,
999
+ 0.0
1000
+ ],
1001
+ "scale": [
1002
+ 1.0,
1003
+ 1.0,
1004
+ 1.0
1005
+ ]
1006
+ },
1007
+ "dr": {
1008
+ "visual": {
1009
+ "kind": null,
1010
+ "value": null,
1011
+ "visible": true
1012
+ },
1013
+ "physics": {
1014
+ "type": "geometry",
1015
+ "collision": false,
1016
+ "ratio": 1.0
1017
+ },
1018
+ "primitive_params": null
1019
+ },
1020
+ "type_specific": {}
1021
+ }
1022
+ ],
1023
+ "deco_bench_east": [
1024
+ {
1025
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1026
+ "pose": {
1027
+ "pos": [
1028
+ 2.6,
1029
+ -2.5,
1030
+ 0.0
1031
+ ],
1032
+ "ori": [
1033
+ 6.123234262925839e-17,
1034
+ 0.0,
1035
+ 0.0,
1036
+ 1.0
1037
+ ],
1038
+ "scale": [
1039
+ 1.0,
1040
+ 1.0,
1041
+ 1.0
1042
+ ]
1043
+ },
1044
+ "dr": {
1045
+ "visual": {
1046
+ "kind": null,
1047
+ "value": null,
1048
+ "visible": true
1049
+ },
1050
+ "physics": {
1051
+ "type": "geometry",
1052
+ "collision": false,
1053
+ "ratio": 1.0
1054
+ },
1055
+ "primitive_params": null
1056
+ },
1057
+ "type_specific": {}
1058
+ }
1059
+ ],
1060
+ "deco_bench_gap": [
1061
+ {
1062
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1063
+ "pose": {
1064
+ "pos": [
1065
+ -0.1,
1066
+ -2.9,
1067
+ 0.0
1068
+ ],
1069
+ "ori": [
1070
+ 1.0,
1071
+ 0.0,
1072
+ 0.0,
1073
+ 0.0
1074
+ ],
1075
+ "scale": [
1076
+ 1.0,
1077
+ 1.0,
1078
+ 1.0
1079
+ ]
1080
+ },
1081
+ "dr": {
1082
+ "visual": {
1083
+ "kind": null,
1084
+ "value": null,
1085
+ "visible": true
1086
+ },
1087
+ "physics": {
1088
+ "type": "geometry",
1089
+ "collision": false,
1090
+ "ratio": 1.0
1091
+ },
1092
+ "primitive_params": null
1093
+ },
1094
+ "type_specific": {}
1095
+ }
1096
+ ]
1097
+ },
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ null,
1104
+ {
1105
+ "t": 1.1799999999999968,
1106
+ "step": 236,
1107
+ "counter": 0,
1108
+ "devices": {
1109
+ "a4s_sealer_1": {
1110
+ "mode": "auto",
1111
+ "units": {
1112
+ "drawer": {
1113
+ "state": "at_out",
1114
+ "active": null,
1115
+ "target": 0.0,
1116
+ "goal_name": "out",
1117
+ "profile": null,
1118
+ "q_start": null,
1119
+ "reversing": false,
1120
+ "blocked_for": 0.0,
1121
+ "settled_for": 0.0,
1122
+ "last_q": 0.0
1123
+ },
1124
+ "heater": {
1125
+ "state": "ready",
1126
+ "active": null,
1127
+ "duration": 0.0,
1128
+ "t_start": null,
1129
+ "elapsed": 0.0
1130
+ }
1131
+ },
1132
+ "queues": {},
1133
+ "program": null,
1134
+ "sensors": {
1135
+ "plate_present": {
1136
+ "occupants": [],
1137
+ "pending": {}
1138
+ }
1139
+ },
1140
+ "interlocks": {}
1141
+ },
1142
+ "conveyor_1": {
1143
+ "mode": "auto",
1144
+ "units": {
1145
+ "belt": {
1146
+ "state": "at_station",
1147
+ "active": null,
1148
+ "controller": {
1149
+ "speed": 0.1999541090953872,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_3",
1153
+ "arrived": true,
1154
+ "settle_count": 52,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ 1.385211557149887,
1161
+ 0.05687791109085083,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ -0.04256954789161682,
1166
+ 0.7021997570991516,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ -0.14578285813331604,
1171
+ -0.002563655376434326,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ -1.4382452070713043,
1176
+ 0.6024749875068665,
1177
+ 0.0
1178
+ ]
1179
+ },
1180
+ "command": 0.0
1181
+ },
1182
+ "belt": {
1183
+ "target_speed": 0.0,
1184
+ "command_speed": 0.0
1185
+ },
1186
+ "seen": {
1187
+ "state": "at_station",
1188
+ "station": "pick",
1189
+ "rider": "carrier_3",
1190
+ "arrived": true
1191
+ }
1192
+ }
1193
+ },
1194
+ "queues": {},
1195
+ "program": null,
1196
+ "sensors": {},
1197
+ "interlocks": {}
1198
+ }
1199
+ },
1200
+ "zones": {},
1201
+ "labware": {
1202
+ "plate_1": {
1203
+ "sealed": false
1204
+ },
1205
+ "plate_2": {
1206
+ "sealed": false
1207
+ },
1208
+ "plate_3": {
1209
+ "sealed": false
1210
+ },
1211
+ "plate_4": {
1212
+ "sealed": false
1213
+ }
1214
+ },
1215
+ "rules": {},
1216
+ "records": [],
1217
+ "bus": {
1218
+ "seq": 3,
1219
+ "queue": []
1220
+ }
1221
+ },
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ null,
1227
+ {},
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {},
1234
+ {
1235
+ "ceiling": {
1236
+ "type": "rect",
1237
+ "pose": {
1238
+ "pos": [
1239
+ 0.3078937059386756,
1240
+ 0.4159593854458433,
1241
+ 2.9172211173842912
1242
+ ],
1243
+ "ori": [
1244
+ 14.316242592078673,
1245
+ -13.379162460694872,
1246
+ -7.367085336662264
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 6353.055472144089,
1256
+ "color": [
1257
+ 0.9260610532985326,
1258
+ 0.9060145607230519,
1259
+ 0.8170753277676854
1260
+ ],
1261
+ "intensity": 7854.7877430547,
1262
+ "width": 1.6349322402527389,
1263
+ "height": 0.8310871441979437
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "sphere",
1268
+ "pose": {
1269
+ "pos": [
1270
+ -0.23013930344165767,
1271
+ -1.0438874633047828,
1272
+ 1.7799054040712246
1273
+ ],
1274
+ "ori": [
1275
+ -25.71322551300403,
1276
+ -20.254454708177416,
1277
+ 13.715732179678916
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 5109.644571463017,
1287
+ "color": [
1288
+ 0.787303389209743,
1289
+ 0.8650878587060955,
1290
+ 0.8060665081011308
1291
+ ],
1292
+ "intensity": 6960.694571768499,
1293
+ "radius": 0.16059438136358611
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": 1390.7206755526424,
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
+ 1.0979480743408203,
1394
+ -1.584694504737854,
1395
+ 2.083472967147827,
1396
+ -2.069258689880371,
1397
+ -1.5717893838882446,
1398
+ 2.668867826461792,
1399
+ 0.018000001087784767,
1400
+ 0.01799999736249447
1401
+ ],
1402
+ [
1403
+ 1.1237176656723022,
1404
+ -1.652974009513855,
1405
+ 2.206037759780884,
1406
+ -2.1249780654907227,
1407
+ -1.5706050395965576,
1408
+ 5.822619438171387,
1409
+ 0.007548861671239138,
1410
+ 0.007496094796806574
1411
+ ],
1412
+ [
1413
+ 0.9140999913215637,
1414
+ -1.7194000482559204,
1415
+ 2.0905001163482666,
1416
+ -1.9419000148773193,
1417
+ -1.5707999467849731,
1418
+ 2.4848999977111816,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 1.1564699411392212,
1424
+ -1.399034023284912,
1425
+ 2.1335458755493164,
1426
+ -2.3052637577056885,
1427
+ -1.5707964897155762,
1428
+ 2.5636754035949707,
1429
+ 0.018000049516558647,
1430
+ 0.01799994893372059
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 2.527321339584887e-05,
1436
+ -0.001275283982977271,
1437
+ -0.001718148123472929,
1438
+ 0.002894603880122304,
1439
+ -1.6096564650069922e-05,
1440
+ 2.0485174900386482e-05,
1441
+ 6.551070441673801e-07,
1442
+ -6.550986313413887e-07
1443
+ ],
1444
+ [
1445
+ 0.07537434995174408,
1446
+ 0.026911474764347076,
1447
+ -0.006393210496753454,
1448
+ -0.014171300455927849,
1449
+ 0.00027240559575147927,
1450
+ 0.06845351308584213,
1451
+ -0.004778506234288216,
1452
+ 0.0003180014609824866
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
+ -9.130654507316649e-05,
1466
+ 0.015193715691566467,
1467
+ 0.008904985152184963,
1468
+ -0.022856444120407104,
1469
+ -7.569379249616759e-06,
1470
+ 1.9982469893875532e-05,
1471
+ -6.872770882182522e-06,
1472
+ 6.874450718896696e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05200115963816643,
1482
+ 0.0009140133042819798,
1483
+ -0.033747900277376175,
1484
+ -0.28447070717811584,
1485
+ 0.657179057598114,
1486
+ 0.6437575221061707,
1487
+ -0.26975616812705994
1488
+ ],
1489
+ [
1490
+ 0.05197538435459137,
1491
+ 0.0025197002105414867,
1492
+ -0.03067374974489212,
1493
+ -0.28134259581565857,
1494
+ 0.647242546081543,
1495
+ 0.6533095836639404,
1496
+ -0.27406200766563416
1497
+ ],
1498
+ [
1499
+ 0.050132665783166885,
1500
+ 0.002544490620493889,
1501
+ -0.026722125709056854,
1502
+ -0.29206040501594543,
1503
+ 0.6390031576156616,
1504
+ 0.6539822220802307,
1505
+ -0.2805047333240509
1506
+ ],
1507
+ [
1508
+ 0.053483933210372925,
1509
+ 0.002515921602025628,
1510
+ -0.028606148436665535,
1511
+ -0.2721574604511261,
1512
+ 0.6573281288146973,
1513
+ 0.6404083967208862,
1514
+ -0.2893562912940979
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.06096228212118149,
1520
+ 0.5970042943954468,
1521
+ 1.937282919883728,
1522
+ 0.05651179701089859,
1523
+ 0.007614768575876951,
1524
+ 0.27307987213134766,
1525
+ 0.9602998495101929
1526
+ ],
1527
+ [
1528
+ 0.055915530771017075,
1529
+ 0.5868670344352722,
1530
+ 1.951451063156128,
1531
+ 0.023832080885767937,
1532
+ 0.011487973853945732,
1533
+ 0.2565693259239197,
1534
+ 0.966163694858551
1535
+ ],
1536
+ [
1537
+ 0.06076347455382347,
1538
+ 0.5572810173034668,
1539
+ 1.9467905759811401,
1540
+ 0.031280990689992905,
1541
+ 0.020385609939694405,
1542
+ 0.2780015766620636,
1543
+ 0.9598547220230103
1544
+ ],
1545
+ [
1546
+ 0.040097642689943314,
1547
+ 0.573517382144928,
1548
+ 1.9668587446212769,
1549
+ 0.059119466692209244,
1550
+ 0.024362534284591675,
1551
+ 0.26355209946632385,
1552
+ 0.9625235795974731
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c2_p019_e025/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10738fc86ab141db8c062e03ec17ad2b453ca9a341cdc25380893a3849d9ec8f
3
+ size 6265995
episodes/c2_p019_e026/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bf47e12fe24455a10b62672aa077c0bad91da8cb1a9d62a8dfb2b0e2275f439d
3
+ size 190588
episodes/c2_p019_e026/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 80, "t": 0.4, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 80, "t": 0.4, "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": 85, "t": 0.425, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 5555, "t": 27.775, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
6
+ {"env_id": 1, "seq": 6, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9154929261021705}, "cause": "task-1-1"}
7
+ {"env_id": 1, "seq": 7, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"}
8
+ {"env_id": 1, "seq": 8, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
9
+ {"env_id": 1, "seq": 9, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
10
+ {"env_id": 1, "seq": 10, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
11
+ {"env_id": 1, "seq": 11, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
12
+ {"env_id": 1, "seq": 12, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
13
+ {"env_id": 1, "seq": 13, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
14
+ {"env_id": 1, "seq": 14, "step": 6587, "t": 32.935, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
15
+ {"env_id": 1, "seq": 15, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
16
+ {"env_id": 1, "seq": 16, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
17
+ {"env_id": 1, "seq": 17, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
18
+ {"env_id": 1, "seq": 18, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9154929261021705}, "cause": "program-1-3"}
19
+ {"env_id": 1, "seq": 19, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
20
+ {"env_id": 1, "seq": 20, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9200000000020054}, "cause": "program-1-3"}
21
+ {"env_id": 1, "seq": 21, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.9200000000020054}}, "cause": "program-1-3"}
22
+ {"env_id": 1, "seq": 22, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
23
+ {"env_id": 1, "seq": 23, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
24
+ {"env_id": 1, "seq": 24, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
25
+ {"env_id": 1, "seq": 25, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
26
+ {"env_id": 1, "seq": 26, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0923523419137382e-08}, "cause": "program-1-4"}
27
+ {"env_id": 1, "seq": 27, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0923523419137382e-08}, "cause": "program-1-4"}
28
+ {"env_id": 1, "seq": 28, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
29
+ {"env_id": 1, "seq": 29, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
30
+ {"env_id": 1, "seq": 30, "step": 7791, "t": 38.955, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
31
+ {"env_id": 1, "seq": 31, "step": 8371, "t": 41.855, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
32
+ {"env_id": 1, "seq": 32, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
33
+ {"env_id": 1, "seq": 33, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
34
+ {"env_id": 1, "seq": 34, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
35
+ {"env_id": 1, "seq": 35, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
episodes/c2_p019_e026/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fae3470f33dfdade8be6aef4cc0678e27d9c5dee0743e872b258bd8460a8b767
3
+ size 1195626
episodes/c2_p019_e026/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c2_p019/magicsim/26",
3
+ "fps": 25,
4
+ "frames": 1234,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1234,
8
+ "env": 1234
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_p019_e026/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 26,
3
+ "env_id": 1,
4
+ "run_id": "c2_p019",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 1,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {
22
+ "rac_cell": [
23
+ {
24
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
25
+ "pose": {
26
+ "pos": [
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "ori": [
32
+ 1.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0
36
+ ],
37
+ "scale": [
38
+ 1.0,
39
+ 1.0,
40
+ 1.0
41
+ ]
42
+ },
43
+ "dr": {
44
+ "visual": {
45
+ "kind": null,
46
+ "value": null,
47
+ "visible": true
48
+ },
49
+ "physics": {
50
+ "type": "geometry",
51
+ "collision": false,
52
+ "physics_material": {
53
+ "static_friction": 0.6,
54
+ "dynamic_friction": 0.5,
55
+ "restitution": 0.0
56
+ },
57
+ "ratio": 1.0
58
+ },
59
+ "primitive_params": null
60
+ },
61
+ "type_specific": {}
62
+ }
63
+ ],
64
+ "robot_mount": [
65
+ {
66
+ "asset": "Cube",
67
+ "pose": {
68
+ "pos": [
69
+ 0.0,
70
+ 0.0,
71
+ 0.9075
72
+ ],
73
+ "ori": [
74
+ 1.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "scale": [
80
+ 1.0,
81
+ 1.0,
82
+ 1.0
83
+ ]
84
+ },
85
+ "dr": {
86
+ "visual": {
87
+ "kind": "color",
88
+ "value": [
89
+ 0.55,
90
+ 0.56,
91
+ 0.58
92
+ ],
93
+ "visible": true
94
+ },
95
+ "physics": {
96
+ "type": "geometry",
97
+ "collision": false,
98
+ "ratio": 1.0
99
+ },
100
+ "primitive_params": {
101
+ "size": [
102
+ 0.2,
103
+ 0.2,
104
+ 0.015
105
+ ]
106
+ }
107
+ },
108
+ "type_specific": {}
109
+ }
110
+ ],
111
+ "plate_rack": [
112
+ {
113
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
114
+ "pose": {
115
+ "pos": [
116
+ -0.6,
117
+ 0.02,
118
+ 0.9
119
+ ],
120
+ "ori": [
121
+ 6.123234262925839e-17,
122
+ 0.0,
123
+ 0.0,
124
+ 1.0
125
+ ],
126
+ "scale": [
127
+ 1.0,
128
+ 1.0,
129
+ 1.0
130
+ ]
131
+ },
132
+ "dr": {
133
+ "visual": {
134
+ "kind": null,
135
+ "value": null,
136
+ "visible": true
137
+ },
138
+ "physics": {
139
+ "type": "geometry",
140
+ "collision": false,
141
+ "physics_material": {
142
+ "static_friction": 0.6,
143
+ "dynamic_friction": 0.5,
144
+ "restitution": 0.0
145
+ },
146
+ "ratio": 1.0
147
+ },
148
+ "primitive_params": null
149
+ },
150
+ "type_specific": {}
151
+ }
152
+ ],
153
+ "hotel_plate": [
154
+ {
155
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.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/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.5008344650268555,
336
+ 0.05531501770019531,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.7013771533966064,
341
+ 0.0,
342
+ 0.0,
343
+ 0.7127903699874878
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
+ 1.682081991055684e-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": 0.22684727236336255,
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": -0.26278602120828654,
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": 0.22684727236336255,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ 0.4783487319946289,
493
+ 1.1499967575073242,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 2.038437560258899e-05,
498
+ 5.4137551330768474e-08,
499
+ 2.1633657354414026e-07,
500
+ 1.0
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ -2.7956094328374093e-08,
529
+ -2.999625223765179e-07,
530
+ 1.7508864402770996e-07
531
+ ],
532
+ "angular_velocity": [
533
+ 9.893668902805075e-06,
534
+ -4.617742206391995e-07,
535
+ -4.241669557814021e-06
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 1.6969280242919922,
544
+ 0.8182458877563477,
545
+ 0.9000002145767212
546
+ ],
547
+ "ori": [
548
+ 0.6988840103149414,
549
+ -5.3366838983492926e-06,
550
+ -6.01626607021899e-06,
551
+ 0.7152350544929504
552
+ ],
553
+ "scale": [
554
+ 1.0,
555
+ 1.0,
556
+ 1.0
557
+ ]
558
+ },
559
+ "dr": {
560
+ "visual": {
561
+ "kind": null,
562
+ "value": null,
563
+ "visible": true
564
+ },
565
+ "physics": {
566
+ "type": "rigid",
567
+ "mass": 0.5,
568
+ "physics_material": {
569
+ "static_friction": 0.9,
570
+ "dynamic_friction": 0.9,
571
+ "restitution": 0.0
572
+ },
573
+ "ratio": 1.0
574
+ },
575
+ "primitive_params": null
576
+ },
577
+ "type_specific": {
578
+ "linear_velocity": [
579
+ 2.7809848688775674e-05,
580
+ 5.605543265119195e-06,
581
+ -4.842877388000488e-05
582
+ ],
583
+ "angular_velocity": [
584
+ -0.00032696331618353724,
585
+ 0.0028109902050346136,
586
+ -6.799541733926162e-05
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ -1.3921623229980469,
595
+ 0.85882568359375,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -0.6375434994697571,
600
+ -2.0199120598363152e-08,
601
+ 4.688108035111327e-08,
602
+ 0.770414412021637
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ -1.191751808349295e-09,
631
+ -1.774524971409619e-10,
632
+ 3.3527612686157227e-08
633
+ ],
634
+ "angular_velocity": [
635
+ -2.1985596276863362e-07,
636
+ -5.578160653385567e-07,
637
+ 9.88540307389485e-08
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -0.11305618286132812,
646
+ 0.4499998092651367,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ 1.0,
651
+ 4.701586897581933e-10,
652
+ -1.5888891313764475e-09,
653
+ 5.5969376262510195e-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
+ 1.7872747726244143e-10,
682
+ 2.1877313294282885e-09,
683
+ 3.725290298461914e-09
684
+ ],
685
+ "angular_velocity": [
686
+ -2.0975262771116832e-07,
687
+ -6.6997820624692395e-09,
688
+ -1.0668422589787951e-08
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ 0.4701709747314453,
699
+ 1.1474409103393555,
700
+ 0.9180000424385071
701
+ ],
702
+ "ori": [
703
+ 0.02800234593451023,
704
+ 4.16447036855061e-08,
705
+ 7.836750341994048e-07,
706
+ 0.9996079206466675
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ 2.253892489534337e-06,
738
+ -4.5629849410033785e-06,
739
+ -9.86829400062561e-06
740
+ ],
741
+ "angular_velocity": [
742
+ 0.00010404011118225753,
743
+ -2.4531636881874874e-06,
744
+ 3.189458220731467e-05
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 1.7045745849609375,
753
+ 0.8149490356445312,
754
+ 0.9180002212524414
755
+ ],
756
+ "ori": [
757
+ 0.6590359210968018,
758
+ -5.2807499741902575e-06,
759
+ -4.43568205810152e-06,
760
+ 0.7521114349365234
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
+ 3.996000305050984e-05,
792
+ 2.6716174033936113e-05,
793
+ -6.673857569694519e-05
794
+ ],
795
+ "angular_velocity": [
796
+ -0.0002447830338496715,
797
+ 0.0023766886442899704,
798
+ 1.7171838408103213e-05
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ -1.3841819763183594,
807
+ 0.848912239074707,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ -0.7017966508865356,
812
+ -1.592893283941521e-08,
813
+ 4.802221553745767e-08,
814
+ 0.7123773694038391
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ -1.2651451442025063e-08,
846
+ 1.3590650382866443e-08,
847
+ -5.416572093963623e-06
848
+ ],
849
+ "angular_velocity": [
850
+ -7.285184437932912e-07,
851
+ -5.011886514694197e-07,
852
+ 6.151044829039165e-08
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -0.10062503814697266,
861
+ 0.45294952392578125,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.9992966651916504,
866
+ 1.5156846611130703e-10,
867
+ 5.714222844899197e-11,
868
+ 0.037498824298381805
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
+ -8.144858298919644e-08,
900
+ -2.0157465030479216e-08,
901
+ 1.601874828338623e-07
902
+ ],
903
+ "angular_velocity": [
904
+ 7.172695291046693e-07,
905
+ -3.140373337373603e-06,
906
+ 2.1217185519617487e-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": 1.5599999999999887,
1105
+ "step": 312,
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": 1.682081991055684e-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": 0.22684727236336255,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_4",
1152
+ "arrived": true,
1153
+ "settle_count": 231,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ 0.32834872603416443,
1160
+ 0.6999967694282532,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ 1.546930879354477,
1165
+ 0.3682458996772766,
1166
+ 2.980232238769531e-07
1167
+ ],
1168
+ "carrier_3": [
1169
+ -1.5421623289585114,
1170
+ 0.40882569551467896,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -0.2630561888217926,
1175
+ -1.7881393432617188e-07,
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
+ 0.6075449755138042,
1239
+ 0.22274563364848532,
1240
+ 2.9940043092864896
1241
+ ],
1242
+ "ori": [
1243
+ 2.763547971685,
1244
+ -5.383291236956364,
1245
+ -10.630280806204485
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 5653.054650006854,
1255
+ "color": [
1256
+ 0.8831102539316213,
1257
+ 0.9763296761072483,
1258
+ 0.8081732288614341
1259
+ ],
1260
+ "intensity": 12667.813188894715,
1261
+ "width": 1.4402054951983363,
1262
+ "height": 1.3492170635964513
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ -0.49591547946284265,
1270
+ -0.7623389461724048,
1271
+ 1.683369618415382
1272
+ ],
1273
+ "ori": [
1274
+ -19.652455290568493,
1275
+ -37.409300471390964,
1276
+ 38.56346146606421
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 7272.339678668016,
1286
+ "color": [
1287
+ 0.8474813346255994,
1288
+ 0.9860802477197264,
1289
+ 0.7668886095279686
1290
+ ],
1291
+ "intensity": 2353.154937773726,
1292
+ "radius": 0.15023657606922497
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": 1586.0918923946836,
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
+ 0.9141104817390442,
1394
+ -1.719395399093628,
1395
+ 2.0904979705810547,
1396
+ -1.941901683807373,
1397
+ -1.5707999467849731,
1398
+ 2.484903335571289,
1399
+ 0.01799999363720417,
1400
+ 0.018000004813075066
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
+ 0.9572476148605347,
1414
+ -1.5278964042663574,
1415
+ 2.124178409576416,
1416
+ -2.1670892238616943,
1417
+ -1.5707783699035645,
1418
+ 2.631026268005371,
1419
+ 0.007715729996562004,
1420
+ 0.007076690439134836
1421
+ ],
1422
+ [
1423
+ 2.0244202613830566,
1424
+ -2.2299718856811523,
1425
+ 2.4994187355041504,
1426
+ -1.8407303094863892,
1427
+ -1.5707899332046509,
1428
+ 3.554562568664551,
1429
+ 0.007643470074981451,
1430
+ 0.007041553966701031
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 5.108951881993562e-06,
1436
+ -3.4059228255500784e-06,
1437
+ -6.811936600570334e-06,
1438
+ 1.021793741529109e-05,
1439
+ -7.892598114780588e-14,
1440
+ 2.0435873011592776e-05,
1441
+ 7.797240186846466e-08,
1442
+ -7.796992207431686e-08
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
+ 0.0038918836507946253,
1456
+ -0.0026129023171961308,
1457
+ -0.00025521835777908564,
1458
+ 0.0028582445811480284,
1459
+ -0.00026738637825474143,
1460
+ 0.001985441893339157,
1461
+ -0.00787388812750578,
1462
+ 0.0003820152778644115
1463
+ ],
1464
+ [
1465
+ 0.0600835382938385,
1466
+ -0.05258674547076225,
1467
+ 0.02903609350323677,
1468
+ 0.0215438324958086,
1469
+ -0.00016847142251208425,
1470
+ 0.0685337707400322,
1471
+ -0.00813369732350111,
1472
+ 0.00044756304123438895
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05145711451768875,
1482
+ 0.00023678319121245295,
1483
+ -0.03154313936829567,
1484
+ -0.26975271105766296,
1485
+ 0.6611554622650146,
1486
+ 0.6475024223327637,
1487
+ -0.26617205142974854
1488
+ ],
1489
+ [
1490
+ 0.04723585024476051,
1491
+ -0.00042870393372140825,
1492
+ -0.026623962447047234,
1493
+ -0.2729392647743225,
1494
+ 0.6439173817634583,
1495
+ 0.6600334644317627,
1496
+ -0.2742816209793091
1497
+ ],
1498
+ [
1499
+ 0.05038463696837425,
1500
+ 0.002302217995747924,
1501
+ -0.029692459851503372,
1502
+ -0.2906956374645233,
1503
+ 0.6391609311103821,
1504
+ 0.6537001729011536,
1505
+ -0.28221532702445984
1506
+ ],
1507
+ [
1508
+ 0.05326436832547188,
1509
+ 0.0027169971726834774,
1510
+ -0.027799507603049278,
1511
+ -0.2675333023071289,
1512
+ 0.6610124111175537,
1513
+ 0.6409951448440552,
1514
+ -0.2839255928993225
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.03870861232280731,
1520
+ 0.5798999667167664,
1521
+ 1.9323524236679077,
1522
+ 0.04460310563445091,
1523
+ 0.007157931104302406,
1524
+ 0.28607937693595886,
1525
+ 0.9571405053138733
1526
+ ],
1527
+ [
1528
+ 0.035424865782260895,
1529
+ 0.6014752388000488,
1530
+ 1.9472684860229492,
1531
+ 0.05210430920124054,
1532
+ 0.013501331210136414,
1533
+ 0.25569993257522583,
1534
+ 0.9652566313743591
1535
+ ],
1536
+ [
1537
+ 0.06076347455382347,
1538
+ 0.5572810173034668,
1539
+ 1.9467905759811401,
1540
+ 0.031280990689992905,
1541
+ 0.020385609939694405,
1542
+ 0.2780015766620636,
1543
+ 0.9598547220230103
1544
+ ],
1545
+ [
1546
+ 0.040097642689943314,
1547
+ 0.573517382144928,
1548
+ 1.9668587446212769,
1549
+ 0.059119466692209244,
1550
+ 0.024362534284591675,
1551
+ 0.26355209946632385,
1552
+ 0.9625235795974731
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c2_p019_e026/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5472d599a5090be7e9ebdd1eb0094fa248aa80badb1467db148e8498675f1b41
3
+ size 6729022
episodes/c2_p019_e027/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0fa6407e621482d4e3ecf5b75d99ddaf2644d4da0882fd7820d6441cab101abd
3
+ size 191406
episodes/c2_p019_e027/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 201, "t": 1.005, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 201, "t": 1.005, "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": 206, "t": 1.03, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 1869, "t": 9.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
6
+ {"env_id": 0, "seq": 6, "step": 7316, "t": 36.58, "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": 7316, "t": 36.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.383745148507085}, "cause": "task-0-1"}
8
+ {"env_id": 0, "seq": 8, "step": 7316, "t": 36.58, "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": 7316, "t": 36.58, "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": 7316, "t": 36.58, "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": 7735, "t": 38.675, "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": 7735, "t": 38.675, "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": 7735, "t": 38.675, "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": 7735, "t": 38.675, "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": 7735, "t": 38.675, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
16
+ {"env_id": 0, "seq": 16, "step": 7735, "t": 38.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"}
17
+ {"env_id": 0, "seq": 17, "step": 7735, "t": 38.675, "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": 7735, "t": 38.675, "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": 7735, "t": 38.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.383745148507085}, "cause": "program-0-3"}
20
+ {"env_id": 0, "seq": 20, "step": 8612, "t": 43.06, "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": 8612, "t": 43.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.385000000002243}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 8612, "t": 43.06, "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": 4.385000000002243}}, "cause": "program-0-3"}
23
+ {"env_id": 0, "seq": 23, "step": 8612, "t": 43.06, "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": 8612, "t": 43.06, "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": 8612, "t": 43.06, "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": 9032, "t": 45.16, "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": 9032, "t": 45.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5108834361399204e-07}, "cause": "program-0-4"}
28
+ {"env_id": 0, "seq": 28, "step": 9032, "t": 45.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5108834361399204e-07}, "cause": "program-0-4"}
29
+ {"env_id": 0, "seq": 29, "step": 9032, "t": 45.16, "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": 9032, "t": 45.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
31
+ {"env_id": 0, "seq": 31, "step": 9032, "t": 45.16, "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": 9611, "t": 48.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
33
+ {"env_id": 0, "seq": 33, "step": 11344, "t": 56.72, "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": 11344, "t": 56.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"}
35
+ {"env_id": 0, "seq": 35, "step": 11344, "t": 56.72, "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": 11344, "t": 56.72, "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/c2_p019_e027/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:702655f2abcdde10fb6f857791fdd16d0151cf3f2bb55fef6930870bfd201d48
3
+ size 1248474
episodes/c2_p019_e027/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c2_p019/magicsim/27",
3
+ "fps": 25,
4
+ "frames": 1243,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1243,
8
+ "env": 1243
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_p019_e027/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 27,
3
+ "env_id": 0,
4
+ "run_id": "c2_p019",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 0,
18
+ "scene": {
19
+ "objects": [
20
+ {
21
+ "rac_cell": [
22
+ {
23
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
24
+ "pose": {
25
+ "pos": [
26
+ 0.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ "ori": [
31
+ 1.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0
35
+ ],
36
+ "scale": [
37
+ 1.0,
38
+ 1.0,
39
+ 1.0
40
+ ]
41
+ },
42
+ "dr": {
43
+ "visual": {
44
+ "kind": null,
45
+ "value": null,
46
+ "visible": true
47
+ },
48
+ "physics": {
49
+ "type": "geometry",
50
+ "collision": false,
51
+ "physics_material": {
52
+ "static_friction": 0.6,
53
+ "dynamic_friction": 0.5,
54
+ "restitution": 0.0
55
+ },
56
+ "ratio": 1.0
57
+ },
58
+ "primitive_params": null
59
+ },
60
+ "type_specific": {}
61
+ }
62
+ ],
63
+ "robot_mount": [
64
+ {
65
+ "asset": "Cube",
66
+ "pose": {
67
+ "pos": [
68
+ 0.0,
69
+ 0.0,
70
+ 0.9075
71
+ ],
72
+ "ori": [
73
+ 1.0,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0
77
+ ],
78
+ "scale": [
79
+ 1.0,
80
+ 1.0,
81
+ 1.0
82
+ ]
83
+ },
84
+ "dr": {
85
+ "visual": {
86
+ "kind": "color",
87
+ "value": [
88
+ 0.55,
89
+ 0.56,
90
+ 0.58
91
+ ],
92
+ "visible": true
93
+ },
94
+ "physics": {
95
+ "type": "geometry",
96
+ "collision": false,
97
+ "ratio": 1.0
98
+ },
99
+ "primitive_params": {
100
+ "size": [
101
+ 0.2,
102
+ 0.2,
103
+ 0.015
104
+ ]
105
+ }
106
+ },
107
+ "type_specific": {}
108
+ }
109
+ ],
110
+ "plate_rack": [
111
+ {
112
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
113
+ "pose": {
114
+ "pos": [
115
+ -0.6,
116
+ 0.02,
117
+ 0.9
118
+ ],
119
+ "ori": [
120
+ 6.123234262925839e-17,
121
+ 0.0,
122
+ 0.0,
123
+ 1.0
124
+ ],
125
+ "scale": [
126
+ 1.0,
127
+ 1.0,
128
+ 1.0
129
+ ]
130
+ },
131
+ "dr": {
132
+ "visual": {
133
+ "kind": null,
134
+ "value": null,
135
+ "visible": true
136
+ },
137
+ "physics": {
138
+ "type": "geometry",
139
+ "collision": false,
140
+ "physics_material": {
141
+ "static_friction": 0.6,
142
+ "dynamic_friction": 0.5,
143
+ "restitution": 0.0
144
+ },
145
+ "ratio": 1.0
146
+ },
147
+ "primitive_params": null
148
+ },
149
+ "type_specific": {}
150
+ }
151
+ ],
152
+ "hotel_plate": [
153
+ {
154
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
190
+ "pose": {
191
+ "pos": [
192
+ -0.6,
193
+ 0.02,
194
+ 1.0285
195
+ ],
196
+ "ori": [
197
+ 6.123234262925839e-17,
198
+ 0.0,
199
+ 0.0,
200
+ 1.0
201
+ ],
202
+ "scale": [
203
+ 1.0,
204
+ 1.0,
205
+ 1.0
206
+ ]
207
+ },
208
+ "dr": {
209
+ "visual": {
210
+ "kind": null,
211
+ "value": null,
212
+ "visible": true
213
+ },
214
+ "physics": {
215
+ "type": "geometry",
216
+ "collision": false,
217
+ "ratio": 1.0
218
+ },
219
+ "primitive_params": null
220
+ },
221
+ "type_specific": {}
222
+ },
223
+ {
224
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.4639453887939453,
335
+ 0.05517768859863281,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ 0.7233102917671204,
340
+ 0.0,
341
+ 0.0,
342
+ -0.6905231475830078
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
+ 2.0185014684009905e-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": 0.1627505730920275,
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": -0.24400959313358794,
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": 0.1627505730920275,
477
+ "holds": [],
478
+ "station": "pick",
479
+ "rider": "carrier_1",
480
+ "arrived": true,
481
+ "applied_speed": 0.0
482
+ }
483
+ }
484
+ }
485
+ ],
486
+ "carrier": [
487
+ {
488
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ -0.09395980834960938,
492
+ 0.4472951889038086,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ 0.9999420642852783,
497
+ 4.5512962287830305e-08,
498
+ -1.6721978468581256e-08,
499
+ 0.010769849643111229
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ -5.478149045501368e-10,
528
+ 9.167614223315468e-09,
529
+ 3.725290298461914e-09
530
+ ],
531
+ "angular_velocity": [
532
+ -1.407966010447126e-07,
533
+ 3.0216234847557644e-08,
534
+ 6.557319665034811e-08
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ -1.258544921875,
543
+ 1.0778617858886719,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ -0.31456097960472107,
548
+ -7.623167874726278e-08,
549
+ -9.434658387874606e-09,
550
+ 0.9492372870445251
551
+ ],
552
+ "scale": [
553
+ 1.0,
554
+ 1.0,
555
+ 1.0
556
+ ]
557
+ },
558
+ "dr": {
559
+ "visual": {
560
+ "kind": null,
561
+ "value": null,
562
+ "visible": true
563
+ },
564
+ "physics": {
565
+ "type": "rigid",
566
+ "mass": 0.5,
567
+ "physics_material": {
568
+ "static_friction": 0.9,
569
+ "dynamic_friction": 0.9,
570
+ "restitution": 0.0
571
+ },
572
+ "ratio": 1.0
573
+ },
574
+ "primitive_params": null
575
+ },
576
+ "type_specific": {
577
+ "linear_velocity": [
578
+ -1.0501139513507951e-08,
579
+ 5.514266376849264e-09,
580
+ 1.1175870895385742e-08
581
+ ],
582
+ "angular_velocity": [
583
+ -2.2662425180897117e-07,
584
+ -4.404791980050504e-07,
585
+ 1.1812255706900032e-07
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ 1.636972427368164,
594
+ 0.6047515869140625,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ 0.88503098487854,
599
+ -3.965550732232259e-08,
600
+ -1.2186532671876193e-08,
601
+ 0.4655320644378662
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ -8.97217300455111e-11,
630
+ 1.0641582059989219e-10,
631
+ 0.0
632
+ ],
633
+ "angular_velocity": [
634
+ 2.491071526833366e-08,
635
+ 1.1294098101188865e-08,
636
+ 4.328866154423849e-09
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ 0.17349910736083984,
645
+ 1.1525630950927734,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ -0.002659638412296772,
650
+ 1.5190257940389529e-09,
651
+ -1.6748943343358746e-09,
652
+ 0.9999964833259583
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
+ -5.292773330722866e-09,
681
+ -9.654729460351064e-09,
682
+ 2.60770320892334e-08
683
+ ],
684
+ "angular_velocity": [
685
+ 2.614673064726958e-07,
686
+ -5.552826110033493e-07,
687
+ -2.9881185525937326e-08
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ -0.08563041687011719,
698
+ 0.4429359436035156,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ 0.9987568855285645,
703
+ 4.932787334155364e-08,
704
+ -1.7348176228892953e-08,
705
+ 0.04984669014811516
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ -3.635052436834485e-08,
737
+ 6.299667631992634e-08,
738
+ 8.568167686462402e-08
739
+ ],
740
+ "angular_velocity": [
741
+ -8.520649998899898e-07,
742
+ -1.5284330174836214e-06,
743
+ 4.6170464429451386e-07
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ -1.2593517303466797,
752
+ 1.0848665237426758,
753
+ 0.9180000424385071
754
+ ],
755
+ "ori": [
756
+ -0.37561869621276855,
757
+ 4.146798104898153e-08,
758
+ -1.459416694160609e-07,
759
+ 0.9267743229866028
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
+ -4.6073478188191075e-06,
791
+ -8.444019385933643e-07,
792
+ 7.450580596923828e-07
793
+ ],
794
+ "angular_velocity": [
795
+ -1.8927599739981815e-05,
796
+ -2.4652108550071716e-05,
797
+ -2.837997817550786e-05
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ 1.6385507583618164,
806
+ 0.6171255111694336,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ 0.8427164554595947,
811
+ -3.9443634136659966e-08,
812
+ -8.37137648090902e-09,
813
+ 0.5383576154708862
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ -3.394034209236452e-08,
845
+ -2.0466766059712427e-08,
846
+ -6.224960088729858e-06
847
+ ],
848
+ "angular_velocity": [
849
+ 2.8457027383410605e-06,
850
+ 5.393784476837027e-07,
851
+ 2.5343516085740703e-07
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ 0.17135238647460938,
860
+ 1.142512321472168,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.05081746727228165,
865
+ 2.3558803796674965e-09,
866
+ -8.856121391787042e-11,
867
+ 0.9987080097198486
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
+ 9.673314593783289e-09,
899
+ 3.159581396516842e-08,
900
+ -1.4789402484893799e-06
901
+ ],
902
+ "angular_velocity": [
903
+ -2.7990115540887928e-06,
904
+ 1.917996314659831e-06,
905
+ -1.0213424417315764e-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": 7.2599999999998674,
1104
+ "step": 1452,
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": 2.0185014684009905e-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": 0.1627505730920275,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_1",
1151
+ "arrived": true,
1152
+ "settle_count": 1250,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -0.24395981431007385,
1159
+ -0.002704799175262451,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ -1.4085449278354645,
1164
+ 0.6278617978096008,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ 1.4869724214076996,
1169
+ 0.15475159883499146,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ 0.023499101400375366,
1174
+ 0.7025631070137024,
1175
+ 0.0
1176
+ ]
1177
+ },
1178
+ "command": 0.0
1179
+ },
1180
+ "belt": {
1181
+ "target_speed": 0.0,
1182
+ "command_speed": 0.0
1183
+ },
1184
+ "seen": {
1185
+ "state": "at_station",
1186
+ "station": "pick",
1187
+ "rider": "carrier_1",
1188
+ "arrived": true
1189
+ }
1190
+ }
1191
+ },
1192
+ "queues": {},
1193
+ "program": null,
1194
+ "sensors": {},
1195
+ "interlocks": {}
1196
+ }
1197
+ },
1198
+ "zones": {},
1199
+ "labware": {
1200
+ "plate_1": {
1201
+ "sealed": false
1202
+ },
1203
+ "plate_2": {
1204
+ "sealed": false
1205
+ },
1206
+ "plate_3": {
1207
+ "sealed": false
1208
+ },
1209
+ "plate_4": {
1210
+ "sealed": false
1211
+ }
1212
+ },
1213
+ "rules": {},
1214
+ "records": [],
1215
+ "bus": {
1216
+ "seq": 3,
1217
+ "queue": []
1218
+ }
1219
+ },
1220
+ null,
1221
+ null,
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ {},
1226
+ null,
1227
+ null,
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {
1233
+ "ceiling": {
1234
+ "type": "rect",
1235
+ "pose": {
1236
+ "pos": [
1237
+ 0.6288399355558817,
1238
+ 0.5481697623853488,
1239
+ 2.6967359914718463
1240
+ ],
1241
+ "ori": [
1242
+ 2.4475532041206947,
1243
+ -2.9893204673381035,
1244
+ -26.15327697878932
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 6919.762197939852,
1254
+ "color": [
1255
+ 0.9630247599835537,
1256
+ 0.8513447609725566,
1257
+ 0.874784083786118
1258
+ ],
1259
+ "intensity": 15831.83751473761,
1260
+ "width": 2.2857194338291302,
1261
+ "height": 0.9135765149178132
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "disk",
1266
+ "pose": {
1267
+ "pos": [
1268
+ -1.4669859508076128,
1269
+ -0.9225846871408774,
1270
+ 1.9679492257440199
1271
+ ],
1272
+ "ori": [
1273
+ -34.264117929240776,
1274
+ -10.412592704830441,
1275
+ -18.152696712774645
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 7058.467645920247,
1285
+ "color": [
1286
+ 0.9059503661419008,
1287
+ 0.8657564466437866,
1288
+ 0.8183125361396082
1289
+ ],
1290
+ "intensity": 6229.40481101973,
1291
+ "radius": 0.24098752701425302
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": 1586.0918923946836,
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
+ 0.9141144156455994,
1394
+ -1.7193933725357056,
1395
+ 2.090496778488159,
1396
+ -1.9419020414352417,
1397
+ -1.5707999467849731,
1398
+ 2.48490571975708,
1399
+ 0.01799999549984932,
1400
+ 0.018000002950429916
1401
+ ],
1402
+ [
1403
+ 1.195841670036316,
1404
+ -1.4507426023483276,
1405
+ 2.1698780059814453,
1406
+ -2.289910078048706,
1407
+ -1.5707826614379883,
1408
+ 2.691696882247925,
1409
+ 0.017999986186623573,
1410
+ 0.018000014126300812
1411
+ ],
1412
+ [
1413
+ 1.9879958629608154,
1414
+ -2.2128689289093018,
1415
+ 2.112227439880371,
1416
+ -1.470639705657959,
1417
+ -1.5704113245010376,
1418
+ 3.582271099090576,
1419
+ 0.00778708141297102,
1420
+ 0.007062237709760666
1421
+ ],
1422
+ [
1423
+ 2.512377977371216,
1424
+ -2.181112766265869,
1425
+ 2.5695366859436035,
1426
+ -1.960128903388977,
1427
+ -1.5709476470947266,
1428
+ 4.084466457366943,
1429
+ 0.007687841076403856,
1430
+ 0.0069974507205188274
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ 2.459359799941292e-38,
1437
+ 1.6954657641885114e-38,
1438
+ 3.610302448785653e-37,
1439
+ -5.9800001664871214e-37,
1440
+ 2.6996475437944917e-36,
1441
+ 5.198075925250123e-08,
1442
+ -5.1980798332351696e-08
1443
+ ],
1444
+ [
1445
+ -0.00034426231286488473,
1446
+ 0.014144482091069221,
1447
+ 0.010563932359218597,
1448
+ -0.023541923612356186,
1449
+ -8.909290045266971e-06,
1450
+ -0.00022559518401976675,
1451
+ -1.022814103635028e-05,
1452
+ 1.0204009413428139e-05
1453
+ ],
1454
+ [
1455
+ 0.06871926039457321,
1456
+ -0.046055275946855545,
1457
+ 0.003674425883218646,
1458
+ 0.04730196297168732,
1459
+ 0.000984559184871614,
1460
+ 0.05643792450428009,
1461
+ -0.006224982440471649,
1462
+ 0.0004702698206529021
1463
+ ],
1464
+ [
1465
+ 0.023548264056444168,
1466
+ 0.041804343461990356,
1467
+ -0.014167088083922863,
1468
+ -0.027935650199651718,
1469
+ -0.0005289826076477766,
1470
+ 0.02523576281964779,
1471
+ -0.008774243295192719,
1472
+ 0.0002624040353111923
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05294715240597725,
1482
+ 0.0005879985983483493,
1483
+ -0.03047846630215645,
1484
+ -0.27031785249710083,
1485
+ 0.6581323742866516,
1486
+ 0.6467840671539307,
1487
+ -0.2747005820274353
1488
+ ],
1489
+ [
1490
+ 0.04706542566418648,
1491
+ -0.002540658228099346,
1492
+ -0.02757858671247959,
1493
+ -0.27638211846351624,
1494
+ 0.6488564014434814,
1495
+ 0.6558057069778442,
1496
+ -0.2692902684211731
1497
+ ],
1498
+ [
1499
+ 0.05270443856716156,
1500
+ 0.0014133499935269356,
1501
+ -0.02852313593029976,
1502
+ -0.28901273012161255,
1503
+ 0.6421204805374146,
1504
+ 0.6505883932113647,
1505
+ -0.2844075560569763
1506
+ ],
1507
+ [
1508
+ 0.051436103880405426,
1509
+ 0.0019084836822003126,
1510
+ -0.028345540165901184,
1511
+ -0.2662504017353058,
1512
+ 0.6595752239227295,
1513
+ 0.6435185670852661,
1514
+ -0.2827633321285248
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.03870861232280731,
1520
+ 0.5798999667167664,
1521
+ 1.9323524236679077,
1522
+ 0.04460310563445091,
1523
+ 0.007157931104302406,
1524
+ 0.28607937693595886,
1525
+ 0.9571405053138733
1526
+ ],
1527
+ [
1528
+ 0.035424865782260895,
1529
+ 0.6014752388000488,
1530
+ 1.9472684860229492,
1531
+ 0.05210430920124054,
1532
+ 0.013501331210136414,
1533
+ 0.25569993257522583,
1534
+ 0.9652566313743591
1535
+ ],
1536
+ [
1537
+ 0.06076347455382347,
1538
+ 0.5572810173034668,
1539
+ 1.9467905759811401,
1540
+ 0.031280990689992905,
1541
+ 0.020385609939694405,
1542
+ 0.2780015766620636,
1543
+ 0.9598547220230103
1544
+ ],
1545
+ [
1546
+ 0.040097642689943314,
1547
+ 0.573517382144928,
1548
+ 1.9668587446212769,
1549
+ 0.059119466692209244,
1550
+ 0.024362534284591675,
1551
+ 0.26355209946632385,
1552
+ 0.9625235795974731
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c2_p019_e027/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cd3d44dae6046f3142e06187282b1731d643c4b63fd0868062acbae4d2002935
3
+ size 7072437
index/episodes.csv CHANGED
@@ -4693,3 +4693,6 @@ c7_p017_e002,2,True,0.13086986541748047,0.44751548767089844,0.009625347997493514
4693
  c7_p017_e003,3,True,-0.020204544067382812,0.4499988555908203,0.0052511182449999985,0.010059258834697058,-7.123771757557819,plate_96_clear,0.4643421173095703,0.09485149383544922,-90.33507851020677,0.2995879365560037,1520.1045621820924,rect,0.8714112396483701,-0.1998796465400054,2.706895942599254,9733.221148071945,3476.1912769468217,disk,0.4350212261325854,-0.5292072673030922,2.6791025763968395,10655.374587107939,3228.451500742543,0.050348855555057526,0.004106209613382816,-0.030758211389183998,-0.28387850522994995,0.6437049508094788,0.6539934873580933,-0.2781177759170532,0.042781852185726166,0.5993832349777222,1.9612219333648682,0.047983914613723755,0.017004579305648804,0.2560420036315918,0.9653242230415344,1324,1,,2.096942663192749,0.3058152513419818,0.0,0.007302971091121435,0.5302114803625377,12,release,0.04229605197906494,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4694
  c8_p017_e026,3,True,-0.01213836669921875,0.4499988555908203,0.0031873445218941203,0.009384099246972453,-4.466272250949771,plate_384_white,0.4771852493286133,0.10801124572753906,-91.2521859777786,0.2083139694386851,656.280097781482,rect,0.18355176292281106,0.27152835783192075,3.1640526604488466,9031.095001617898,4245.954726936481,sphere,0.1128581219016398,-0.10110762927416594,2.5543481395106578,5804.0105460793875,6282.187768651196,0.04887537658214569,0.0004699015407823026,-0.033916864544153214,-0.2709367871284485,0.6500437259674072,0.6563082933425903,-0.2707320749759674,0.07462898641824722,0.5979169607162476,1.9386279582977295,0.04923267662525177,0.02056361362338066,0.2763229012489319,0.9595826864242554,1291,1,,2.067199468612671,0.2610529672270161,0.0,0.007379970513284206,0.5445391169635941,12,release,0.042247474193573,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4695
  c8_p017_e027,0,True,0.14864063262939453,0.4499988555908203,-0.013842592400103675,-0.0005776943138283108,5.848330776545737,plate_96_black,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.22055750446020117,656.280097781482,rect,0.4568372241215549,-0.3089913432812346,3.002245634044572,10565.73094078464,4749.5532057580085,disk,0.26237704949715335,1.0517587049976143,2.0980884693683484,7344.236541733476,5896.116412373338,0.048579033464193344,-0.0030707386322319508,-0.034488409757614136,-0.2690410614013672,0.6546587347984314,0.6486162543296814,-0.27988532185554504,0.05452977493405342,0.5958806872367859,1.9740647077560425,0.032087456434965134,0.017116807401180267,0.2662886381149292,0.9632070064544678,1242,1,,2.125291109085083,0.2886434853529067,0.0,0.007291046902537346,0.5161030595813204,12,release,0.04247540235519409,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
4693
  c7_p017_e003,3,True,-0.020204544067382812,0.4499988555908203,0.0052511182449999985,0.010059258834697058,-7.123771757557819,plate_96_clear,0.4643421173095703,0.09485149383544922,-90.33507851020677,0.2995879365560037,1520.1045621820924,rect,0.8714112396483701,-0.1998796465400054,2.706895942599254,9733.221148071945,3476.1912769468217,disk,0.4350212261325854,-0.5292072673030922,2.6791025763968395,10655.374587107939,3228.451500742543,0.050348855555057526,0.004106209613382816,-0.030758211389183998,-0.28387850522994995,0.6437049508094788,0.6539934873580933,-0.2781177759170532,0.042781852185726166,0.5993832349777222,1.9612219333648682,0.047983914613723755,0.017004579305648804,0.2560420036315918,0.9653242230415344,1324,1,,2.096942663192749,0.3058152513419818,0.0,0.007302971091121435,0.5302114803625377,12,release,0.04229605197906494,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4694
  c8_p017_e026,3,True,-0.01213836669921875,0.4499988555908203,0.0031873445218941203,0.009384099246972453,-4.466272250949771,plate_384_white,0.4771852493286133,0.10801124572753906,-91.2521859777786,0.2083139694386851,656.280097781482,rect,0.18355176292281106,0.27152835783192075,3.1640526604488466,9031.095001617898,4245.954726936481,sphere,0.1128581219016398,-0.10110762927416594,2.5543481395106578,5804.0105460793875,6282.187768651196,0.04887537658214569,0.0004699015407823026,-0.033916864544153214,-0.2709367871284485,0.6500437259674072,0.6563082933425903,-0.2707320749759674,0.07462898641824722,0.5979169607162476,1.9386279582977295,0.04923267662525177,0.02056361362338066,0.2763229012489319,0.9595826864242554,1291,1,,2.067199468612671,0.2610529672270161,0.0,0.007379970513284206,0.5445391169635941,12,release,0.042247474193573,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4695
  c8_p017_e027,0,True,0.14864063262939453,0.4499988555908203,-0.013842592400103675,-0.0005776943138283108,5.848330776545737,plate_96_black,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.22055750446020117,656.280097781482,rect,0.4568372241215549,-0.3089913432812346,3.002245634044572,10565.73094078464,4749.5532057580085,disk,0.26237704949715335,1.0517587049976143,2.0980884693683484,7344.236541733476,5896.116412373338,0.048579033464193344,-0.0030707386322319508,-0.034488409757614136,-0.2690410614013672,0.6546587347984314,0.6486162543296814,-0.27988532185554504,0.05452977493405342,0.5958806872367859,1.9740647077560425,0.032087456434965134,0.017116807401180267,0.2662886381149292,0.9632070064544678,1242,1,,2.125291109085083,0.2886434853529067,0.0,0.007291046902537346,0.5161030595813204,12,release,0.04247540235519409,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4696
+ c2_p019_e025,2,True,0.0042171478271484375,0.4474363327026367,0.0029898688684379788,0.0053492859320297065,-7.08950623993772,plate_1536_black,0.5298547744750977,0.07348442077636719,-91.26108372810012,0.1999541090953872,1390.7206755526424,rect,0.3078937059386756,0.4159593854458433,2.9172211173842912,7854.7877430547,6353.055472144089,sphere,-0.23013930344165767,-1.0438874633047828,1.7799054040712246,6960.694571768499,5109.644571463017,0.050132665783166885,0.002544490620493889,-0.026722125709056854,-0.29206040501594543,0.6390031576156616,0.6539822220802307,-0.2805047333240509,0.06076347455382347,0.5572810173034668,1.9467905759811401,0.031280990689992905,0.020385609939694405,0.2780015766620636,0.9598547220230103,1186,1,,2.054307460784912,0.2673039144843327,0.0,0.007336696609854698,0.53035413153457,12,release,0.042450010776519775,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4697
+ c2_p019_e026,1,True,-0.11305618286132812,0.4499998092651367,0.012431474823851997,0.0029483231153323666,4.291642787209383,deep_well_96_1ml,0.5008344650268555,0.05531501770019531,-90.924806798238,0.22684727236336255,1586.0918923946836,rect,0.6075449755138042,0.22274563364848532,2.9940043092864896,12667.813188894715,5653.054650006854,sphere,-0.49591547946284265,-0.7623389461724048,1.683369618415382,2353.154937773726,7272.339678668016,0.04723585024476051,-0.00042870393372140825,-0.026623962447047234,-0.2729392647743225,0.6439173817634583,0.6600334644317627,-0.2742816209793091,0.035424865782260895,0.6014752388000488,1.9472684860229492,0.05210430920124054,0.013501331210136414,0.25569993257522583,0.9652566313743591,1234,1,,2.1072475910186768,0.28502082805254153,0.0,0.007427038624882698,0.5153970826580226,12,release,0.04226112365722656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4698
+ c2_p019_e027,0,True,-0.09395980834960938,0.4472951889038086,0.008233567839763223,-0.004537636238701838,4.480220246707631,plate_6_clear,0.4639453887939453,0.05517768859863281,-87.3430696074474,0.1627505730920275,1586.0918923946836,rect,0.6288399355558817,0.5481697623853488,2.6967359914718463,15831.83751473761,6919.762197939852,disk,-1.4669859508076128,-0.9225846871408774,1.9679492257440199,6229.40481101973,7058.467645920247,0.05294715240597725,0.0005879985983483493,-0.03047846630215645,-0.27031785249710083,0.6581323742866516,0.6467840671539307,-0.2747005820274353,0.03870861232280731,0.5798999667167664,1.9323524236679077,0.04460310563445091,0.007157931104302406,0.28607937693595886,0.9571405053138733,1243,1,,2.0786454677581787,0.27839511509342985,0.0,0.007376540452241898,0.5132743362831859,12,release,0.042922258377075195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False