add 13 episodes (c2_p016_e022 .. c9_p019_e006); total 4095 {'v1': 1088, 'v2': 3007}
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- episodes/c2_p016_e022/data.npz +3 -0
- episodes/c2_p016_e022/device_events.jsonl +39 -0
- episodes/c2_p016_e022/env.mp4 +3 -0
- episodes/c2_p016_e022/meta.json +32 -0
- episodes/c2_p016_e022/scene_snapshot.json +1558 -0
- episodes/c2_p016_e022/wrist.mp4 +3 -0
- episodes/c2_p016_e023/data.npz +3 -0
- episodes/c2_p016_e023/device_events.jsonl +38 -0
- episodes/c2_p016_e023/env.mp4 +3 -0
- episodes/c2_p016_e023/meta.json +32 -0
- episodes/c2_p016_e023/scene_snapshot.json +1558 -0
- episodes/c2_p016_e023/wrist.mp4 +3 -0
- episodes/c6_p013_e023/data.npz +3 -0
- episodes/c6_p013_e023/device_events.jsonl +35 -0
- episodes/c6_p013_e023/env.mp4 +3 -0
- episodes/c6_p013_e023/meta.json +32 -0
- episodes/c6_p013_e023/scene_snapshot.json +1558 -0
- episodes/c6_p013_e023/wrist.mp4 +3 -0
- episodes/c7_p015_e016/data.npz +3 -0
- episodes/c7_p015_e016/device_events.jsonl +35 -0
- episodes/c7_p015_e016/env.mp4 +3 -0
- episodes/c7_p015_e016/meta.json +32 -0
- episodes/c7_p015_e016/scene_snapshot.json +1558 -0
- episodes/c7_p015_e016/wrist.mp4 +3 -0
- episodes/c7_p015_e017/data.npz +3 -0
- episodes/c7_p015_e017/device_events.jsonl +36 -0
- episodes/c7_p015_e017/env.mp4 +3 -0
- episodes/c7_p015_e017/meta.json +32 -0
- episodes/c7_p015_e017/scene_snapshot.json +1558 -0
- episodes/c7_p015_e017/wrist.mp4 +3 -0
- episodes/c7_p015_e018/data.npz +3 -0
- episodes/c7_p015_e018/device_events.jsonl +35 -0
- episodes/c7_p015_e018/env.mp4 +3 -0
- episodes/c7_p015_e018/meta.json +32 -0
- episodes/c7_p015_e018/scene_snapshot.json +1558 -0
- episodes/c7_p015_e018/wrist.mp4 +3 -0
- episodes/c7_p015_e019/data.npz +3 -0
- episodes/c7_p015_e019/device_events.jsonl +40 -0
- episodes/c7_p015_e019/env.mp4 +3 -0
- episodes/c7_p015_e019/meta.json +32 -0
- episodes/c7_p015_e019/scene_snapshot.json +1558 -0
- episodes/c7_p015_e019/wrist.mp4 +3 -0
- episodes/c8_p014_e036/data.npz +3 -0
- episodes/c8_p014_e036/device_events.jsonl +35 -0
- episodes/c8_p014_e036/env.mp4 +3 -0
- episodes/c8_p014_e036/meta.json +32 -0
- episodes/c8_p014_e036/scene_snapshot.json +1558 -0
- episodes/c8_p014_e036/wrist.mp4 +3 -0
- episodes/c8_p014_e037/data.npz +3 -0
- episodes/c8_p014_e037/device_events.jsonl +37 -0
episodes/c2_p016_e022/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:882a2f511ce1938d50bd7c2a02ded73e8cd855ef5e033eceb411dea99dcc5a7f
|
| 3 |
+
size 185238
|
episodes/c2_p016_e022/device_events.jsonl
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 0, "seq": 1, "step": 37, "t": 0.185, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 2 |
+
{"env_id": 0, "seq": 2, "step": 37, "t": 0.185, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 0, "seq": 3, "step": 42, "t": 0.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 1449, "t": 7.245, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 1484, "t": 7.42, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 6 |
+
{"env_id": 0, "seq": 6, "step": 1528, "t": 7.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 7 |
+
{"env_id": 0, "seq": 7, "step": 1590, "t": 7.95, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 6081, "t": 30.405, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 9 |
+
{"env_id": 0, "seq": 9, "step": 6688, "t": 33.44, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 10 |
+
{"env_id": 0, "seq": 10, "step": 6688, "t": 33.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6595788745259596}, "cause": "task-0-1"}
|
| 11 |
+
{"env_id": 0, "seq": 11, "step": 6688, "t": 33.44, "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"}
|
| 12 |
+
{"env_id": 0, "seq": 12, "step": 6688, "t": 33.44, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 13 |
+
{"env_id": 0, "seq": 13, "step": 6688, "t": 33.44, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
|
| 14 |
+
{"env_id": 0, "seq": 14, "step": 7107, "t": 35.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 15 |
+
{"env_id": 0, "seq": 15, "step": 7107, "t": 35.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 16 |
+
{"env_id": 0, "seq": 16, "step": 7107, "t": 35.535, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 17 |
+
{"env_id": 0, "seq": 17, "step": 7107, "t": 35.535, "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"}
|
| 18 |
+
{"env_id": 0, "seq": 18, "step": 7107, "t": 35.535, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
|
| 19 |
+
{"env_id": 0, "seq": 19, "step": 7107, "t": 35.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"}
|
| 20 |
+
{"env_id": 0, "seq": 20, "step": 7107, "t": 35.535, "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"}
|
| 21 |
+
{"env_id": 0, "seq": 21, "step": 7107, "t": 35.535, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 22 |
+
{"env_id": 0, "seq": 22, "step": 7107, "t": 35.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6595788745259596}, "cause": "program-0-3"}
|
| 23 |
+
{"env_id": 0, "seq": 23, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 24 |
+
{"env_id": 0, "seq": 24, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6600000000008492}, "cause": "program-0-3"}
|
| 25 |
+
{"env_id": 0, "seq": 25, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.6600000000008492}}, "cause": "program-0-3"}
|
| 26 |
+
{"env_id": 0, "seq": 26, "step": 7439, "t": 37.195, "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"}
|
| 27 |
+
{"env_id": 0, "seq": 27, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 28 |
+
{"env_id": 0, "seq": 28, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
|
| 29 |
+
{"env_id": 0, "seq": 29, "step": 7859, "t": 39.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 30 |
+
{"env_id": 0, "seq": 30, "step": 7859, "t": 39.295, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3148630628734281e-08}, "cause": "program-0-4"}
|
| 31 |
+
{"env_id": 0, "seq": 31, "step": 7859, "t": 39.295, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3148630628734281e-08}, "cause": "program-0-4"}
|
| 32 |
+
{"env_id": 0, "seq": 32, "step": 7859, "t": 39.295, "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"}
|
| 33 |
+
{"env_id": 0, "seq": 33, "step": 7859, "t": 39.295, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
|
| 34 |
+
{"env_id": 0, "seq": 34, "step": 7859, "t": 39.295, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 35 |
+
{"env_id": 0, "seq": 35, "step": 8435, "t": 42.175, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 36 |
+
{"env_id": 0, "seq": 36, "step": 10152, "t": 50.76, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
|
| 37 |
+
{"env_id": 0, "seq": 37, "step": 10152, "t": 50.76, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"}
|
| 38 |
+
{"env_id": 0, "seq": 38, "step": 10152, "t": 50.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 39 |
+
{"env_id": 0, "seq": 39, "step": 10152, "t": 50.76, "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_p016_e022/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:646f890f13947e311c8bdf161760bfc27180ffeaca75832130b4d1ef247a11fc
|
| 3 |
+
size 1286106
|
episodes/c2_p016_e022/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c2_p016/magicsim/22",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1150,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1150,
|
| 8 |
+
"env": 1150
|
| 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_p016_e022/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 22,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c2_p016",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
+
1.0,
|
| 127 |
+
1.0,
|
| 128 |
+
1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 225 |
+
"pose": {
|
| 226 |
+
"pos": [
|
| 227 |
+
-0.6,
|
| 228 |
+
0.02,
|
| 229 |
+
1.0965
|
| 230 |
+
],
|
| 231 |
+
"ori": [
|
| 232 |
+
1.0,
|
| 233 |
+
0.0,
|
| 234 |
+
0.0,
|
| 235 |
+
0.0
|
| 236 |
+
],
|
| 237 |
+
"scale": [
|
| 238 |
+
1.0,
|
| 239 |
+
1.0,
|
| 240 |
+
1.0
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"dr": {
|
| 244 |
+
"visual": {
|
| 245 |
+
"kind": null,
|
| 246 |
+
"value": null,
|
| 247 |
+
"visible": true
|
| 248 |
+
},
|
| 249 |
+
"physics": {
|
| 250 |
+
"type": "geometry",
|
| 251 |
+
"collision": false,
|
| 252 |
+
"ratio": 1.0
|
| 253 |
+
},
|
| 254 |
+
"primitive_params": null
|
| 255 |
+
},
|
| 256 |
+
"type_specific": {}
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 260 |
+
"pose": {
|
| 261 |
+
"pos": [
|
| 262 |
+
-0.6,
|
| 263 |
+
0.02,
|
| 264 |
+
1.1645
|
| 265 |
+
],
|
| 266 |
+
"ori": [
|
| 267 |
+
6.123234262925839e-17,
|
| 268 |
+
0.0,
|
| 269 |
+
0.0,
|
| 270 |
+
1.0
|
| 271 |
+
],
|
| 272 |
+
"scale": [
|
| 273 |
+
1.0,
|
| 274 |
+
1.0,
|
| 275 |
+
1.0
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"dr": {
|
| 279 |
+
"visual": {
|
| 280 |
+
"kind": null,
|
| 281 |
+
"value": null,
|
| 282 |
+
"visible": true
|
| 283 |
+
},
|
| 284 |
+
"physics": {
|
| 285 |
+
"type": "geometry",
|
| 286 |
+
"collision": false,
|
| 287 |
+
"ratio": 1.0
|
| 288 |
+
},
|
| 289 |
+
"primitive_params": null
|
| 290 |
+
},
|
| 291 |
+
"type_specific": {}
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 295 |
+
"pose": {
|
| 296 |
+
"pos": [
|
| 297 |
+
-0.6,
|
| 298 |
+
0.02,
|
| 299 |
+
1.2325
|
| 300 |
+
],
|
| 301 |
+
"ori": [
|
| 302 |
+
1.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0
|
| 306 |
+
],
|
| 307 |
+
"scale": [
|
| 308 |
+
1.0,
|
| 309 |
+
1.0,
|
| 310 |
+
1.0
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"dr": {
|
| 314 |
+
"visual": {
|
| 315 |
+
"kind": null,
|
| 316 |
+
"value": null,
|
| 317 |
+
"visible": true
|
| 318 |
+
},
|
| 319 |
+
"physics": {
|
| 320 |
+
"type": "geometry",
|
| 321 |
+
"collision": false,
|
| 322 |
+
"ratio": 1.0
|
| 323 |
+
},
|
| 324 |
+
"primitive_params": null
|
| 325 |
+
},
|
| 326 |
+
"type_specific": {}
|
| 327 |
+
}
|
| 328 |
+
],
|
| 329 |
+
"a4s_sealer": [
|
| 330 |
+
{
|
| 331 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 332 |
+
"pose": {
|
| 333 |
+
"pos": [
|
| 334 |
+
0.5050563812255859,
|
| 335 |
+
0.11005401611328125,
|
| 336 |
+
0.8999999761581421
|
| 337 |
+
],
|
| 338 |
+
"ori": [
|
| 339 |
+
-0.6925987601280212,
|
| 340 |
+
0.0,
|
| 341 |
+
0.0,
|
| 342 |
+
0.7213230729103088
|
| 343 |
+
],
|
| 344 |
+
"scale": [
|
| 345 |
+
1.0,
|
| 346 |
+
1.0,
|
| 347 |
+
1.0
|
| 348 |
+
]
|
| 349 |
+
},
|
| 350 |
+
"dr": {
|
| 351 |
+
"visual": {
|
| 352 |
+
"kind": null,
|
| 353 |
+
"value": null,
|
| 354 |
+
"visible": true
|
| 355 |
+
},
|
| 356 |
+
"physics": {
|
| 357 |
+
"type": "articulation",
|
| 358 |
+
"solver_position_iteration_count": 16.0,
|
| 359 |
+
"solver_velocity_iteration_count": 1.0,
|
| 360 |
+
"enabled_self_collisions": false,
|
| 361 |
+
"ratio": 1.0
|
| 362 |
+
},
|
| 363 |
+
"primitive_params": null
|
| 364 |
+
},
|
| 365 |
+
"type_specific": {
|
| 366 |
+
"joint_position": [
|
| 367 |
+
3.700580206850157e-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": 0.15350471439197297,
|
| 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": -0.004403884311626138,
|
| 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": 0.15350471439197297,
|
| 477 |
+
"holds": [],
|
| 478 |
+
"station": "pick",
|
| 479 |
+
"rider": "carrier_2",
|
| 480 |
+
"arrived": true,
|
| 481 |
+
"applied_speed": 0.0
|
| 482 |
+
}
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
],
|
| 486 |
+
"carrier": [
|
| 487 |
+
{
|
| 488 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 489 |
+
"pose": {
|
| 490 |
+
"pos": [
|
| 491 |
+
-0.3482513427734375,
|
| 492 |
+
1.1499977111816406,
|
| 493 |
+
0.8999999761581421
|
| 494 |
+
],
|
| 495 |
+
"ori": [
|
| 496 |
+
6.707887223456055e-06,
|
| 497 |
+
2.2912813313347158e-10,
|
| 498 |
+
-1.045403430488534e-09,
|
| 499 |
+
1.0
|
| 500 |
+
],
|
| 501 |
+
"scale": [
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0
|
| 505 |
+
]
|
| 506 |
+
},
|
| 507 |
+
"dr": {
|
| 508 |
+
"visual": {
|
| 509 |
+
"kind": null,
|
| 510 |
+
"value": null,
|
| 511 |
+
"visible": true
|
| 512 |
+
},
|
| 513 |
+
"physics": {
|
| 514 |
+
"type": "rigid",
|
| 515 |
+
"mass": 0.5,
|
| 516 |
+
"physics_material": {
|
| 517 |
+
"static_friction": 0.9,
|
| 518 |
+
"dynamic_friction": 0.9,
|
| 519 |
+
"restitution": 0.0
|
| 520 |
+
},
|
| 521 |
+
"ratio": 1.0
|
| 522 |
+
},
|
| 523 |
+
"primitive_params": null
|
| 524 |
+
},
|
| 525 |
+
"type_specific": {
|
| 526 |
+
"linear_velocity": [
|
| 527 |
+
-1.4892416189127289e-09,
|
| 528 |
+
-1.4992996844043205e-09,
|
| 529 |
+
1.4901161193847656e-08
|
| 530 |
+
],
|
| 531 |
+
"angular_velocity": [
|
| 532 |
+
1.6817509163047362e-07,
|
| 533 |
+
-1.6191594909287232e-07,
|
| 534 |
+
8.113781646557072e-09
|
| 535 |
+
]
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 540 |
+
"pose": {
|
| 541 |
+
"pos": [
|
| 542 |
+
0.1461353302001953,
|
| 543 |
+
0.4500007629394531,
|
| 544 |
+
0.8999999761581421
|
| 545 |
+
],
|
| 546 |
+
"ori": [
|
| 547 |
+
1.0,
|
| 548 |
+
5.287630333583593e-09,
|
| 549 |
+
-2.237057761256267e-10,
|
| 550 |
+
-9.820043487707153e-06
|
| 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 |
+
1.481321287855053e-09,
|
| 579 |
+
1.6122536639073815e-10,
|
| 580 |
+
1.1175870895385742e-08
|
| 581 |
+
],
|
| 582 |
+
"angular_velocity": [
|
| 583 |
+
3.586629304663802e-08,
|
| 584 |
+
1.3537889742565312e-07,
|
| 585 |
+
-1.6950197689880042e-08
|
| 586 |
+
]
|
| 587 |
+
}
|
| 588 |
+
},
|
| 589 |
+
{
|
| 590 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 591 |
+
"pose": {
|
| 592 |
+
"pos": [
|
| 593 |
+
-1.1918535232543945,
|
| 594 |
+
0.4811525344848633,
|
| 595 |
+
0.8999999761581421
|
| 596 |
+
],
|
| 597 |
+
"ori": [
|
| 598 |
+
0.9780624508857727,
|
| 599 |
+
4.78851092111654e-08,
|
| 600 |
+
6.888131842686107e-09,
|
| 601 |
+
-0.2083120495080948
|
| 602 |
+
],
|
| 603 |
+
"scale": [
|
| 604 |
+
1.0,
|
| 605 |
+
1.0,
|
| 606 |
+
1.0
|
| 607 |
+
]
|
| 608 |
+
},
|
| 609 |
+
"dr": {
|
| 610 |
+
"visual": {
|
| 611 |
+
"kind": null,
|
| 612 |
+
"value": null,
|
| 613 |
+
"visible": true
|
| 614 |
+
},
|
| 615 |
+
"physics": {
|
| 616 |
+
"type": "rigid",
|
| 617 |
+
"mass": 0.5,
|
| 618 |
+
"physics_material": {
|
| 619 |
+
"static_friction": 0.9,
|
| 620 |
+
"dynamic_friction": 0.9,
|
| 621 |
+
"restitution": 0.0
|
| 622 |
+
},
|
| 623 |
+
"ratio": 1.0
|
| 624 |
+
},
|
| 625 |
+
"primitive_params": null
|
| 626 |
+
},
|
| 627 |
+
"type_specific": {
|
| 628 |
+
"linear_velocity": [
|
| 629 |
+
-7.94234122913906e-11,
|
| 630 |
+
3.836163608994525e-10,
|
| 631 |
+
0.0
|
| 632 |
+
],
|
| 633 |
+
"angular_velocity": [
|
| 634 |
+
-3.0115199223246236e-08,
|
| 635 |
+
-7.996762363404741e-09,
|
| 636 |
+
3.0563951369799724e-10
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
{
|
| 641 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 642 |
+
"pose": {
|
| 643 |
+
"pos": [
|
| 644 |
+
1.448744773864746,
|
| 645 |
+
1.1338434219360352,
|
| 646 |
+
0.9000000357627869
|
| 647 |
+
],
|
| 648 |
+
"ori": [
|
| 649 |
+
0.1511170119047165,
|
| 650 |
+
-6.338055413834809e-07,
|
| 651 |
+
-1.698361074886634e-06,
|
| 652 |
+
0.9885159134864807
|
| 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 |
+
3.7632528346875915e-06,
|
| 681 |
+
4.976070158591028e-06,
|
| 682 |
+
-5.062669515609741e-06
|
| 683 |
+
],
|
| 684 |
+
"angular_velocity": [
|
| 685 |
+
-0.00042437875526957214,
|
| 686 |
+
0.00032360630575567484,
|
| 687 |
+
1.9873004930559546e-07
|
| 688 |
+
]
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
],
|
| 692 |
+
"plate": [
|
| 693 |
+
{
|
| 694 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
|
| 695 |
+
"pose": {
|
| 696 |
+
"pos": [
|
| 697 |
+
-0.35582542419433594,
|
| 698 |
+
1.1452627182006836,
|
| 699 |
+
0.9179999828338623
|
| 700 |
+
],
|
| 701 |
+
"ori": [
|
| 702 |
+
0.09852436184883118,
|
| 703 |
+
-1.8602971385561773e-09,
|
| 704 |
+
-1.443309027848727e-09,
|
| 705 |
+
0.9951346516609192
|
| 706 |
+
],
|
| 707 |
+
"scale": [
|
| 708 |
+
1.0,
|
| 709 |
+
1.0,
|
| 710 |
+
1.0
|
| 711 |
+
]
|
| 712 |
+
},
|
| 713 |
+
"dr": {
|
| 714 |
+
"visual": {
|
| 715 |
+
"kind": null,
|
| 716 |
+
"value": null,
|
| 717 |
+
"visible": true
|
| 718 |
+
},
|
| 719 |
+
"physics": {
|
| 720 |
+
"type": "rigid",
|
| 721 |
+
"collision": true,
|
| 722 |
+
"mass": "asset",
|
| 723 |
+
"max_depenetration_velocity": 1.0,
|
| 724 |
+
"physics_material": {
|
| 725 |
+
"static_friction": 0.5,
|
| 726 |
+
"dynamic_friction": 0.45,
|
| 727 |
+
"restitution": 0.0,
|
| 728 |
+
"friction_combine_mode": "average"
|
| 729 |
+
},
|
| 730 |
+
"ratio": 1.0
|
| 731 |
+
},
|
| 732 |
+
"primitive_params": null
|
| 733 |
+
},
|
| 734 |
+
"type_specific": {
|
| 735 |
+
"linear_velocity": [
|
| 736 |
+
1.7843328592448415e-08,
|
| 737 |
+
1.6071832753539184e-10,
|
| 738 |
+
1.5273690223693848e-07
|
| 739 |
+
],
|
| 740 |
+
"angular_velocity": [
|
| 741 |
+
-3.056701416426222e-07,
|
| 742 |
+
2.0493368992902106e-06,
|
| 743 |
+
-2.9338290019609303e-08
|
| 744 |
+
]
|
| 745 |
+
}
|
| 746 |
+
},
|
| 747 |
+
{
|
| 748 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
|
| 749 |
+
"pose": {
|
| 750 |
+
"pos": [
|
| 751 |
+
0.1571664810180664,
|
| 752 |
+
0.4412841796875,
|
| 753 |
+
0.9180000424385071
|
| 754 |
+
],
|
| 755 |
+
"ori": [
|
| 756 |
+
0.999925971031189,
|
| 757 |
+
5.253955936979082e-09,
|
| 758 |
+
-1.0037242148541736e-09,
|
| 759 |
+
-0.012175004929304123
|
| 760 |
+
],
|
| 761 |
+
"scale": [
|
| 762 |
+
1.0,
|
| 763 |
+
1.0,
|
| 764 |
+
1.0
|
| 765 |
+
]
|
| 766 |
+
},
|
| 767 |
+
"dr": {
|
| 768 |
+
"visual": {
|
| 769 |
+
"kind": null,
|
| 770 |
+
"value": null,
|
| 771 |
+
"visible": true
|
| 772 |
+
},
|
| 773 |
+
"physics": {
|
| 774 |
+
"type": "rigid",
|
| 775 |
+
"collision": true,
|
| 776 |
+
"mass": "asset",
|
| 777 |
+
"max_depenetration_velocity": 1.0,
|
| 778 |
+
"physics_material": {
|
| 779 |
+
"static_friction": 0.5,
|
| 780 |
+
"dynamic_friction": 0.45,
|
| 781 |
+
"restitution": 0.0,
|
| 782 |
+
"friction_combine_mode": "average"
|
| 783 |
+
},
|
| 784 |
+
"ratio": 1.0
|
| 785 |
+
},
|
| 786 |
+
"primitive_params": null
|
| 787 |
+
},
|
| 788 |
+
"type_specific": {
|
| 789 |
+
"linear_velocity": [
|
| 790 |
+
-7.78241648902167e-09,
|
| 791 |
+
1.7628412507519897e-08,
|
| 792 |
+
-5.003064870834351e-06
|
| 793 |
+
],
|
| 794 |
+
"angular_velocity": [
|
| 795 |
+
-1.1175291803056098e-07,
|
| 796 |
+
-1.4863844626233913e-06,
|
| 797 |
+
5.147812842665189e-09
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
{
|
| 802 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
|
| 803 |
+
"pose": {
|
| 804 |
+
"pos": [
|
| 805 |
+
-1.1979036331176758,
|
| 806 |
+
0.49298095703125,
|
| 807 |
+
0.9180000424385071
|
| 808 |
+
],
|
| 809 |
+
"ori": [
|
| 810 |
+
0.9520828127861023,
|
| 811 |
+
4.671456466098789e-08,
|
| 812 |
+
1.1621295925579034e-08,
|
| 813 |
+
-0.3058404326438904
|
| 814 |
+
],
|
| 815 |
+
"scale": [
|
| 816 |
+
1.0,
|
| 817 |
+
1.0,
|
| 818 |
+
1.0
|
| 819 |
+
]
|
| 820 |
+
},
|
| 821 |
+
"dr": {
|
| 822 |
+
"visual": {
|
| 823 |
+
"kind": null,
|
| 824 |
+
"value": null,
|
| 825 |
+
"visible": true
|
| 826 |
+
},
|
| 827 |
+
"physics": {
|
| 828 |
+
"type": "rigid",
|
| 829 |
+
"collision": true,
|
| 830 |
+
"mass": "asset",
|
| 831 |
+
"max_depenetration_velocity": 1.0,
|
| 832 |
+
"physics_material": {
|
| 833 |
+
"static_friction": 0.5,
|
| 834 |
+
"dynamic_friction": 0.45,
|
| 835 |
+
"restitution": 0.0,
|
| 836 |
+
"friction_combine_mode": "average"
|
| 837 |
+
},
|
| 838 |
+
"ratio": 1.0
|
| 839 |
+
},
|
| 840 |
+
"primitive_params": null
|
| 841 |
+
},
|
| 842 |
+
"type_specific": {
|
| 843 |
+
"linear_velocity": [
|
| 844 |
+
-1.1434027058498941e-08,
|
| 845 |
+
4.5785126800979015e-09,
|
| 846 |
+
-5.5693089962005615e-06
|
| 847 |
+
],
|
| 848 |
+
"angular_velocity": [
|
| 849 |
+
-3.256926675021532e-07,
|
| 850 |
+
-1.321982040281e-06,
|
| 851 |
+
2.2382248943131344e-08
|
| 852 |
+
]
|
| 853 |
+
}
|
| 854 |
+
},
|
| 855 |
+
{
|
| 856 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
|
| 857 |
+
"pose": {
|
| 858 |
+
"pos": [
|
| 859 |
+
1.4350757598876953,
|
| 860 |
+
1.1286087036132812,
|
| 861 |
+
0.9179999232292175
|
| 862 |
+
],
|
| 863 |
+
"ori": [
|
| 864 |
+
0.1330445110797882,
|
| 865 |
+
-9.747546414473618e-08,
|
| 866 |
+
-8.517776223015971e-06,
|
| 867 |
+
0.99111008644104
|
| 868 |
+
],
|
| 869 |
+
"scale": [
|
| 870 |
+
1.0,
|
| 871 |
+
1.0,
|
| 872 |
+
1.0
|
| 873 |
+
]
|
| 874 |
+
},
|
| 875 |
+
"dr": {
|
| 876 |
+
"visual": {
|
| 877 |
+
"kind": null,
|
| 878 |
+
"value": null,
|
| 879 |
+
"visible": true
|
| 880 |
+
},
|
| 881 |
+
"physics": {
|
| 882 |
+
"type": "rigid",
|
| 883 |
+
"collision": true,
|
| 884 |
+
"mass": "asset",
|
| 885 |
+
"max_depenetration_velocity": 1.0,
|
| 886 |
+
"physics_material": {
|
| 887 |
+
"static_friction": 0.5,
|
| 888 |
+
"dynamic_friction": 0.45,
|
| 889 |
+
"restitution": 0.0,
|
| 890 |
+
"friction_combine_mode": "average"
|
| 891 |
+
},
|
| 892 |
+
"ratio": 1.0
|
| 893 |
+
},
|
| 894 |
+
"primitive_params": null
|
| 895 |
+
},
|
| 896 |
+
"type_specific": {
|
| 897 |
+
"linear_velocity": [
|
| 898 |
+
1.0643176210578531e-05,
|
| 899 |
+
2.2495654775411822e-05,
|
| 900 |
+
-6.78040087223053e-05
|
| 901 |
+
],
|
| 902 |
+
"angular_velocity": [
|
| 903 |
+
-0.0014142428990453482,
|
| 904 |
+
0.0002728975669015199,
|
| 905 |
+
6.342760752886534e-05
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
}
|
| 909 |
+
],
|
| 910 |
+
"deco_hub_west": [
|
| 911 |
+
{
|
| 912 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 913 |
+
"pose": {
|
| 914 |
+
"pos": [
|
| 915 |
+
-3.36,
|
| 916 |
+
0.0,
|
| 917 |
+
0.0
|
| 918 |
+
],
|
| 919 |
+
"ori": [
|
| 920 |
+
1.0,
|
| 921 |
+
0.0,
|
| 922 |
+
0.0,
|
| 923 |
+
0.0
|
| 924 |
+
],
|
| 925 |
+
"scale": [
|
| 926 |
+
1.0,
|
| 927 |
+
1.0,
|
| 928 |
+
1.0
|
| 929 |
+
]
|
| 930 |
+
},
|
| 931 |
+
"dr": {
|
| 932 |
+
"visual": {
|
| 933 |
+
"kind": null,
|
| 934 |
+
"value": null,
|
| 935 |
+
"visible": true
|
| 936 |
+
},
|
| 937 |
+
"physics": {
|
| 938 |
+
"type": "geometry",
|
| 939 |
+
"collision": false,
|
| 940 |
+
"ratio": 1.0
|
| 941 |
+
},
|
| 942 |
+
"primitive_params": null
|
| 943 |
+
},
|
| 944 |
+
"type_specific": {}
|
| 945 |
+
}
|
| 946 |
+
],
|
| 947 |
+
"deco_hub_east": [
|
| 948 |
+
{
|
| 949 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 950 |
+
"pose": {
|
| 951 |
+
"pos": [
|
| 952 |
+
3.36,
|
| 953 |
+
0.0,
|
| 954 |
+
0.0
|
| 955 |
+
],
|
| 956 |
+
"ori": [
|
| 957 |
+
1.0,
|
| 958 |
+
0.0,
|
| 959 |
+
0.0,
|
| 960 |
+
0.0
|
| 961 |
+
],
|
| 962 |
+
"scale": [
|
| 963 |
+
1.0,
|
| 964 |
+
1.0,
|
| 965 |
+
1.0
|
| 966 |
+
]
|
| 967 |
+
},
|
| 968 |
+
"dr": {
|
| 969 |
+
"visual": {
|
| 970 |
+
"kind": null,
|
| 971 |
+
"value": null,
|
| 972 |
+
"visible": true
|
| 973 |
+
},
|
| 974 |
+
"physics": {
|
| 975 |
+
"type": "geometry",
|
| 976 |
+
"collision": false,
|
| 977 |
+
"ratio": 1.0
|
| 978 |
+
},
|
| 979 |
+
"primitive_params": null
|
| 980 |
+
},
|
| 981 |
+
"type_specific": {}
|
| 982 |
+
}
|
| 983 |
+
],
|
| 984 |
+
"deco_hub_back": [
|
| 985 |
+
{
|
| 986 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
|
| 987 |
+
"pose": {
|
| 988 |
+
"pos": [
|
| 989 |
+
-3.0,
|
| 990 |
+
-2.1,
|
| 991 |
+
0.0
|
| 992 |
+
],
|
| 993 |
+
"ori": [
|
| 994 |
+
1.0,
|
| 995 |
+
0.0,
|
| 996 |
+
0.0,
|
| 997 |
+
0.0
|
| 998 |
+
],
|
| 999 |
+
"scale": [
|
| 1000 |
+
1.0,
|
| 1001 |
+
1.0,
|
| 1002 |
+
1.0
|
| 1003 |
+
]
|
| 1004 |
+
},
|
| 1005 |
+
"dr": {
|
| 1006 |
+
"visual": {
|
| 1007 |
+
"kind": null,
|
| 1008 |
+
"value": null,
|
| 1009 |
+
"visible": true
|
| 1010 |
+
},
|
| 1011 |
+
"physics": {
|
| 1012 |
+
"type": "geometry",
|
| 1013 |
+
"collision": false,
|
| 1014 |
+
"ratio": 1.0
|
| 1015 |
+
},
|
| 1016 |
+
"primitive_params": null
|
| 1017 |
+
},
|
| 1018 |
+
"type_specific": {}
|
| 1019 |
+
}
|
| 1020 |
+
],
|
| 1021 |
+
"deco_bench_east": [
|
| 1022 |
+
{
|
| 1023 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1024 |
+
"pose": {
|
| 1025 |
+
"pos": [
|
| 1026 |
+
2.6,
|
| 1027 |
+
-2.5,
|
| 1028 |
+
0.0
|
| 1029 |
+
],
|
| 1030 |
+
"ori": [
|
| 1031 |
+
6.123234262925839e-17,
|
| 1032 |
+
0.0,
|
| 1033 |
+
0.0,
|
| 1034 |
+
1.0
|
| 1035 |
+
],
|
| 1036 |
+
"scale": [
|
| 1037 |
+
1.0,
|
| 1038 |
+
1.0,
|
| 1039 |
+
1.0
|
| 1040 |
+
]
|
| 1041 |
+
},
|
| 1042 |
+
"dr": {
|
| 1043 |
+
"visual": {
|
| 1044 |
+
"kind": null,
|
| 1045 |
+
"value": null,
|
| 1046 |
+
"visible": true
|
| 1047 |
+
},
|
| 1048 |
+
"physics": {
|
| 1049 |
+
"type": "geometry",
|
| 1050 |
+
"collision": false,
|
| 1051 |
+
"ratio": 1.0
|
| 1052 |
+
},
|
| 1053 |
+
"primitive_params": null
|
| 1054 |
+
},
|
| 1055 |
+
"type_specific": {}
|
| 1056 |
+
}
|
| 1057 |
+
],
|
| 1058 |
+
"deco_bench_gap": [
|
| 1059 |
+
{
|
| 1060 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1061 |
+
"pose": {
|
| 1062 |
+
"pos": [
|
| 1063 |
+
-0.1,
|
| 1064 |
+
-2.9,
|
| 1065 |
+
0.0
|
| 1066 |
+
],
|
| 1067 |
+
"ori": [
|
| 1068 |
+
1.0,
|
| 1069 |
+
0.0,
|
| 1070 |
+
0.0,
|
| 1071 |
+
0.0
|
| 1072 |
+
],
|
| 1073 |
+
"scale": [
|
| 1074 |
+
1.0,
|
| 1075 |
+
1.0,
|
| 1076 |
+
1.0
|
| 1077 |
+
]
|
| 1078 |
+
},
|
| 1079 |
+
"dr": {
|
| 1080 |
+
"visual": {
|
| 1081 |
+
"kind": null,
|
| 1082 |
+
"value": null,
|
| 1083 |
+
"visible": true
|
| 1084 |
+
},
|
| 1085 |
+
"physics": {
|
| 1086 |
+
"type": "geometry",
|
| 1087 |
+
"collision": false,
|
| 1088 |
+
"ratio": 1.0
|
| 1089 |
+
},
|
| 1090 |
+
"primitive_params": null
|
| 1091 |
+
},
|
| 1092 |
+
"type_specific": {}
|
| 1093 |
+
}
|
| 1094 |
+
]
|
| 1095 |
+
},
|
| 1096 |
+
{},
|
| 1097 |
+
{},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
{
|
| 1103 |
+
"t": 5.059999999999914,
|
| 1104 |
+
"step": 1012,
|
| 1105 |
+
"counter": 0,
|
| 1106 |
+
"devices": {
|
| 1107 |
+
"a4s_sealer_1": {
|
| 1108 |
+
"mode": "auto",
|
| 1109 |
+
"units": {
|
| 1110 |
+
"drawer": {
|
| 1111 |
+
"state": "at_out",
|
| 1112 |
+
"active": null,
|
| 1113 |
+
"target": 0.0,
|
| 1114 |
+
"goal_name": "out",
|
| 1115 |
+
"profile": null,
|
| 1116 |
+
"q_start": null,
|
| 1117 |
+
"reversing": false,
|
| 1118 |
+
"blocked_for": 0.0,
|
| 1119 |
+
"settled_for": 0.0,
|
| 1120 |
+
"last_q": 3.700580206850157e-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": 0.15350471439197297,
|
| 1148 |
+
"holds": [],
|
| 1149 |
+
"station": "pick",
|
| 1150 |
+
"rider": "carrier_2",
|
| 1151 |
+
"arrived": true,
|
| 1152 |
+
"settle_count": 974,
|
| 1153 |
+
"released": {
|
| 1154 |
+
"pick": []
|
| 1155 |
+
},
|
| 1156 |
+
"last_pos": {
|
| 1157 |
+
"carrier_1": [
|
| 1158 |
+
-0.498251348733902,
|
| 1159 |
+
0.6999977231025696,
|
| 1160 |
+
0.0
|
| 1161 |
+
],
|
| 1162 |
+
"carrier_2": [
|
| 1163 |
+
-0.003864675760269165,
|
| 1164 |
+
7.748603820800781e-07,
|
| 1165 |
+
0.0
|
| 1166 |
+
],
|
| 1167 |
+
"carrier_3": [
|
| 1168 |
+
-1.341853529214859,
|
| 1169 |
+
0.031152546405792236,
|
| 1170 |
+
0.0
|
| 1171 |
+
],
|
| 1172 |
+
"carrier_4": [
|
| 1173 |
+
1.2987447679042816,
|
| 1174 |
+
0.6838434338569641,
|
| 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_2",
|
| 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 |
+
0.45924590724118064,
|
| 1238 |
+
-0.35678729622951416,
|
| 1239 |
+
3.127382403356819
|
| 1240 |
+
],
|
| 1241 |
+
"ori": [
|
| 1242 |
+
-12.77425949339208,
|
| 1243 |
+
6.1018316619787,
|
| 1244 |
+
-9.2617528448516
|
| 1245 |
+
],
|
| 1246 |
+
"scale": [
|
| 1247 |
+
1.0,
|
| 1248 |
+
1.0,
|
| 1249 |
+
1.0
|
| 1250 |
+
]
|
| 1251 |
+
},
|
| 1252 |
+
"dr": {
|
| 1253 |
+
"color_temperature": 5751.40201107233,
|
| 1254 |
+
"color": [
|
| 1255 |
+
0.9961770467712731,
|
| 1256 |
+
0.9554216115861438,
|
| 1257 |
+
0.947890946224232
|
| 1258 |
+
],
|
| 1259 |
+
"intensity": 13145.997729139537,
|
| 1260 |
+
"width": 1.6254383607036706,
|
| 1261 |
+
"height": 0.8055318814792742
|
| 1262 |
+
}
|
| 1263 |
+
},
|
| 1264 |
+
"key": {
|
| 1265 |
+
"type": "sphere",
|
| 1266 |
+
"pose": {
|
| 1267 |
+
"pos": [
|
| 1268 |
+
-0.8782059622014196,
|
| 1269 |
+
-0.6285801326475038,
|
| 1270 |
+
2.3156047106737416
|
| 1271 |
+
],
|
| 1272 |
+
"ori": [
|
| 1273 |
+
38.32591032341307,
|
| 1274 |
+
12.814025555689526,
|
| 1275 |
+
34.812611204744385
|
| 1276 |
+
],
|
| 1277 |
+
"scale": [
|
| 1278 |
+
1.0,
|
| 1279 |
+
1.0,
|
| 1280 |
+
1.0
|
| 1281 |
+
]
|
| 1282 |
+
},
|
| 1283 |
+
"dr": {
|
| 1284 |
+
"color_temperature": 5030.771873733738,
|
| 1285 |
+
"color": [
|
| 1286 |
+
0.9173625040259038,
|
| 1287 |
+
0.7863109960352416,
|
| 1288 |
+
0.7929689321230494
|
| 1289 |
+
],
|
| 1290 |
+
"intensity": 5193.035336309909,
|
| 1291 |
+
"radius": 0.17337770397534258
|
| 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": 1203.576883257549,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
0.9141026735305786,
|
| 1394 |
+
-1.7193975448608398,
|
| 1395 |
+
2.090498924255371,
|
| 1396 |
+
-1.941900372505188,
|
| 1397 |
+
-1.5707999467849731,
|
| 1398 |
+
2.484900712966919,
|
| 1399 |
+
0.01799999736249447,
|
| 1400 |
+
0.018000001087784767
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
2.805257558822632,
|
| 1404 |
+
-1.6669588088989258,
|
| 1405 |
+
1.8975739479064941,
|
| 1406 |
+
-1.8013584613800049,
|
| 1407 |
+
-1.5707802772521973,
|
| 1408 |
+
4.375916004180908,
|
| 1409 |
+
0.017999986186623573,
|
| 1410 |
+
0.017999986186623573
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
1.4539456367492676,
|
| 1414 |
+
-1.2992299795150757,
|
| 1415 |
+
2.2631471157073975,
|
| 1416 |
+
-2.535464286804199,
|
| 1417 |
+
-1.5707255601882935,
|
| 1418 |
+
6.164617538452148,
|
| 1419 |
+
0.017999986186623573,
|
| 1420 |
+
0.017999986186623573
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
2.8050646781921387,
|
| 1424 |
+
-1.6118217706680298,
|
| 1425 |
+
2.029938220977783,
|
| 1426 |
+
-1.988472819328308,
|
| 1427 |
+
-1.5697685480117798,
|
| 1428 |
+
4.376483917236328,
|
| 1429 |
+
0.017999986186623573,
|
| 1430 |
+
0.017999986186623573
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
5.108947789267404e-06,
|
| 1436 |
+
3.4059542031172896e-06,
|
| 1437 |
+
-6.811951607232913e-06,
|
| 1438 |
+
1.9932523513677136e-12,
|
| 1439 |
+
2.6715153526868374e-13,
|
| 1440 |
+
1.2234325965504445e-12,
|
| 1441 |
+
2.5990743779402692e-08,
|
| 1442 |
+
-2.5990464891378906e-08
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
3.063555919363692e-12,
|
| 1446 |
+
1.097837619423725e-11,
|
| 1447 |
+
-3.4059676181641407e-06,
|
| 1448 |
+
-3.4059767131111585e-06,
|
| 1449 |
+
-3.405978077353211e-06,
|
| 1450 |
+
1.3623915947391652e-05,
|
| 1451 |
+
1.819283426129914e-07,
|
| 1452 |
+
1.8192704942521232e-07
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
1.021789648802951e-05,
|
| 1456 |
+
3.4059166864608414e-06,
|
| 1457 |
+
6.811928869865369e-06,
|
| 1458 |
+
-4.371117183488149e-12,
|
| 1459 |
+
6.2631060311158036e-15,
|
| 1460 |
+
-1.362391503789695e-05,
|
| 1461 |
+
1.819473283148909e-07,
|
| 1462 |
+
1.8194562301232509e-07
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-6.811929779360071e-06,
|
| 1466 |
+
2.032772908333591e-11,
|
| 1467 |
+
-6.811937510065036e-06,
|
| 1468 |
+
-3.405974439374404e-06,
|
| 1469 |
+
3.6529806957119604e-13,
|
| 1470 |
+
1.3623912309412844e-05,
|
| 1471 |
+
1.8191849449067377e-07,
|
| 1472 |
+
1.819369543909488e-07
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.04840082675218582,
|
| 1482 |
+
0.0006370616029016674,
|
| 1483 |
+
-0.028651731088757515,
|
| 1484 |
+
-0.27965161204338074,
|
| 1485 |
+
0.6552655100822449,
|
| 1486 |
+
0.6447096467018127,
|
| 1487 |
+
-0.2770768404006958
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04789713770151138,
|
| 1491 |
+
-0.0011372944572940469,
|
| 1492 |
+
-0.031029831618070602,
|
| 1493 |
+
-0.2818768620491028,
|
| 1494 |
+
0.6462073922157288,
|
| 1495 |
+
0.6471947431564331,
|
| 1496 |
+
-0.29000064730644226
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.05292743071913719,
|
| 1500 |
+
0.0028921752236783504,
|
| 1501 |
+
-0.03054657205939293,
|
| 1502 |
+
-0.28868481516838074,
|
| 1503 |
+
0.6431344747543335,
|
| 1504 |
+
0.650314450263977,
|
| 1505 |
+
-0.28307288885116577
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04684670269489288,
|
| 1509 |
+
-0.0028625258710235357,
|
| 1510 |
+
-0.03300688788294792,
|
| 1511 |
+
-0.26662442088127136,
|
| 1512 |
+
0.6447113156318665,
|
| 1513 |
+
0.6603252291679382,
|
| 1514 |
+
-0.2779015898704529
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.02735206112265587,
|
| 1520 |
+
0.5966840386390686,
|
| 1521 |
+
1.936326026916504,
|
| 1522 |
+
0.028553513810038567,
|
| 1523 |
+
0.005277492105960846,
|
| 1524 |
+
0.2709835469722748,
|
| 1525 |
+
0.9621459245681763
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.02935466542840004,
|
| 1529 |
+
0.5835272073745728,
|
| 1530 |
+
1.9645791053771973,
|
| 1531 |
+
0.04287878796458244,
|
| 1532 |
+
0.009194176644086838,
|
| 1533 |
+
0.2729720175266266,
|
| 1534 |
+
0.9610219597816467
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.034337230026721954,
|
| 1538 |
+
0.5929996371269226,
|
| 1539 |
+
1.9274089336395264,
|
| 1540 |
+
0.027670349925756454,
|
| 1541 |
+
-0.0019834323320537806,
|
| 1542 |
+
0.2751882076263428,
|
| 1543 |
+
0.9609900712966919
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.045860085636377335,
|
| 1547 |
+
0.5877004861831665,
|
| 1548 |
+
1.9294629096984863,
|
| 1549 |
+
0.04413620010018349,
|
| 1550 |
+
0.021241921931505203,
|
| 1551 |
+
0.2706122398376465,
|
| 1552 |
+
0.9614415168762207
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c2_p016_e022/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f96d54ff3ee55dd93a655506dc361aca704cbac45cd2c0bdfea83fc3e7f02b97
|
| 3 |
+
size 6018467
|
episodes/c2_p016_e023/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7562d86a67f13496fad255d947541ef24c359d1fb0d064f3234956a713c985f
|
| 3 |
+
size 188059
|
episodes/c2_p016_e023/device_events.jsonl
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 2, "seq": 1, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 2, "seq": 2, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 2, "seq": 3, "step": 128, "t": 0.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 1425, "t": 7.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 1508, "t": 7.54, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 1586, "t": 7.93, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 7 |
+
{"env_id": 2, "seq": 7, "step": 6547, "t": 32.735, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 8 |
+
{"env_id": 2, "seq": 8, "step": 7160, "t": 35.8, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 9 |
+
{"env_id": 2, "seq": 9, "step": 7160, "t": 35.8, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8503139618327706}, "cause": "task-2-1"}
|
| 10 |
+
{"env_id": 2, "seq": 10, "step": 7160, "t": 35.8, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
|
| 11 |
+
{"env_id": 2, "seq": 11, "step": 7160, "t": 35.8, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 12 |
+
{"env_id": 2, "seq": 12, "step": 7160, "t": 35.8, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 13 |
+
{"env_id": 2, "seq": 13, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 14 |
+
{"env_id": 2, "seq": 14, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 15 |
+
{"env_id": 2, "seq": 15, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 16 |
+
{"env_id": 2, "seq": 16, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
|
| 17 |
+
{"env_id": 2, "seq": 17, "step": 7579, "t": 37.895, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
|
| 18 |
+
{"env_id": 2, "seq": 18, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"}
|
| 19 |
+
{"env_id": 2, "seq": 19, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
|
| 20 |
+
{"env_id": 2, "seq": 20, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 21 |
+
{"env_id": 2, "seq": 21, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8503139618327706}, "cause": "program-2-3"}
|
| 22 |
+
{"env_id": 2, "seq": 22, "step": 7950, "t": 39.75, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 23 |
+
{"env_id": 2, "seq": 23, "step": 7950, "t": 39.75, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.855000000000949}, "cause": "program-2-3"}
|
| 24 |
+
{"env_id": 2, "seq": 24, "step": 7950, "t": 39.75, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.855000000000949}}, "cause": "program-2-3"}
|
| 25 |
+
{"env_id": 2, "seq": 25, "step": 7950, "t": 39.75, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
|
| 26 |
+
{"env_id": 2, "seq": 26, "step": 7950, "t": 39.75, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 27 |
+
{"env_id": 2, "seq": 27, "step": 7950, "t": 39.75, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 28 |
+
{"env_id": 2, "seq": 28, "step": 8370, "t": 41.85, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 29 |
+
{"env_id": 2, "seq": 29, "step": 8370, "t": 41.85, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.03784300545351e-09}, "cause": "program-2-4"}
|
| 30 |
+
{"env_id": 2, "seq": 30, "step": 8370, "t": 41.85, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.03784300545351e-09}, "cause": "program-2-4"}
|
| 31 |
+
{"env_id": 2, "seq": 31, "step": 8370, "t": 41.85, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
|
| 32 |
+
{"env_id": 2, "seq": 32, "step": 8370, "t": 41.85, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 33 |
+
{"env_id": 2, "seq": 33, "step": 8370, "t": 41.85, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 34 |
+
{"env_id": 2, "seq": 34, "step": 8951, "t": 44.755, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 35 |
+
{"env_id": 2, "seq": 35, "step": 10704, "t": 53.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 36 |
+
{"env_id": 2, "seq": 36, "step": 10704, "t": 53.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"}
|
| 37 |
+
{"env_id": 2, "seq": 37, "step": 10704, "t": 53.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 38 |
+
{"env_id": 2, "seq": 38, "step": 10704, "t": 53.52, "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_p016_e023/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:612ab0d6cedd79c5a76c2842670144528ee1d70c6fc8051c3e667988016d5882
|
| 3 |
+
size 1178289
|
episodes/c2_p016_e023/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c2_p016/magicsim/23",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1216,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1216,
|
| 8 |
+
"env": 1216
|
| 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_p016_e023/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 23,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c2_p016",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
+
1.0,
|
| 129 |
+
1.0,
|
| 130 |
+
1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
+
-0.6,
|
| 195 |
+
0.02,
|
| 196 |
+
1.0285
|
| 197 |
+
],
|
| 198 |
+
"ori": [
|
| 199 |
+
6.123234262925839e-17,
|
| 200 |
+
0.0,
|
| 201 |
+
0.0,
|
| 202 |
+
1.0
|
| 203 |
+
],
|
| 204 |
+
"scale": [
|
| 205 |
+
1.0,
|
| 206 |
+
1.0,
|
| 207 |
+
1.0
|
| 208 |
+
]
|
| 209 |
+
},
|
| 210 |
+
"dr": {
|
| 211 |
+
"visual": {
|
| 212 |
+
"kind": null,
|
| 213 |
+
"value": null,
|
| 214 |
+
"visible": true
|
| 215 |
+
},
|
| 216 |
+
"physics": {
|
| 217 |
+
"type": "geometry",
|
| 218 |
+
"collision": false,
|
| 219 |
+
"ratio": 1.0
|
| 220 |
+
},
|
| 221 |
+
"primitive_params": null
|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 227 |
+
"pose": {
|
| 228 |
+
"pos": [
|
| 229 |
+
-0.6,
|
| 230 |
+
0.02,
|
| 231 |
+
1.0965
|
| 232 |
+
],
|
| 233 |
+
"ori": [
|
| 234 |
+
1.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0
|
| 238 |
+
],
|
| 239 |
+
"scale": [
|
| 240 |
+
1.0,
|
| 241 |
+
1.0,
|
| 242 |
+
1.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"dr": {
|
| 246 |
+
"visual": {
|
| 247 |
+
"kind": null,
|
| 248 |
+
"value": null,
|
| 249 |
+
"visible": true
|
| 250 |
+
},
|
| 251 |
+
"physics": {
|
| 252 |
+
"type": "geometry",
|
| 253 |
+
"collision": false,
|
| 254 |
+
"ratio": 1.0
|
| 255 |
+
},
|
| 256 |
+
"primitive_params": null
|
| 257 |
+
},
|
| 258 |
+
"type_specific": {}
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 262 |
+
"pose": {
|
| 263 |
+
"pos": [
|
| 264 |
+
-0.6,
|
| 265 |
+
0.02,
|
| 266 |
+
1.1645
|
| 267 |
+
],
|
| 268 |
+
"ori": [
|
| 269 |
+
6.123234262925839e-17,
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
1.0
|
| 273 |
+
],
|
| 274 |
+
"scale": [
|
| 275 |
+
1.0,
|
| 276 |
+
1.0,
|
| 277 |
+
1.0
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"dr": {
|
| 281 |
+
"visual": {
|
| 282 |
+
"kind": null,
|
| 283 |
+
"value": null,
|
| 284 |
+
"visible": true
|
| 285 |
+
},
|
| 286 |
+
"physics": {
|
| 287 |
+
"type": "geometry",
|
| 288 |
+
"collision": false,
|
| 289 |
+
"ratio": 1.0
|
| 290 |
+
},
|
| 291 |
+
"primitive_params": null
|
| 292 |
+
},
|
| 293 |
+
"type_specific": {}
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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 |
+
0.5080299377441406,
|
| 337 |
+
0.10838794708251953,
|
| 338 |
+
0.8999999761581421
|
| 339 |
+
],
|
| 340 |
+
"ori": [
|
| 341 |
+
-0.676828145980835,
|
| 342 |
+
0.0,
|
| 343 |
+
0.0,
|
| 344 |
+
0.7361410856246948
|
| 345 |
+
],
|
| 346 |
+
"scale": [
|
| 347 |
+
1.0,
|
| 348 |
+
1.0,
|
| 349 |
+
1.0
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"dr": {
|
| 353 |
+
"visual": {
|
| 354 |
+
"kind": null,
|
| 355 |
+
"value": null,
|
| 356 |
+
"visible": true
|
| 357 |
+
},
|
| 358 |
+
"physics": {
|
| 359 |
+
"type": "articulation",
|
| 360 |
+
"solver_position_iteration_count": 16.0,
|
| 361 |
+
"solver_velocity_iteration_count": 1.0,
|
| 362 |
+
"enabled_self_collisions": false,
|
| 363 |
+
"ratio": 1.0
|
| 364 |
+
},
|
| 365 |
+
"primitive_params": null
|
| 366 |
+
},
|
| 367 |
+
"type_specific": {
|
| 368 |
+
"joint_position": [
|
| 369 |
+
2.6913323999955274e-12
|
| 370 |
+
],
|
| 371 |
+
"joint_velocity": [
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"linear_velocity": [
|
| 375 |
+
0.0,
|
| 376 |
+
0.0,
|
| 377 |
+
0.0
|
| 378 |
+
],
|
| 379 |
+
"angular_velocity": [
|
| 380 |
+
0.0,
|
| 381 |
+
0.0,
|
| 382 |
+
0.0
|
| 383 |
+
]
|
| 384 |
+
}
|
| 385 |
+
}
|
| 386 |
+
],
|
| 387 |
+
"conveyor": [
|
| 388 |
+
{
|
| 389 |
+
"asset": "Cube",
|
| 390 |
+
"pose": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.15,
|
| 393 |
+
0.45,
|
| 394 |
+
0.9
|
| 395 |
+
],
|
| 396 |
+
"ori": [
|
| 397 |
+
1.0,
|
| 398 |
+
0.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0
|
| 401 |
+
],
|
| 402 |
+
"scale": [
|
| 403 |
+
1.0,
|
| 404 |
+
1.0,
|
| 405 |
+
1.0
|
| 406 |
+
]
|
| 407 |
+
},
|
| 408 |
+
"dr": {
|
| 409 |
+
"visual": {
|
| 410 |
+
"kind": null,
|
| 411 |
+
"value": null,
|
| 412 |
+
"visible": true
|
| 413 |
+
},
|
| 414 |
+
"physics": {
|
| 415 |
+
"type": "conveyor",
|
| 416 |
+
"physics_material": {
|
| 417 |
+
"static_friction": 0.9,
|
| 418 |
+
"dynamic_friction": 0.9
|
| 419 |
+
},
|
| 420 |
+
"ratio": 1.0
|
| 421 |
+
},
|
| 422 |
+
"primitive_params": {
|
| 423 |
+
"size": [
|
| 424 |
+
2.4,
|
| 425 |
+
0.076,
|
| 426 |
+
0.03
|
| 427 |
+
]
|
| 428 |
+
},
|
| 429 |
+
"conveyor": {
|
| 430 |
+
"speed": 0.29836005207492233,
|
| 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": -0.1294458996366336,
|
| 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": 0.29836005207492233,
|
| 479 |
+
"holds": [],
|
| 480 |
+
"station": "pick",
|
| 481 |
+
"rider": "carrier_3",
|
| 482 |
+
"arrived": true,
|
| 483 |
+
"applied_speed": 0.0
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
],
|
| 488 |
+
"carrier": [
|
| 489 |
+
{
|
| 490 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 491 |
+
"pose": {
|
| 492 |
+
"pos": [
|
| 493 |
+
0.44002342224121094,
|
| 494 |
+
1.1525745391845703,
|
| 495 |
+
0.8999999761581421
|
| 496 |
+
],
|
| 497 |
+
"ori": [
|
| 498 |
+
-0.009026541374623775,
|
| 499 |
+
-2.8402119545134497e-10,
|
| 500 |
+
-2.968115753176903e-10,
|
| 501 |
+
0.9999592900276184
|
| 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 |
+
-9.684497648265733e-10,
|
| 530 |
+
-2.330398374272846e-10,
|
| 531 |
+
7.450580596923828e-09
|
| 532 |
+
],
|
| 533 |
+
"angular_velocity": [
|
| 534 |
+
-3.973728013306754e-08,
|
| 535 |
+
-8.687682395702723e-08,
|
| 536 |
+
-2.0543186707300265e-08
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
{
|
| 541 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 542 |
+
"pose": {
|
| 543 |
+
"pos": [
|
| 544 |
+
1.6125364303588867,
|
| 545 |
+
1.0285367965698242,
|
| 546 |
+
0.8999999761581421
|
| 547 |
+
],
|
| 548 |
+
"ori": [
|
| 549 |
+
0.42337360978126526,
|
| 550 |
+
-1.9593596078948394e-08,
|
| 551 |
+
-4.905746919803278e-08,
|
| 552 |
+
0.9059551954269409
|
| 553 |
+
],
|
| 554 |
+
"scale": [
|
| 555 |
+
1.0,
|
| 556 |
+
1.0,
|
| 557 |
+
1.0
|
| 558 |
+
]
|
| 559 |
+
},
|
| 560 |
+
"dr": {
|
| 561 |
+
"visual": {
|
| 562 |
+
"kind": null,
|
| 563 |
+
"value": null,
|
| 564 |
+
"visible": true
|
| 565 |
+
},
|
| 566 |
+
"physics": {
|
| 567 |
+
"type": "rigid",
|
| 568 |
+
"mass": 0.5,
|
| 569 |
+
"physics_material": {
|
| 570 |
+
"static_friction": 0.9,
|
| 571 |
+
"dynamic_friction": 0.9,
|
| 572 |
+
"restitution": 0.0
|
| 573 |
+
},
|
| 574 |
+
"ratio": 1.0
|
| 575 |
+
},
|
| 576 |
+
"primitive_params": null
|
| 577 |
+
},
|
| 578 |
+
"type_specific": {
|
| 579 |
+
"linear_velocity": [
|
| 580 |
+
5.442458705928743e-10,
|
| 581 |
+
-5.189883522938032e-10,
|
| 582 |
+
0.0
|
| 583 |
+
],
|
| 584 |
+
"angular_velocity": [
|
| 585 |
+
3.767084066907955e-08,
|
| 586 |
+
2.1297200447634168e-08,
|
| 587 |
+
6.52159748426584e-09
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
{
|
| 592 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 593 |
+
"pose": {
|
| 594 |
+
"pos": [
|
| 595 |
+
0.02022838592529297,
|
| 596 |
+
0.4475879669189453,
|
| 597 |
+
0.8999999761581421
|
| 598 |
+
],
|
| 599 |
+
"ori": [
|
| 600 |
+
0.9999366998672485,
|
| 601 |
+
2.687660372036049e-10,
|
| 602 |
+
2.792618358782306e-10,
|
| 603 |
+
0.011250309646129608
|
| 604 |
+
],
|
| 605 |
+
"scale": [
|
| 606 |
+
1.0,
|
| 607 |
+
1.0,
|
| 608 |
+
1.0
|
| 609 |
+
]
|
| 610 |
+
},
|
| 611 |
+
"dr": {
|
| 612 |
+
"visual": {
|
| 613 |
+
"kind": null,
|
| 614 |
+
"value": null,
|
| 615 |
+
"visible": true
|
| 616 |
+
},
|
| 617 |
+
"physics": {
|
| 618 |
+
"type": "rigid",
|
| 619 |
+
"mass": 0.5,
|
| 620 |
+
"physics_material": {
|
| 621 |
+
"static_friction": 0.9,
|
| 622 |
+
"dynamic_friction": 0.9,
|
| 623 |
+
"restitution": 0.0
|
| 624 |
+
},
|
| 625 |
+
"ratio": 1.0
|
| 626 |
+
},
|
| 627 |
+
"primitive_params": null
|
| 628 |
+
},
|
| 629 |
+
"type_specific": {
|
| 630 |
+
"linear_velocity": [
|
| 631 |
+
2.320629688412623e-09,
|
| 632 |
+
1.7688136511040398e-09,
|
| 633 |
+
1.1175870895385742e-08
|
| 634 |
+
],
|
| 635 |
+
"angular_velocity": [
|
| 636 |
+
-8.274164997601474e-08,
|
| 637 |
+
2.0686786683654645e-07,
|
| 638 |
+
-2.491273498606006e-08
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 644 |
+
"pose": {
|
| 645 |
+
"pos": [
|
| 646 |
+
-1.3116750717163086,
|
| 647 |
+
0.570521354675293,
|
| 648 |
+
0.8999999761581421
|
| 649 |
+
],
|
| 650 |
+
"ori": [
|
| 651 |
+
-0.9062895178794861,
|
| 652 |
+
2.272083321486207e-08,
|
| 653 |
+
-1.5835772160244233e-07,
|
| 654 |
+
0.42265769839286804
|
| 655 |
+
],
|
| 656 |
+
"scale": [
|
| 657 |
+
1.0,
|
| 658 |
+
1.0,
|
| 659 |
+
1.0
|
| 660 |
+
]
|
| 661 |
+
},
|
| 662 |
+
"dr": {
|
| 663 |
+
"visual": {
|
| 664 |
+
"kind": null,
|
| 665 |
+
"value": null,
|
| 666 |
+
"visible": true
|
| 667 |
+
},
|
| 668 |
+
"physics": {
|
| 669 |
+
"type": "rigid",
|
| 670 |
+
"mass": 0.5,
|
| 671 |
+
"physics_material": {
|
| 672 |
+
"static_friction": 0.9,
|
| 673 |
+
"dynamic_friction": 0.9,
|
| 674 |
+
"restitution": 0.0
|
| 675 |
+
},
|
| 676 |
+
"ratio": 1.0
|
| 677 |
+
},
|
| 678 |
+
"primitive_params": null
|
| 679 |
+
},
|
| 680 |
+
"type_specific": {
|
| 681 |
+
"linear_velocity": [
|
| 682 |
+
-3.521961389196804e-09,
|
| 683 |
+
-1.3938006304670125e-09,
|
| 684 |
+
0.0
|
| 685 |
+
],
|
| 686 |
+
"angular_velocity": [
|
| 687 |
+
1.0153598850592971e-07,
|
| 688 |
+
-1.7100683180615306e-07,
|
| 689 |
+
3.74625415133778e-08
|
| 690 |
+
]
|
| 691 |
+
}
|
| 692 |
+
}
|
| 693 |
+
],
|
| 694 |
+
"plate": [
|
| 695 |
+
{
|
| 696 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
|
| 697 |
+
"pose": {
|
| 698 |
+
"pos": [
|
| 699 |
+
0.4488229751586914,
|
| 700 |
+
1.147695541381836,
|
| 701 |
+
0.9179999828338623
|
| 702 |
+
],
|
| 703 |
+
"ori": [
|
| 704 |
+
-0.057829711586236954,
|
| 705 |
+
1.7506026628311133e-09,
|
| 706 |
+
1.0189658006254376e-09,
|
| 707 |
+
0.9983265399932861
|
| 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 |
+
1.0613608658616158e-08,
|
| 739 |
+
1.6880031594723732e-08,
|
| 740 |
+
1.564621925354004e-07
|
| 741 |
+
],
|
| 742 |
+
"angular_velocity": [
|
| 743 |
+
-1.5387543044198537e-06,
|
| 744 |
+
1.8171864439864294e-06,
|
| 745 |
+
-7.23221731391277e-08
|
| 746 |
+
]
|
| 747 |
+
}
|
| 748 |
+
},
|
| 749 |
+
{
|
| 750 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
|
| 751 |
+
"pose": {
|
| 752 |
+
"pos": [
|
| 753 |
+
1.6262435913085938,
|
| 754 |
+
1.0264692306518555,
|
| 755 |
+
0.9180000424385071
|
| 756 |
+
],
|
| 757 |
+
"ori": [
|
| 758 |
+
0.40294259786605835,
|
| 759 |
+
-2.2377774300252895e-08,
|
| 760 |
+
-4.940180531320948e-08,
|
| 761 |
+
0.9152253270149231
|
| 762 |
+
],
|
| 763 |
+
"scale": [
|
| 764 |
+
1.0,
|
| 765 |
+
1.0,
|
| 766 |
+
1.0
|
| 767 |
+
]
|
| 768 |
+
},
|
| 769 |
+
"dr": {
|
| 770 |
+
"visual": {
|
| 771 |
+
"kind": null,
|
| 772 |
+
"value": null,
|
| 773 |
+
"visible": true
|
| 774 |
+
},
|
| 775 |
+
"physics": {
|
| 776 |
+
"type": "rigid",
|
| 777 |
+
"collision": true,
|
| 778 |
+
"mass": "asset",
|
| 779 |
+
"max_depenetration_velocity": 1.0,
|
| 780 |
+
"physics_material": {
|
| 781 |
+
"static_friction": 0.5,
|
| 782 |
+
"dynamic_friction": 0.45,
|
| 783 |
+
"restitution": 0.0,
|
| 784 |
+
"friction_combine_mode": "average"
|
| 785 |
+
},
|
| 786 |
+
"ratio": 1.0
|
| 787 |
+
},
|
| 788 |
+
"primitive_params": null
|
| 789 |
+
},
|
| 790 |
+
"type_specific": {
|
| 791 |
+
"linear_velocity": [
|
| 792 |
+
9.222675956266357e-09,
|
| 793 |
+
3.9490704040190394e-09,
|
| 794 |
+
-5.889683961868286e-06
|
| 795 |
+
],
|
| 796 |
+
"angular_velocity": [
|
| 797 |
+
-5.064649144514988e-07,
|
| 798 |
+
1.1955954732911778e-06,
|
| 799 |
+
-1.4253862090640723e-08
|
| 800 |
+
]
|
| 801 |
+
}
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
|
| 805 |
+
"pose": {
|
| 806 |
+
"pos": [
|
| 807 |
+
0.02314472198486328,
|
| 808 |
+
0.4395160675048828,
|
| 809 |
+
0.9180000424385071
|
| 810 |
+
],
|
| 811 |
+
"ori": [
|
| 812 |
+
0.9995681643486023,
|
| 813 |
+
1.8891339603754886e-09,
|
| 814 |
+
3.8127190293835156e-10,
|
| 815 |
+
-0.029386335983872414
|
| 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 |
+
-1.8028567527750283e-09,
|
| 847 |
+
2.1091414836860167e-08,
|
| 848 |
+
-5.725771188735962e-06
|
| 849 |
+
],
|
| 850 |
+
"angular_velocity": [
|
| 851 |
+
-3.5652743690661737e-07,
|
| 852 |
+
-1.5312282357626827e-06,
|
| 853 |
+
-2.300534518440145e-08
|
| 854 |
+
]
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
{
|
| 858 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
|
| 859 |
+
"pose": {
|
| 860 |
+
"pos": [
|
| 861 |
+
-1.3120355606079102,
|
| 862 |
+
0.5705537796020508,
|
| 863 |
+
0.9179999828338623
|
| 864 |
+
],
|
| 865 |
+
"ori": [
|
| 866 |
+
-0.881523847579956,
|
| 867 |
+
3.3407726363066104e-08,
|
| 868 |
+
-1.7549950825923588e-07,
|
| 869 |
+
0.4721395671367645
|
| 870 |
+
],
|
| 871 |
+
"scale": [
|
| 872 |
+
1.0,
|
| 873 |
+
1.0,
|
| 874 |
+
1.0
|
| 875 |
+
]
|
| 876 |
+
},
|
| 877 |
+
"dr": {
|
| 878 |
+
"visual": {
|
| 879 |
+
"kind": null,
|
| 880 |
+
"value": null,
|
| 881 |
+
"visible": true
|
| 882 |
+
},
|
| 883 |
+
"physics": {
|
| 884 |
+
"type": "rigid",
|
| 885 |
+
"collision": true,
|
| 886 |
+
"mass": "asset",
|
| 887 |
+
"max_depenetration_velocity": 1.0,
|
| 888 |
+
"physics_material": {
|
| 889 |
+
"static_friction": 0.5,
|
| 890 |
+
"dynamic_friction": 0.45,
|
| 891 |
+
"restitution": 0.0,
|
| 892 |
+
"friction_combine_mode": "average"
|
| 893 |
+
},
|
| 894 |
+
"ratio": 1.0
|
| 895 |
+
},
|
| 896 |
+
"primitive_params": null
|
| 897 |
+
},
|
| 898 |
+
"type_specific": {
|
| 899 |
+
"linear_velocity": [
|
| 900 |
+
1.5560203792119864e-07,
|
| 901 |
+
-4.6539457798644435e-07,
|
| 902 |
+
-1.1771917343139648e-06
|
| 903 |
+
],
|
| 904 |
+
"angular_velocity": [
|
| 905 |
+
1.3533099263440818e-05,
|
| 906 |
+
1.13028654595837e-05,
|
| 907 |
+
-1.3776602827419993e-06
|
| 908 |
+
]
|
| 909 |
+
}
|
| 910 |
+
}
|
| 911 |
+
],
|
| 912 |
+
"deco_hub_west": [
|
| 913 |
+
{
|
| 914 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
|
| 915 |
+
"pose": {
|
| 916 |
+
"pos": [
|
| 917 |
+
-3.36,
|
| 918 |
+
0.0,
|
| 919 |
+
0.0
|
| 920 |
+
],
|
| 921 |
+
"ori": [
|
| 922 |
+
1.0,
|
| 923 |
+
0.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0
|
| 926 |
+
],
|
| 927 |
+
"scale": [
|
| 928 |
+
1.0,
|
| 929 |
+
1.0,
|
| 930 |
+
1.0
|
| 931 |
+
]
|
| 932 |
+
},
|
| 933 |
+
"dr": {
|
| 934 |
+
"visual": {
|
| 935 |
+
"kind": null,
|
| 936 |
+
"value": null,
|
| 937 |
+
"visible": true
|
| 938 |
+
},
|
| 939 |
+
"physics": {
|
| 940 |
+
"type": "geometry",
|
| 941 |
+
"collision": false,
|
| 942 |
+
"ratio": 1.0
|
| 943 |
+
},
|
| 944 |
+
"primitive_params": null
|
| 945 |
+
},
|
| 946 |
+
"type_specific": {}
|
| 947 |
+
}
|
| 948 |
+
],
|
| 949 |
+
"deco_hub_east": [
|
| 950 |
+
{
|
| 951 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 952 |
+
"pose": {
|
| 953 |
+
"pos": [
|
| 954 |
+
3.36,
|
| 955 |
+
0.0,
|
| 956 |
+
0.0
|
| 957 |
+
],
|
| 958 |
+
"ori": [
|
| 959 |
+
1.0,
|
| 960 |
+
0.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0
|
| 963 |
+
],
|
| 964 |
+
"scale": [
|
| 965 |
+
1.0,
|
| 966 |
+
1.0,
|
| 967 |
+
1.0
|
| 968 |
+
]
|
| 969 |
+
},
|
| 970 |
+
"dr": {
|
| 971 |
+
"visual": {
|
| 972 |
+
"kind": null,
|
| 973 |
+
"value": null,
|
| 974 |
+
"visible": true
|
| 975 |
+
},
|
| 976 |
+
"physics": {
|
| 977 |
+
"type": "geometry",
|
| 978 |
+
"collision": false,
|
| 979 |
+
"ratio": 1.0
|
| 980 |
+
},
|
| 981 |
+
"primitive_params": null
|
| 982 |
+
},
|
| 983 |
+
"type_specific": {}
|
| 984 |
+
}
|
| 985 |
+
],
|
| 986 |
+
"deco_hub_back": [
|
| 987 |
+
{
|
| 988 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 989 |
+
"pose": {
|
| 990 |
+
"pos": [
|
| 991 |
+
-3.0,
|
| 992 |
+
-2.1,
|
| 993 |
+
0.0
|
| 994 |
+
],
|
| 995 |
+
"ori": [
|
| 996 |
+
1.0,
|
| 997 |
+
0.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0
|
| 1000 |
+
],
|
| 1001 |
+
"scale": [
|
| 1002 |
+
1.0,
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0
|
| 1005 |
+
]
|
| 1006 |
+
},
|
| 1007 |
+
"dr": {
|
| 1008 |
+
"visual": {
|
| 1009 |
+
"kind": null,
|
| 1010 |
+
"value": null,
|
| 1011 |
+
"visible": true
|
| 1012 |
+
},
|
| 1013 |
+
"physics": {
|
| 1014 |
+
"type": "geometry",
|
| 1015 |
+
"collision": false,
|
| 1016 |
+
"ratio": 1.0
|
| 1017 |
+
},
|
| 1018 |
+
"primitive_params": null
|
| 1019 |
+
},
|
| 1020 |
+
"type_specific": {}
|
| 1021 |
+
}
|
| 1022 |
+
],
|
| 1023 |
+
"deco_bench_east": [
|
| 1024 |
+
{
|
| 1025 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1026 |
+
"pose": {
|
| 1027 |
+
"pos": [
|
| 1028 |
+
2.6,
|
| 1029 |
+
-2.5,
|
| 1030 |
+
0.0
|
| 1031 |
+
],
|
| 1032 |
+
"ori": [
|
| 1033 |
+
6.123234262925839e-17,
|
| 1034 |
+
0.0,
|
| 1035 |
+
0.0,
|
| 1036 |
+
1.0
|
| 1037 |
+
],
|
| 1038 |
+
"scale": [
|
| 1039 |
+
1.0,
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0
|
| 1042 |
+
]
|
| 1043 |
+
},
|
| 1044 |
+
"dr": {
|
| 1045 |
+
"visual": {
|
| 1046 |
+
"kind": null,
|
| 1047 |
+
"value": null,
|
| 1048 |
+
"visible": true
|
| 1049 |
+
},
|
| 1050 |
+
"physics": {
|
| 1051 |
+
"type": "geometry",
|
| 1052 |
+
"collision": false,
|
| 1053 |
+
"ratio": 1.0
|
| 1054 |
+
},
|
| 1055 |
+
"primitive_params": null
|
| 1056 |
+
},
|
| 1057 |
+
"type_specific": {}
|
| 1058 |
+
}
|
| 1059 |
+
],
|
| 1060 |
+
"deco_bench_gap": [
|
| 1061 |
+
{
|
| 1062 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1063 |
+
"pose": {
|
| 1064 |
+
"pos": [
|
| 1065 |
+
-0.1,
|
| 1066 |
+
-2.9,
|
| 1067 |
+
0.0
|
| 1068 |
+
],
|
| 1069 |
+
"ori": [
|
| 1070 |
+
1.0,
|
| 1071 |
+
0.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0
|
| 1074 |
+
],
|
| 1075 |
+
"scale": [
|
| 1076 |
+
1.0,
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0
|
| 1079 |
+
]
|
| 1080 |
+
},
|
| 1081 |
+
"dr": {
|
| 1082 |
+
"visual": {
|
| 1083 |
+
"kind": null,
|
| 1084 |
+
"value": null,
|
| 1085 |
+
"visible": true
|
| 1086 |
+
},
|
| 1087 |
+
"physics": {
|
| 1088 |
+
"type": "geometry",
|
| 1089 |
+
"collision": false,
|
| 1090 |
+
"ratio": 1.0
|
| 1091 |
+
},
|
| 1092 |
+
"primitive_params": null
|
| 1093 |
+
},
|
| 1094 |
+
"type_specific": {}
|
| 1095 |
+
}
|
| 1096 |
+
]
|
| 1097 |
+
},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
{
|
| 1105 |
+
"t": 5.039999999999915,
|
| 1106 |
+
"step": 1008,
|
| 1107 |
+
"counter": 0,
|
| 1108 |
+
"devices": {
|
| 1109 |
+
"a4s_sealer_1": {
|
| 1110 |
+
"mode": "auto",
|
| 1111 |
+
"units": {
|
| 1112 |
+
"drawer": {
|
| 1113 |
+
"state": "at_out",
|
| 1114 |
+
"active": null,
|
| 1115 |
+
"target": 0.0,
|
| 1116 |
+
"goal_name": "out",
|
| 1117 |
+
"profile": null,
|
| 1118 |
+
"q_start": null,
|
| 1119 |
+
"reversing": false,
|
| 1120 |
+
"blocked_for": 0.0,
|
| 1121 |
+
"settled_for": 0.0,
|
| 1122 |
+
"last_q": 2.6913323999955274e-12
|
| 1123 |
+
},
|
| 1124 |
+
"heater": {
|
| 1125 |
+
"state": "ready",
|
| 1126 |
+
"active": null,
|
| 1127 |
+
"duration": 0.0,
|
| 1128 |
+
"t_start": null,
|
| 1129 |
+
"elapsed": 0.0
|
| 1130 |
+
}
|
| 1131 |
+
},
|
| 1132 |
+
"queues": {},
|
| 1133 |
+
"program": null,
|
| 1134 |
+
"sensors": {
|
| 1135 |
+
"plate_present": {
|
| 1136 |
+
"occupants": [],
|
| 1137 |
+
"pending": {}
|
| 1138 |
+
}
|
| 1139 |
+
},
|
| 1140 |
+
"interlocks": {}
|
| 1141 |
+
},
|
| 1142 |
+
"conveyor_1": {
|
| 1143 |
+
"mode": "auto",
|
| 1144 |
+
"units": {
|
| 1145 |
+
"belt": {
|
| 1146 |
+
"state": "at_station",
|
| 1147 |
+
"active": null,
|
| 1148 |
+
"controller": {
|
| 1149 |
+
"speed": 0.29836005207492233,
|
| 1150 |
+
"holds": [],
|
| 1151 |
+
"station": "pick",
|
| 1152 |
+
"rider": "carrier_3",
|
| 1153 |
+
"arrived": true,
|
| 1154 |
+
"settle_count": 884,
|
| 1155 |
+
"released": {
|
| 1156 |
+
"pick": []
|
| 1157 |
+
},
|
| 1158 |
+
"last_pos": {
|
| 1159 |
+
"carrier_1": [
|
| 1160 |
+
0.29002341628074646,
|
| 1161 |
+
0.7025745511054993,
|
| 1162 |
+
0.0
|
| 1163 |
+
],
|
| 1164 |
+
"carrier_2": [
|
| 1165 |
+
1.4625364243984222,
|
| 1166 |
+
0.5785368084907532,
|
| 1167 |
+
0.0
|
| 1168 |
+
],
|
| 1169 |
+
"carrier_3": [
|
| 1170 |
+
-0.1297716200351715,
|
| 1171 |
+
-0.0024120211601257324,
|
| 1172 |
+
0.0
|
| 1173 |
+
],
|
| 1174 |
+
"carrier_4": [
|
| 1175 |
+
-1.461675077676773,
|
| 1176 |
+
0.12052136659622192,
|
| 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 |
+
0.12626656240455048,
|
| 1240 |
+
-0.05514971974896116,
|
| 1241 |
+
2.8919683568033676
|
| 1242 |
+
],
|
| 1243 |
+
"ori": [
|
| 1244 |
+
6.200650461354538,
|
| 1245 |
+
-14.505020544118208,
|
| 1246 |
+
-28.92576533444218
|
| 1247 |
+
],
|
| 1248 |
+
"scale": [
|
| 1249 |
+
1.0,
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0
|
| 1252 |
+
]
|
| 1253 |
+
},
|
| 1254 |
+
"dr": {
|
| 1255 |
+
"color_temperature": 5082.12505482152,
|
| 1256 |
+
"color": [
|
| 1257 |
+
0.9399720676811545,
|
| 1258 |
+
0.9213826250473547,
|
| 1259 |
+
0.836052966126478
|
| 1260 |
+
],
|
| 1261 |
+
"intensity": 14550.28597582134,
|
| 1262 |
+
"width": 1.8546132638502884,
|
| 1263 |
+
"height": 1.4150597662918525
|
| 1264 |
+
}
|
| 1265 |
+
},
|
| 1266 |
+
"key": {
|
| 1267 |
+
"type": "disk",
|
| 1268 |
+
"pose": {
|
| 1269 |
+
"pos": [
|
| 1270 |
+
1.751822547095363,
|
| 1271 |
+
-0.2693808366966234,
|
| 1272 |
+
1.6525563146560858
|
| 1273 |
+
],
|
| 1274 |
+
"ori": [
|
| 1275 |
+
-15.477847916525409,
|
| 1276 |
+
-33.80070063970419,
|
| 1277 |
+
11.20302825159623
|
| 1278 |
+
],
|
| 1279 |
+
"scale": [
|
| 1280 |
+
1.0,
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0
|
| 1283 |
+
]
|
| 1284 |
+
},
|
| 1285 |
+
"dr": {
|
| 1286 |
+
"color_temperature": 4520.398052240347,
|
| 1287 |
+
"color": [
|
| 1288 |
+
0.9029765691479343,
|
| 1289 |
+
0.8267403362048246,
|
| 1290 |
+
0.9087229385453899
|
| 1291 |
+
],
|
| 1292 |
+
"intensity": 8062.059595767249,
|
| 1293 |
+
"radius": 0.2560339978459031
|
| 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": 1203.576883257549,
|
| 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 |
+
1.439741849899292,
|
| 1394 |
+
-1.853067398071289,
|
| 1395 |
+
2.021202802658081,
|
| 1396 |
+
-1.73922860622406,
|
| 1397 |
+
-1.5706250667572021,
|
| 1398 |
+
3.0230119228363037,
|
| 1399 |
+
0.007609884720295668,
|
| 1400 |
+
0.0070511228404939175
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
2.805072069168091,
|
| 1404 |
+
-1.6664865016937256,
|
| 1405 |
+
1.9058047533035278,
|
| 1406 |
+
-1.8100810050964355,
|
| 1407 |
+
-1.570841908454895,
|
| 1408 |
+
4.37797212600708,
|
| 1409 |
+
0.0077491337433457375,
|
| 1410 |
+
0.006960514932870865
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.914100706577301,
|
| 1414 |
+
-1.7193981409072876,
|
| 1415 |
+
2.090498924255371,
|
| 1416 |
+
-1.9419000148773193,
|
| 1417 |
+
-1.5707999467849731,
|
| 1418 |
+
2.4848999977111816,
|
| 1419 |
+
0.017999999225139618,
|
| 1420 |
+
0.017999999225139618
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
2.648449182510376,
|
| 1424 |
+
-2.0118484497070312,
|
| 1425 |
+
2.32781720161438,
|
| 1426 |
+
-1.8867449760437012,
|
| 1427 |
+
-1.5708447694778442,
|
| 1428 |
+
4.219203948974609,
|
| 1429 |
+
0.007684874814003706,
|
| 1430 |
+
0.006986371707171202
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.07411263138055801,
|
| 1436 |
+
-0.05141298472881317,
|
| 1437 |
+
0.00664139911532402,
|
| 1438 |
+
0.04065031558275223,
|
| 1439 |
+
0.0001809953828342259,
|
| 1440 |
+
0.07061300426721573,
|
| 1441 |
+
-0.007550492882728577,
|
| 1442 |
+
0.00043927563820034266
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
-0.0001829351531341672,
|
| 1446 |
+
8.717346645426005e-05,
|
| 1447 |
+
-0.0002489978214725852,
|
| 1448 |
+
-7.806938810972497e-05,
|
| 1449 |
+
-0.0003555143775884062,
|
| 1450 |
+
0.0005679589230567217,
|
| 1451 |
+
-0.009921769611537457,
|
| 1452 |
+
0.0002674635616131127
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
2.1748459050684848e-38,
|
| 1456 |
+
-2.1523431536791247e-38,
|
| 1457 |
+
-1.8302561029525299e-38,
|
| 1458 |
+
-3.3283017827086123e-37,
|
| 1459 |
+
5.753322987989379e-37,
|
| 1460 |
+
3.3372021579307407e-37,
|
| 1461 |
+
3.079939678631259e-38,
|
| 1462 |
+
-3.447786130710381e-38
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-0.012641110457479954,
|
| 1466 |
+
-0.02701582945883274,
|
| 1467 |
+
0.013193962164223194,
|
| 1468 |
+
0.01305517740547657,
|
| 1469 |
+
0.0005312831490300596,
|
| 1470 |
+
-0.014292255975306034,
|
| 1471 |
+
-0.0087952995672822,
|
| 1472 |
+
0.0003050485101994127
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.05054235830903053,
|
| 1482 |
+
-0.00030849871109239757,
|
| 1483 |
+
-0.027881141752004623,
|
| 1484 |
+
-0.2758805751800537,
|
| 1485 |
+
0.6535773277282715,
|
| 1486 |
+
0.6461753249168396,
|
| 1487 |
+
-0.2813965976238251
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04795682057738304,
|
| 1491 |
+
-0.0006794724031351507,
|
| 1492 |
+
-0.032563671469688416,
|
| 1493 |
+
-0.28263401985168457,
|
| 1494 |
+
0.6450386643409729,
|
| 1495 |
+
0.6494899392127991,
|
| 1496 |
+
-0.28671568632125854
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.04709222912788391,
|
| 1500 |
+
0.00024708794080652297,
|
| 1501 |
+
-0.029069023206830025,
|
| 1502 |
+
-0.2949831187725067,
|
| 1503 |
+
0.6360875368118286,
|
| 1504 |
+
0.6605151891708374,
|
| 1505 |
+
-0.26850947737693787
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04572976380586624,
|
| 1509 |
+
-0.004107917658984661,
|
| 1510 |
+
-0.02901487983763218,
|
| 1511 |
+
-0.2722852826118469,
|
| 1512 |
+
0.6441243886947632,
|
| 1513 |
+
0.6588960886001587,
|
| 1514 |
+
-0.2771649956703186
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.02735206112265587,
|
| 1520 |
+
0.5966840386390686,
|
| 1521 |
+
1.936326026916504,
|
| 1522 |
+
0.028553513810038567,
|
| 1523 |
+
0.005277492105960846,
|
| 1524 |
+
0.2709835469722748,
|
| 1525 |
+
0.9621459245681763
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.02935466542840004,
|
| 1529 |
+
0.5835272073745728,
|
| 1530 |
+
1.9645791053771973,
|
| 1531 |
+
0.04287878796458244,
|
| 1532 |
+
0.009194176644086838,
|
| 1533 |
+
0.2729720175266266,
|
| 1534 |
+
0.9610219597816467
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.04039617255330086,
|
| 1538 |
+
0.6002629399299622,
|
| 1539 |
+
1.9486708641052246,
|
| 1540 |
+
0.03437827527523041,
|
| 1541 |
+
-0.0026098843663930893,
|
| 1542 |
+
0.2702691853046417,
|
| 1543 |
+
0.9621672630310059
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.045860085636377335,
|
| 1547 |
+
0.5877004861831665,
|
| 1548 |
+
1.9294629096984863,
|
| 1549 |
+
0.04413620010018349,
|
| 1550 |
+
0.021241921931505203,
|
| 1551 |
+
0.2706122398376465,
|
| 1552 |
+
0.9614415168762207
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c2_p016_e023/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:13e65da1c7547be31d540a43bfb1321aadd479a30022c9ec9a1991be37900889
|
| 3 |
+
size 6752642
|
episodes/c6_p013_e023/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c151686e4b608922935a4f6910d87cfceca1d48a707bde76e068eab3b371782c
|
| 3 |
+
size 206419
|
episodes/c6_p013_e023/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 0, "seq": 1, "step": 34, "t": 0.17, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 0, "seq": 2, "step": 34, "t": 0.17, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 0, "seq": 3, "step": 39, "t": 0.195, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 6931, "t": 34.655, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 6 |
+
{"env_id": 0, "seq": 6, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.487159512277186}, "cause": "task-0-1"}
|
| 7 |
+
{"env_id": 0, "seq": 7, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 0, "seq": 9, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
|
| 10 |
+
{"env_id": 0, "seq": 10, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 0, "seq": 11, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 12 |
+
{"env_id": 0, "seq": 12, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 13 |
+
{"env_id": 0, "seq": 13, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
|
| 14 |
+
{"env_id": 0, "seq": 14, "step": 7959, "t": 39.795, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
|
| 15 |
+
{"env_id": 0, "seq": 15, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
|
| 16 |
+
{"env_id": 0, "seq": 16, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
|
| 17 |
+
{"env_id": 0, "seq": 17, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 0, "seq": 18, "step": 7959, "t": 39.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.487159512277186}, "cause": "program-0-3"}
|
| 19 |
+
{"env_id": 0, "seq": 19, "step": 8657, "t": 43.285, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 0, "seq": 20, "step": 8657, "t": 43.285, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4900000000017855}, "cause": "program-0-3"}
|
| 21 |
+
{"env_id": 0, "seq": 21, "step": 8657, "t": 43.285, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.4900000000017855}}, "cause": "program-0-3"}
|
| 22 |
+
{"env_id": 0, "seq": 22, "step": 8657, "t": 43.285, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"}
|
| 23 |
+
{"env_id": 0, "seq": 23, "step": 8657, "t": 43.285, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 0, "seq": 24, "step": 8657, "t": 43.285, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
|
| 25 |
+
{"env_id": 0, "seq": 25, "step": 9077, "t": 45.385, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 0, "seq": 26, "step": 9077, "t": 45.385, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.011111915363074e-10}, "cause": "program-0-4"}
|
| 27 |
+
{"env_id": 0, "seq": 27, "step": 9077, "t": 45.385, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.011111915363074e-10}, "cause": "program-0-4"}
|
| 28 |
+
{"env_id": 0, "seq": 28, "step": 9077, "t": 45.385, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"}
|
| 29 |
+
{"env_id": 0, "seq": 29, "step": 9077, "t": 45.385, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
|
| 30 |
+
{"env_id": 0, "seq": 30, "step": 9077, "t": 45.385, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 31 |
+
{"env_id": 0, "seq": 31, "step": 9659, "t": 48.295, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
+
{"env_id": 0, "seq": 32, "step": 11904, "t": 59.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
|
| 33 |
+
{"env_id": 0, "seq": 33, "step": 11904, "t": 59.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"}
|
| 34 |
+
{"env_id": 0, "seq": 34, "step": 11904, "t": 59.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 0, "seq": 35, "step": 11904, "t": 59.52, "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/c6_p013_e023/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b392fef50c005bc47dc05e27190b67130a48d817a407546735a9fa46eb4e21da
|
| 3 |
+
size 1371182
|
episodes/c6_p013_e023/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c6_p013/magicsim/23",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1313,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1313,
|
| 8 |
+
"env": 1313
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c6_p013_e023/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 23,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c6_p013",
|
| 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
+
],
|
| 196 |
+
"ori": [
|
| 197 |
+
6.123234262925839e-17,
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
1.0
|
| 201 |
+
],
|
| 202 |
+
"scale": [
|
| 203 |
+
1.0,
|
| 204 |
+
1.0,
|
| 205 |
+
1.0
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"dr": {
|
| 209 |
+
"visual": {
|
| 210 |
+
"kind": null,
|
| 211 |
+
"value": null,
|
| 212 |
+
"visible": true
|
| 213 |
+
},
|
| 214 |
+
"physics": {
|
| 215 |
+
"type": "geometry",
|
| 216 |
+
"collision": false,
|
| 217 |
+
"ratio": 1.0
|
| 218 |
+
},
|
| 219 |
+
"primitive_params": null
|
| 220 |
+
},
|
| 221 |
+
"type_specific": {}
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 225 |
+
"pose": {
|
| 226 |
+
"pos": [
|
| 227 |
+
-0.6,
|
| 228 |
+
0.02,
|
| 229 |
+
1.0965
|
| 230 |
+
],
|
| 231 |
+
"ori": [
|
| 232 |
+
1.0,
|
| 233 |
+
0.0,
|
| 234 |
+
0.0,
|
| 235 |
+
0.0
|
| 236 |
+
],
|
| 237 |
+
"scale": [
|
| 238 |
+
1.0,
|
| 239 |
+
1.0,
|
| 240 |
+
1.0
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"dr": {
|
| 244 |
+
"visual": {
|
| 245 |
+
"kind": null,
|
| 246 |
+
"value": null,
|
| 247 |
+
"visible": true
|
| 248 |
+
},
|
| 249 |
+
"physics": {
|
| 250 |
+
"type": "geometry",
|
| 251 |
+
"collision": false,
|
| 252 |
+
"ratio": 1.0
|
| 253 |
+
},
|
| 254 |
+
"primitive_params": null
|
| 255 |
+
},
|
| 256 |
+
"type_specific": {}
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 260 |
+
"pose": {
|
| 261 |
+
"pos": [
|
| 262 |
+
-0.6,
|
| 263 |
+
0.02,
|
| 264 |
+
1.1645
|
| 265 |
+
],
|
| 266 |
+
"ori": [
|
| 267 |
+
6.123234262925839e-17,
|
| 268 |
+
0.0,
|
| 269 |
+
0.0,
|
| 270 |
+
1.0
|
| 271 |
+
],
|
| 272 |
+
"scale": [
|
| 273 |
+
1.0,
|
| 274 |
+
1.0,
|
| 275 |
+
1.0
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"dr": {
|
| 279 |
+
"visual": {
|
| 280 |
+
"kind": null,
|
| 281 |
+
"value": null,
|
| 282 |
+
"visible": true
|
| 283 |
+
},
|
| 284 |
+
"physics": {
|
| 285 |
+
"type": "geometry",
|
| 286 |
+
"collision": false,
|
| 287 |
+
"ratio": 1.0
|
| 288 |
+
},
|
| 289 |
+
"primitive_params": null
|
| 290 |
+
},
|
| 291 |
+
"type_specific": {}
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 295 |
+
"pose": {
|
| 296 |
+
"pos": [
|
| 297 |
+
-0.6,
|
| 298 |
+
0.02,
|
| 299 |
+
1.2325
|
| 300 |
+
],
|
| 301 |
+
"ori": [
|
| 302 |
+
1.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0
|
| 306 |
+
],
|
| 307 |
+
"scale": [
|
| 308 |
+
1.0,
|
| 309 |
+
1.0,
|
| 310 |
+
1.0
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"dr": {
|
| 314 |
+
"visual": {
|
| 315 |
+
"kind": null,
|
| 316 |
+
"value": null,
|
| 317 |
+
"visible": true
|
| 318 |
+
},
|
| 319 |
+
"physics": {
|
| 320 |
+
"type": "geometry",
|
| 321 |
+
"collision": false,
|
| 322 |
+
"ratio": 1.0
|
| 323 |
+
},
|
| 324 |
+
"primitive_params": null
|
| 325 |
+
},
|
| 326 |
+
"type_specific": {}
|
| 327 |
+
}
|
| 328 |
+
],
|
| 329 |
+
"a4s_sealer": [
|
| 330 |
+
{
|
| 331 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 332 |
+
"pose": {
|
| 333 |
+
"pos": [
|
| 334 |
+
0.4951019287109375,
|
| 335 |
+
0.0760946273803711,
|
| 336 |
+
0.8999999761581421
|
| 337 |
+
],
|
| 338 |
+
"ori": [
|
| 339 |
+
0.7237980961799622,
|
| 340 |
+
0.0,
|
| 341 |
+
0.0,
|
| 342 |
+
-0.6900117993354797
|
| 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 |
+
6.72833371049425e-13
|
| 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": 0.2691040286137225,
|
| 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": -0.17615507666892433,
|
| 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": 0.2691040286137225,
|
| 477 |
+
"holds": [],
|
| 478 |
+
"station": "pick",
|
| 479 |
+
"rider": "carrier_3",
|
| 480 |
+
"arrived": true,
|
| 481 |
+
"applied_speed": 0.0
|
| 482 |
+
}
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
],
|
| 486 |
+
"carrier": [
|
| 487 |
+
{
|
| 488 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 489 |
+
"pose": {
|
| 490 |
+
"pos": [
|
| 491 |
+
-1.0232477188110352,
|
| 492 |
+
1.149850845336914,
|
| 493 |
+
0.8999999761581421
|
| 494 |
+
],
|
| 495 |
+
"ori": [
|
| 496 |
+
-0.0021001468412578106,
|
| 497 |
+
-6.2318719074028195e-09,
|
| 498 |
+
-9.675981793577648e-09,
|
| 499 |
+
0.9999978542327881
|
| 500 |
+
],
|
| 501 |
+
"scale": [
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0
|
| 505 |
+
]
|
| 506 |
+
},
|
| 507 |
+
"dr": {
|
| 508 |
+
"visual": {
|
| 509 |
+
"kind": null,
|
| 510 |
+
"value": null,
|
| 511 |
+
"visible": true
|
| 512 |
+
},
|
| 513 |
+
"physics": {
|
| 514 |
+
"type": "rigid",
|
| 515 |
+
"mass": 0.5,
|
| 516 |
+
"physics_material": {
|
| 517 |
+
"static_friction": 0.9,
|
| 518 |
+
"dynamic_friction": 0.9,
|
| 519 |
+
"restitution": 0.0
|
| 520 |
+
},
|
| 521 |
+
"ratio": 1.0
|
| 522 |
+
},
|
| 523 |
+
"primitive_params": null
|
| 524 |
+
},
|
| 525 |
+
"type_specific": {
|
| 526 |
+
"linear_velocity": [
|
| 527 |
+
-2.320490910534545e-09,
|
| 528 |
+
2.2118014086913718e-09,
|
| 529 |
+
1.4901161193847656e-08
|
| 530 |
+
],
|
| 531 |
+
"angular_velocity": [
|
| 532 |
+
-2.9530156098189764e-09,
|
| 533 |
+
-1.8013740543665335e-07,
|
| 534 |
+
1.6126797675042326e-08
|
| 535 |
+
]
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 540 |
+
"pose": {
|
| 541 |
+
"pos": [
|
| 542 |
+
1.5421867370605469,
|
| 543 |
+
0.5106315612792969,
|
| 544 |
+
0.8999999761581421
|
| 545 |
+
],
|
| 546 |
+
"ori": [
|
| 547 |
+
0.9612920880317688,
|
| 548 |
+
-2.5009430260070076e-07,
|
| 549 |
+
-7.5951711586697e-10,
|
| 550 |
+
0.27553144097328186
|
| 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 |
+
4.1717171939126274e-08,
|
| 579 |
+
-9.210117468683165e-08,
|
| 580 |
+
6.705522537231445e-08
|
| 581 |
+
],
|
| 582 |
+
"angular_velocity": [
|
| 583 |
+
9.737830623635091e-06,
|
| 584 |
+
5.020191565563437e-06,
|
| 585 |
+
-5.626027927974064e-07
|
| 586 |
+
]
|
| 587 |
+
}
|
| 588 |
+
},
|
| 589 |
+
{
|
| 590 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 591 |
+
"pose": {
|
| 592 |
+
"pos": [
|
| 593 |
+
-0.025574684143066406,
|
| 594 |
+
0.4499998092651367,
|
| 595 |
+
0.8999999761581421
|
| 596 |
+
],
|
| 597 |
+
"ori": [
|
| 598 |
+
1.0,
|
| 599 |
+
4.200377823337931e-09,
|
| 600 |
+
2.327204678964634e-10,
|
| 601 |
+
8.793388587946538e-06
|
| 602 |
+
],
|
| 603 |
+
"scale": [
|
| 604 |
+
1.0,
|
| 605 |
+
1.0,
|
| 606 |
+
1.0
|
| 607 |
+
]
|
| 608 |
+
},
|
| 609 |
+
"dr": {
|
| 610 |
+
"visual": {
|
| 611 |
+
"kind": null,
|
| 612 |
+
"value": null,
|
| 613 |
+
"visible": true
|
| 614 |
+
},
|
| 615 |
+
"physics": {
|
| 616 |
+
"type": "rigid",
|
| 617 |
+
"mass": 0.5,
|
| 618 |
+
"physics_material": {
|
| 619 |
+
"static_friction": 0.9,
|
| 620 |
+
"dynamic_friction": 0.9,
|
| 621 |
+
"restitution": 0.0
|
| 622 |
+
},
|
| 623 |
+
"ratio": 1.0
|
| 624 |
+
},
|
| 625 |
+
"primitive_params": null
|
| 626 |
+
},
|
| 627 |
+
"type_specific": {
|
| 628 |
+
"linear_velocity": [
|
| 629 |
+
8.90342799486632e-10,
|
| 630 |
+
1.0477070322423288e-09,
|
| 631 |
+
7.450580596923828e-09
|
| 632 |
+
],
|
| 633 |
+
"angular_velocity": [
|
| 634 |
+
-6.513165828891943e-08,
|
| 635 |
+
8.853223221194639e-08,
|
| 636 |
+
1.4761791788941991e-10
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
{
|
| 641 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 642 |
+
"pose": {
|
| 643 |
+
"pos": [
|
| 644 |
+
0.2101755142211914,
|
| 645 |
+
1.1499958038330078,
|
| 646 |
+
0.8999999761581421
|
| 647 |
+
],
|
| 648 |
+
"ori": [
|
| 649 |
+
1.4411431038752198e-05,
|
| 650 |
+
-1.286948414502831e-08,
|
| 651 |
+
-3.5473215476145015e-09,
|
| 652 |
+
1.0
|
| 653 |
+
],
|
| 654 |
+
"scale": [
|
| 655 |
+
1.0,
|
| 656 |
+
1.0,
|
| 657 |
+
1.0
|
| 658 |
+
]
|
| 659 |
+
},
|
| 660 |
+
"dr": {
|
| 661 |
+
"visual": {
|
| 662 |
+
"kind": null,
|
| 663 |
+
"value": null,
|
| 664 |
+
"visible": true
|
| 665 |
+
},
|
| 666 |
+
"physics": {
|
| 667 |
+
"type": "rigid",
|
| 668 |
+
"mass": 0.5,
|
| 669 |
+
"physics_material": {
|
| 670 |
+
"static_friction": 0.9,
|
| 671 |
+
"dynamic_friction": 0.9,
|
| 672 |
+
"restitution": 0.0
|
| 673 |
+
},
|
| 674 |
+
"ratio": 1.0
|
| 675 |
+
},
|
| 676 |
+
"primitive_params": null
|
| 677 |
+
},
|
| 678 |
+
"type_specific": {
|
| 679 |
+
"linear_velocity": [
|
| 680 |
+
-5.085628806966724e-09,
|
| 681 |
+
-3.4385860825381087e-09,
|
| 682 |
+
3.725290298461914e-08
|
| 683 |
+
],
|
| 684 |
+
"angular_velocity": [
|
| 685 |
+
2.3048984587603627e-07,
|
| 686 |
+
-4.853384893976909e-07,
|
| 687 |
+
-2.7724137652285208e-08
|
| 688 |
+
]
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
],
|
| 692 |
+
"plate": [
|
| 693 |
+
{
|
| 694 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
|
| 695 |
+
"pose": {
|
| 696 |
+
"pos": [
|
| 697 |
+
-1.0349130630493164,
|
| 698 |
+
1.1458959579467773,
|
| 699 |
+
0.9179999828338623
|
| 700 |
+
],
|
| 701 |
+
"ori": [
|
| 702 |
+
-0.004158214665949345,
|
| 703 |
+
-1.9219330127384637e-08,
|
| 704 |
+
-2.3594559195316833e-08,
|
| 705 |
+
0.9999914169311523
|
| 706 |
+
],
|
| 707 |
+
"scale": [
|
| 708 |
+
1.0,
|
| 709 |
+
1.0,
|
| 710 |
+
1.0
|
| 711 |
+
]
|
| 712 |
+
},
|
| 713 |
+
"dr": {
|
| 714 |
+
"visual": {
|
| 715 |
+
"kind": null,
|
| 716 |
+
"value": null,
|
| 717 |
+
"visible": true
|
| 718 |
+
},
|
| 719 |
+
"physics": {
|
| 720 |
+
"type": "rigid",
|
| 721 |
+
"collision": true,
|
| 722 |
+
"mass": "asset",
|
| 723 |
+
"max_depenetration_velocity": 1.0,
|
| 724 |
+
"physics_material": {
|
| 725 |
+
"static_friction": 0.5,
|
| 726 |
+
"dynamic_friction": 0.45,
|
| 727 |
+
"restitution": 0.0,
|
| 728 |
+
"friction_combine_mode": "average"
|
| 729 |
+
},
|
| 730 |
+
"ratio": 1.0
|
| 731 |
+
},
|
| 732 |
+
"primitive_params": null
|
| 733 |
+
},
|
| 734 |
+
"type_specific": {
|
| 735 |
+
"linear_velocity": [
|
| 736 |
+
4.054237479067524e-08,
|
| 737 |
+
3.624144540026464e-09,
|
| 738 |
+
1.6391277313232422e-07
|
| 739 |
+
],
|
| 740 |
+
"angular_velocity": [
|
| 741 |
+
-5.085822181172261e-07,
|
| 742 |
+
2.3266802600119263e-06,
|
| 743 |
+
3.7768123206660675e-07
|
| 744 |
+
]
|
| 745 |
+
}
|
| 746 |
+
},
|
| 747 |
+
{
|
| 748 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
|
| 749 |
+
"pose": {
|
| 750 |
+
"pos": [
|
| 751 |
+
1.539515495300293,
|
| 752 |
+
0.5047016143798828,
|
| 753 |
+
0.9180000424385071
|
| 754 |
+
],
|
| 755 |
+
"ori": [
|
| 756 |
+
0.9381141662597656,
|
| 757 |
+
-2.7522074219632486e-07,
|
| 758 |
+
1.0740176747958685e-08,
|
| 759 |
+
0.34632641077041626
|
| 760 |
+
],
|
| 761 |
+
"scale": [
|
| 762 |
+
1.0,
|
| 763 |
+
1.0,
|
| 764 |
+
1.0
|
| 765 |
+
]
|
| 766 |
+
},
|
| 767 |
+
"dr": {
|
| 768 |
+
"visual": {
|
| 769 |
+
"kind": null,
|
| 770 |
+
"value": null,
|
| 771 |
+
"visible": true
|
| 772 |
+
},
|
| 773 |
+
"physics": {
|
| 774 |
+
"type": "rigid",
|
| 775 |
+
"collision": true,
|
| 776 |
+
"mass": "asset",
|
| 777 |
+
"max_depenetration_velocity": 1.0,
|
| 778 |
+
"physics_material": {
|
| 779 |
+
"static_friction": 0.5,
|
| 780 |
+
"dynamic_friction": 0.45,
|
| 781 |
+
"restitution": 0.0,
|
| 782 |
+
"friction_combine_mode": "average"
|
| 783 |
+
},
|
| 784 |
+
"ratio": 1.0
|
| 785 |
+
},
|
| 786 |
+
"primitive_params": null
|
| 787 |
+
},
|
| 788 |
+
"type_specific": {
|
| 789 |
+
"linear_velocity": [
|
| 790 |
+
1.205404061010995e-07,
|
| 791 |
+
-2.604641053949308e-07,
|
| 792 |
+
-4.69014048576355e-06
|
| 793 |
+
],
|
| 794 |
+
"angular_velocity": [
|
| 795 |
+
1.8082741007674485e-05,
|
| 796 |
+
9.221277650794946e-06,
|
| 797 |
+
-5.589052989307675e-07
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
{
|
| 802 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
|
| 803 |
+
"pose": {
|
| 804 |
+
"pos": [
|
| 805 |
+
-0.028371810913085938,
|
| 806 |
+
0.44121265411376953,
|
| 807 |
+
0.9180000424385071
|
| 808 |
+
],
|
| 809 |
+
"ori": [
|
| 810 |
+
0.9952587485313416,
|
| 811 |
+
4.995257540940656e-09,
|
| 812 |
+
6.950290343255006e-10,
|
| 813 |
+
-0.09726281464099884
|
| 814 |
+
],
|
| 815 |
+
"scale": [
|
| 816 |
+
1.0,
|
| 817 |
+
1.0,
|
| 818 |
+
1.0
|
| 819 |
+
]
|
| 820 |
+
},
|
| 821 |
+
"dr": {
|
| 822 |
+
"visual": {
|
| 823 |
+
"kind": null,
|
| 824 |
+
"value": null,
|
| 825 |
+
"visible": true
|
| 826 |
+
},
|
| 827 |
+
"physics": {
|
| 828 |
+
"type": "rigid",
|
| 829 |
+
"collision": true,
|
| 830 |
+
"mass": "asset",
|
| 831 |
+
"max_depenetration_velocity": 1.0,
|
| 832 |
+
"physics_material": {
|
| 833 |
+
"static_friction": 0.5,
|
| 834 |
+
"dynamic_friction": 0.45,
|
| 835 |
+
"restitution": 0.0,
|
| 836 |
+
"friction_combine_mode": "average"
|
| 837 |
+
},
|
| 838 |
+
"ratio": 1.0
|
| 839 |
+
},
|
| 840 |
+
"primitive_params": null
|
| 841 |
+
},
|
| 842 |
+
"type_specific": {
|
| 843 |
+
"linear_velocity": [
|
| 844 |
+
-1.4317036445277154e-08,
|
| 845 |
+
2.0243597020908055e-08,
|
| 846 |
+
-5.6549906730651855e-06
|
| 847 |
+
],
|
| 848 |
+
"angular_velocity": [
|
| 849 |
+
-3.767779617191991e-07,
|
| 850 |
+
-1.8204527805210091e-06,
|
| 851 |
+
1.0200044897601401e-07
|
| 852 |
+
]
|
| 853 |
+
}
|
| 854 |
+
},
|
| 855 |
+
{
|
| 856 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
|
| 857 |
+
"pose": {
|
| 858 |
+
"pos": [
|
| 859 |
+
0.1972198486328125,
|
| 860 |
+
1.1580820083618164,
|
| 861 |
+
0.9179999828338623
|
| 862 |
+
],
|
| 863 |
+
"ori": [
|
| 864 |
+
0.048806555569171906,
|
| 865 |
+
-1.2372741942101584e-08,
|
| 866 |
+
-3.6063441122280437e-09,
|
| 867 |
+
0.9988082647323608
|
| 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 |
+
4.173966772214044e-08,
|
| 899 |
+
-5.127818525352268e-08,
|
| 900 |
+
-1.2330710887908936e-06
|
| 901 |
+
],
|
| 902 |
+
"angular_velocity": [
|
| 903 |
+
1.5907739907561336e-06,
|
| 904 |
+
2.2995379822532414e-06,
|
| 905 |
+
-4.480903470494013e-08
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
}
|
| 909 |
+
],
|
| 910 |
+
"deco_hub_west": [
|
| 911 |
+
{
|
| 912 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 913 |
+
"pose": {
|
| 914 |
+
"pos": [
|
| 915 |
+
-3.36,
|
| 916 |
+
0.0,
|
| 917 |
+
0.0
|
| 918 |
+
],
|
| 919 |
+
"ori": [
|
| 920 |
+
1.0,
|
| 921 |
+
0.0,
|
| 922 |
+
0.0,
|
| 923 |
+
0.0
|
| 924 |
+
],
|
| 925 |
+
"scale": [
|
| 926 |
+
1.0,
|
| 927 |
+
1.0,
|
| 928 |
+
1.0
|
| 929 |
+
]
|
| 930 |
+
},
|
| 931 |
+
"dr": {
|
| 932 |
+
"visual": {
|
| 933 |
+
"kind": null,
|
| 934 |
+
"value": null,
|
| 935 |
+
"visible": true
|
| 936 |
+
},
|
| 937 |
+
"physics": {
|
| 938 |
+
"type": "geometry",
|
| 939 |
+
"collision": false,
|
| 940 |
+
"ratio": 1.0
|
| 941 |
+
},
|
| 942 |
+
"primitive_params": null
|
| 943 |
+
},
|
| 944 |
+
"type_specific": {}
|
| 945 |
+
}
|
| 946 |
+
],
|
| 947 |
+
"deco_hub_east": [
|
| 948 |
+
{
|
| 949 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 950 |
+
"pose": {
|
| 951 |
+
"pos": [
|
| 952 |
+
3.36,
|
| 953 |
+
0.0,
|
| 954 |
+
0.0
|
| 955 |
+
],
|
| 956 |
+
"ori": [
|
| 957 |
+
1.0,
|
| 958 |
+
0.0,
|
| 959 |
+
0.0,
|
| 960 |
+
0.0
|
| 961 |
+
],
|
| 962 |
+
"scale": [
|
| 963 |
+
1.0,
|
| 964 |
+
1.0,
|
| 965 |
+
1.0
|
| 966 |
+
]
|
| 967 |
+
},
|
| 968 |
+
"dr": {
|
| 969 |
+
"visual": {
|
| 970 |
+
"kind": null,
|
| 971 |
+
"value": null,
|
| 972 |
+
"visible": true
|
| 973 |
+
},
|
| 974 |
+
"physics": {
|
| 975 |
+
"type": "geometry",
|
| 976 |
+
"collision": false,
|
| 977 |
+
"ratio": 1.0
|
| 978 |
+
},
|
| 979 |
+
"primitive_params": null
|
| 980 |
+
},
|
| 981 |
+
"type_specific": {}
|
| 982 |
+
}
|
| 983 |
+
],
|
| 984 |
+
"deco_hub_back": [
|
| 985 |
+
{
|
| 986 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
|
| 987 |
+
"pose": {
|
| 988 |
+
"pos": [
|
| 989 |
+
-3.0,
|
| 990 |
+
-2.1,
|
| 991 |
+
0.0
|
| 992 |
+
],
|
| 993 |
+
"ori": [
|
| 994 |
+
1.0,
|
| 995 |
+
0.0,
|
| 996 |
+
0.0,
|
| 997 |
+
0.0
|
| 998 |
+
],
|
| 999 |
+
"scale": [
|
| 1000 |
+
1.0,
|
| 1001 |
+
1.0,
|
| 1002 |
+
1.0
|
| 1003 |
+
]
|
| 1004 |
+
},
|
| 1005 |
+
"dr": {
|
| 1006 |
+
"visual": {
|
| 1007 |
+
"kind": null,
|
| 1008 |
+
"value": null,
|
| 1009 |
+
"visible": true
|
| 1010 |
+
},
|
| 1011 |
+
"physics": {
|
| 1012 |
+
"type": "geometry",
|
| 1013 |
+
"collision": false,
|
| 1014 |
+
"ratio": 1.0
|
| 1015 |
+
},
|
| 1016 |
+
"primitive_params": null
|
| 1017 |
+
},
|
| 1018 |
+
"type_specific": {}
|
| 1019 |
+
}
|
| 1020 |
+
],
|
| 1021 |
+
"deco_bench_east": [
|
| 1022 |
+
{
|
| 1023 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1024 |
+
"pose": {
|
| 1025 |
+
"pos": [
|
| 1026 |
+
2.6,
|
| 1027 |
+
-2.5,
|
| 1028 |
+
0.0
|
| 1029 |
+
],
|
| 1030 |
+
"ori": [
|
| 1031 |
+
6.123234262925839e-17,
|
| 1032 |
+
0.0,
|
| 1033 |
+
0.0,
|
| 1034 |
+
1.0
|
| 1035 |
+
],
|
| 1036 |
+
"scale": [
|
| 1037 |
+
1.0,
|
| 1038 |
+
1.0,
|
| 1039 |
+
1.0
|
| 1040 |
+
]
|
| 1041 |
+
},
|
| 1042 |
+
"dr": {
|
| 1043 |
+
"visual": {
|
| 1044 |
+
"kind": null,
|
| 1045 |
+
"value": null,
|
| 1046 |
+
"visible": true
|
| 1047 |
+
},
|
| 1048 |
+
"physics": {
|
| 1049 |
+
"type": "geometry",
|
| 1050 |
+
"collision": false,
|
| 1051 |
+
"ratio": 1.0
|
| 1052 |
+
},
|
| 1053 |
+
"primitive_params": null
|
| 1054 |
+
},
|
| 1055 |
+
"type_specific": {}
|
| 1056 |
+
}
|
| 1057 |
+
],
|
| 1058 |
+
"deco_bench_gap": [
|
| 1059 |
+
{
|
| 1060 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1061 |
+
"pose": {
|
| 1062 |
+
"pos": [
|
| 1063 |
+
-0.1,
|
| 1064 |
+
-2.9,
|
| 1065 |
+
0.0
|
| 1066 |
+
],
|
| 1067 |
+
"ori": [
|
| 1068 |
+
1.0,
|
| 1069 |
+
0.0,
|
| 1070 |
+
0.0,
|
| 1071 |
+
0.0
|
| 1072 |
+
],
|
| 1073 |
+
"scale": [
|
| 1074 |
+
1.0,
|
| 1075 |
+
1.0,
|
| 1076 |
+
1.0
|
| 1077 |
+
]
|
| 1078 |
+
},
|
| 1079 |
+
"dr": {
|
| 1080 |
+
"visual": {
|
| 1081 |
+
"kind": null,
|
| 1082 |
+
"value": null,
|
| 1083 |
+
"visible": true
|
| 1084 |
+
},
|
| 1085 |
+
"physics": {
|
| 1086 |
+
"type": "geometry",
|
| 1087 |
+
"collision": false,
|
| 1088 |
+
"ratio": 1.0
|
| 1089 |
+
},
|
| 1090 |
+
"primitive_params": null
|
| 1091 |
+
},
|
| 1092 |
+
"type_specific": {}
|
| 1093 |
+
}
|
| 1094 |
+
]
|
| 1095 |
+
},
|
| 1096 |
+
{},
|
| 1097 |
+
{},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
{
|
| 1103 |
+
"t": 7.15999999999987,
|
| 1104 |
+
"step": 1432,
|
| 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": 6.72833371049425e-13
|
| 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": 0.2691040286137225,
|
| 1148 |
+
"holds": [],
|
| 1149 |
+
"station": "pick",
|
| 1150 |
+
"rider": "carrier_3",
|
| 1151 |
+
"arrived": true,
|
| 1152 |
+
"settle_count": 1397,
|
| 1153 |
+
"released": {
|
| 1154 |
+
"pick": []
|
| 1155 |
+
},
|
| 1156 |
+
"last_pos": {
|
| 1157 |
+
"carrier_1": [
|
| 1158 |
+
-1.1732477247714996,
|
| 1159 |
+
0.699850857257843,
|
| 1160 |
+
0.0
|
| 1161 |
+
],
|
| 1162 |
+
"carrier_2": [
|
| 1163 |
+
1.3921867311000824,
|
| 1164 |
+
0.06063157320022583,
|
| 1165 |
+
0.0
|
| 1166 |
+
],
|
| 1167 |
+
"carrier_3": [
|
| 1168 |
+
-0.17557469010353088,
|
| 1169 |
+
-1.7881393432617188e-07,
|
| 1170 |
+
0.0
|
| 1171 |
+
],
|
| 1172 |
+
"carrier_4": [
|
| 1173 |
+
0.06017550826072693,
|
| 1174 |
+
0.6999958157539368,
|
| 1175 |
+
0.0
|
| 1176 |
+
]
|
| 1177 |
+
},
|
| 1178 |
+
"command": 0.0
|
| 1179 |
+
},
|
| 1180 |
+
"belt": {
|
| 1181 |
+
"target_speed": 0.0,
|
| 1182 |
+
"command_speed": 0.0
|
| 1183 |
+
},
|
| 1184 |
+
"seen": {
|
| 1185 |
+
"state": "at_station",
|
| 1186 |
+
"station": "pick",
|
| 1187 |
+
"rider": "carrier_3",
|
| 1188 |
+
"arrived": true
|
| 1189 |
+
}
|
| 1190 |
+
}
|
| 1191 |
+
},
|
| 1192 |
+
"queues": {},
|
| 1193 |
+
"program": null,
|
| 1194 |
+
"sensors": {},
|
| 1195 |
+
"interlocks": {}
|
| 1196 |
+
}
|
| 1197 |
+
},
|
| 1198 |
+
"zones": {},
|
| 1199 |
+
"labware": {
|
| 1200 |
+
"plate_1": {
|
| 1201 |
+
"sealed": false
|
| 1202 |
+
},
|
| 1203 |
+
"plate_2": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_3": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_4": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
}
|
| 1212 |
+
},
|
| 1213 |
+
"rules": {},
|
| 1214 |
+
"records": [],
|
| 1215 |
+
"bus": {
|
| 1216 |
+
"seq": 3,
|
| 1217 |
+
"queue": []
|
| 1218 |
+
}
|
| 1219 |
+
},
|
| 1220 |
+
null,
|
| 1221 |
+
null,
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
{},
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{
|
| 1233 |
+
"ceiling": {
|
| 1234 |
+
"type": "rect",
|
| 1235 |
+
"pose": {
|
| 1236 |
+
"pos": [
|
| 1237 |
+
-0.5511894767315734,
|
| 1238 |
+
0.582707171063096,
|
| 1239 |
+
2.9995428768649566
|
| 1240 |
+
],
|
| 1241 |
+
"ori": [
|
| 1242 |
+
7.490286871314243,
|
| 1243 |
+
-5.033371311180694,
|
| 1244 |
+
-2.7627276916232475
|
| 1245 |
+
],
|
| 1246 |
+
"scale": [
|
| 1247 |
+
1.0,
|
| 1248 |
+
1.0,
|
| 1249 |
+
1.0
|
| 1250 |
+
]
|
| 1251 |
+
},
|
| 1252 |
+
"dr": {
|
| 1253 |
+
"color_temperature": 4792.637812738801,
|
| 1254 |
+
"color": [
|
| 1255 |
+
0.9248568931220841,
|
| 1256 |
+
0.8649856089859258,
|
| 1257 |
+
0.9378623570573258
|
| 1258 |
+
],
|
| 1259 |
+
"intensity": 11269.093889780052,
|
| 1260 |
+
"width": 1.698588198992724,
|
| 1261 |
+
"height": 1.5473766624292316
|
| 1262 |
+
}
|
| 1263 |
+
},
|
| 1264 |
+
"key": {
|
| 1265 |
+
"type": "sphere",
|
| 1266 |
+
"pose": {
|
| 1267 |
+
"pos": [
|
| 1268 |
+
1.3512241685708122,
|
| 1269 |
+
0.379506584467342,
|
| 1270 |
+
2.014224995231338
|
| 1271 |
+
],
|
| 1272 |
+
"ori": [
|
| 1273 |
+
3.2103378525609543,
|
| 1274 |
+
11.837094695133771,
|
| 1275 |
+
-7.0950372921738705
|
| 1276 |
+
],
|
| 1277 |
+
"scale": [
|
| 1278 |
+
1.0,
|
| 1279 |
+
1.0,
|
| 1280 |
+
1.0
|
| 1281 |
+
]
|
| 1282 |
+
},
|
| 1283 |
+
"dr": {
|
| 1284 |
+
"color_temperature": 6097.685720399009,
|
| 1285 |
+
"color": [
|
| 1286 |
+
0.8150944319784608,
|
| 1287 |
+
0.9865057043880537,
|
| 1288 |
+
0.9102817034581244
|
| 1289 |
+
],
|
| 1290 |
+
"intensity": 3756.717303369167,
|
| 1291 |
+
"radius": 0.0878680750248291
|
| 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": 716.3271181298323,
|
| 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 |
+
0.9141013026237488,
|
| 1394 |
+
-1.7193983793258667,
|
| 1395 |
+
2.0904994010925293,
|
| 1396 |
+
-1.9419007301330566,
|
| 1397 |
+
-1.5707999467849731,
|
| 1398 |
+
2.4849002361297607,
|
| 1399 |
+
0.018000001087784767,
|
| 1400 |
+
0.01799999736249447
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
2.5268936157226562,
|
| 1404 |
+
-2.2376914024353027,
|
| 1405 |
+
2.074141502380371,
|
| 1406 |
+
-1.4061304330825806,
|
| 1407 |
+
-1.5709165334701538,
|
| 1408 |
+
4.0972900390625,
|
| 1409 |
+
0.007429951336234808,
|
| 1410 |
+
0.007455968763679266
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
2.747074842453003,
|
| 1414 |
+
-1.8357512950897217,
|
| 1415 |
+
2.0406582355499268,
|
| 1416 |
+
-1.7756867408752441,
|
| 1417 |
+
-1.570793867111206,
|
| 1418 |
+
4.317000389099121,
|
| 1419 |
+
0.017999984323978424,
|
| 1420 |
+
0.018000014126300812
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
0.020542824640870094,
|
| 1424 |
+
-1.8512684106826782,
|
| 1425 |
+
2.5374855995178223,
|
| 1426 |
+
-2.257131814956665,
|
| 1427 |
+
-1.570919394493103,
|
| 1428 |
+
4.817225456237793,
|
| 1429 |
+
0.00776327308267355,
|
| 1430 |
+
0.00709316274151206
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.0,
|
| 1436 |
+
-2.4543316607916016e-38,
|
| 1437 |
+
-1.691813980390481e-38,
|
| 1438 |
+
-3.6030300460674385e-37,
|
| 1439 |
+
5.968113568185578e-37,
|
| 1440 |
+
-2.6938640599309794e-36,
|
| 1441 |
+
-2.5990372520823257e-08,
|
| 1442 |
+
2.5990388508034812e-08
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
-0.002585862297564745,
|
| 1446 |
+
-0.002300730673596263,
|
| 1447 |
+
-0.008408421650528908,
|
| 1448 |
+
-0.00024952832609415054,
|
| 1449 |
+
0.0016618355875834823,
|
| 1450 |
+
-0.004988292697817087,
|
| 1451 |
+
-0.007416780572384596,
|
| 1452 |
+
0.0003289961314294487
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
0.008025008253753185,
|
| 1456 |
+
0.022309578955173492,
|
| 1457 |
+
-0.01534956507384777,
|
| 1458 |
+
-0.006299006287008524,
|
| 1459 |
+
9.54384813667275e-06,
|
| 1460 |
+
0.008161035366356373,
|
| 1461 |
+
3.274683876952622e-06,
|
| 1462 |
+
-3.274491973570548e-06
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-0.0004130435117986053,
|
| 1466 |
+
0.020846445113420486,
|
| 1467 |
+
0.012884474359452724,
|
| 1468 |
+
-0.03337710723280907,
|
| 1469 |
+
0.000538678141310811,
|
| 1470 |
+
-0.0012913496466353536,
|
| 1471 |
+
-0.008290511555969715,
|
| 1472 |
+
0.0002897397498600185
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.048733796924352646,
|
| 1482 |
+
0.0022446869406849146,
|
| 1483 |
+
-0.02973690815269947,
|
| 1484 |
+
-0.276471883058548,
|
| 1485 |
+
0.6524165868759155,
|
| 1486 |
+
0.6473622918128967,
|
| 1487 |
+
-0.280781090259552
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.050582848489284515,
|
| 1491 |
+
-0.0037197142373770475,
|
| 1492 |
+
-0.03172849863767624,
|
| 1493 |
+
-0.2794419229030609,
|
| 1494 |
+
0.6421003937721252,
|
| 1495 |
+
0.6565647125244141,
|
| 1496 |
+
-0.2802535891532898
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.046721041202545166,
|
| 1500 |
+
0.001543960184790194,
|
| 1501 |
+
-0.03231527656316757,
|
| 1502 |
+
-0.27404531836509705,
|
| 1503 |
+
0.6564324498176575,
|
| 1504 |
+
0.6449999809265137,
|
| 1505 |
+
-0.2792321443557739
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.0502176359295845,
|
| 1509 |
+
-0.0008587192860431969,
|
| 1510 |
+
-0.02919939160346985,
|
| 1511 |
+
-0.2839218080043793,
|
| 1512 |
+
0.6442365050315857,
|
| 1513 |
+
0.6518274545669556,
|
| 1514 |
+
-0.28190192580223083
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.04001406952738762,
|
| 1520 |
+
0.5591267347335815,
|
| 1521 |
+
1.9520920515060425,
|
| 1522 |
+
0.04837566241621971,
|
| 1523 |
+
0.022546246647834778,
|
| 1524 |
+
0.25934144854545593,
|
| 1525 |
+
0.9643098711967468
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.0675911009311676,
|
| 1529 |
+
0.5923718214035034,
|
| 1530 |
+
1.9309531450271606,
|
| 1531 |
+
0.058280616998672485,
|
| 1532 |
+
0.023848026990890503,
|
| 1533 |
+
0.2710343301296234,
|
| 1534 |
+
0.9605076909065247
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.05285738408565521,
|
| 1538 |
+
0.5978947877883911,
|
| 1539 |
+
1.9593214988708496,
|
| 1540 |
+
0.03744976967573166,
|
| 1541 |
+
0.01301303505897522,
|
| 1542 |
+
0.25959205627441406,
|
| 1543 |
+
0.9649041891098022
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06853112578392029,
|
| 1547 |
+
0.5992452502250671,
|
| 1548 |
+
1.9301135540008545,
|
| 1549 |
+
0.044985655695199966,
|
| 1550 |
+
0.01749195158481598,
|
| 1551 |
+
0.26559850573539734,
|
| 1552 |
+
0.962874710559845
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c6_p013_e023/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:96a81afe4f275e55d9ab8dd4ce1465fafa9cfb5fedbd481caaecdcdbb424cd51
|
| 3 |
+
size 8625922
|
episodes/c7_p015_e016/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:293dfd03564f778714c1c3a63f6a837190b2e0e2e7b14b8e313a16bff6570a80
|
| 3 |
+
size 192458
|
episodes/c7_p015_e016/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 1, "seq": 1, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 1, "seq": 3, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 5795, "t": 28.975, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 1, "seq": 5, "step": 6408, "t": 32.04, "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": 6408, "t": 32.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.214430051220191}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 6408, "t": 32.04, "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": 6408, "t": 32.04, "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": 6408, "t": 32.04, "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": 6827, "t": 34.135, "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": 6827, "t": 34.135, "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": 6827, "t": 34.135, "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": 6827, "t": 34.135, "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": 6827, "t": 34.135, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
|
| 15 |
+
{"env_id": 1, "seq": 15, "step": 6827, "t": 34.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"}
|
| 16 |
+
{"env_id": 1, "seq": 16, "step": 6827, "t": 34.135, "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": 6827, "t": 34.135, "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": 6827, "t": 34.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.214430051220191}, "cause": "program-1-3"}
|
| 19 |
+
{"env_id": 1, "seq": 19, "step": 7470, "t": 37.35, "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": 7470, "t": 37.35, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2150000000016448}, "cause": "program-1-3"}
|
| 21 |
+
{"env_id": 1, "seq": 21, "step": 7470, "t": 37.35, "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": 3.2150000000016448}}, "cause": "program-1-3"}
|
| 22 |
+
{"env_id": 1, "seq": 22, "step": 7470, "t": 37.35, "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": 7470, "t": 37.35, "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": 7470, "t": 37.35, "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": 7890, "t": 39.45, "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": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1474199368421978e-10}, "cause": "program-1-4"}
|
| 27 |
+
{"env_id": 1, "seq": 27, "step": 7890, "t": 39.45, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1474199368421978e-10}, "cause": "program-1-4"}
|
| 28 |
+
{"env_id": 1, "seq": 28, "step": 7890, "t": 39.45, "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": 7890, "t": 39.45, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 30 |
+
{"env_id": 1, "seq": 30, "step": 7890, "t": 39.45, "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": 8472, "t": 42.36, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
+
{"env_id": 1, "seq": 32, "step": 10148, "t": 50.74, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 33 |
+
{"env_id": 1, "seq": 33, "step": 10148, "t": 50.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"}
|
| 34 |
+
{"env_id": 1, "seq": 34, "step": 10148, "t": 50.74, "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": 10148, "t": 50.74, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
|
episodes/c7_p015_e016/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2fc588b39f36ebd624fdeb73d167ff28eff6297dcf157df914f728b7d797e450
|
| 3 |
+
size 1275412
|
episodes/c7_p015_e016/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p015/magicsim/16",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1245,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1245,
|
| 8 |
+
"env": 1245
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p015_e016/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 16,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c7_p015",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
+
1.0,
|
| 81 |
+
1.0,
|
| 82 |
+
1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
+
0.9
|
| 119 |
+
],
|
| 120 |
+
"ori": [
|
| 121 |
+
6.123234262925839e-17,
|
| 122 |
+
0.0,
|
| 123 |
+
0.0,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
"scale": [
|
| 127 |
+
1.0,
|
| 128 |
+
1.0,
|
| 129 |
+
1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dr": {
|
| 133 |
+
"visual": {
|
| 134 |
+
"kind": null,
|
| 135 |
+
"value": null,
|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
+
1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
"value": null,
|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
+
1.0285
|
| 196 |
+
],
|
| 197 |
+
"ori": [
|
| 198 |
+
6.123234262925839e-17,
|
| 199 |
+
0.0,
|
| 200 |
+
0.0,
|
| 201 |
+
1.0
|
| 202 |
+
],
|
| 203 |
+
"scale": [
|
| 204 |
+
1.0,
|
| 205 |
+
1.0,
|
| 206 |
+
1.0
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
"dr": {
|
| 210 |
+
"visual": {
|
| 211 |
+
"kind": null,
|
| 212 |
+
"value": null,
|
| 213 |
+
"visible": true
|
| 214 |
+
},
|
| 215 |
+
"physics": {
|
| 216 |
+
"type": "geometry",
|
| 217 |
+
"collision": false,
|
| 218 |
+
"ratio": 1.0
|
| 219 |
+
},
|
| 220 |
+
"primitive_params": null
|
| 221 |
+
},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 226 |
+
"pose": {
|
| 227 |
+
"pos": [
|
| 228 |
+
-0.6,
|
| 229 |
+
0.02,
|
| 230 |
+
1.0965
|
| 231 |
+
],
|
| 232 |
+
"ori": [
|
| 233 |
+
1.0,
|
| 234 |
+
0.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0
|
| 237 |
+
],
|
| 238 |
+
"scale": [
|
| 239 |
+
1.0,
|
| 240 |
+
1.0,
|
| 241 |
+
1.0
|
| 242 |
+
]
|
| 243 |
+
},
|
| 244 |
+
"dr": {
|
| 245 |
+
"visual": {
|
| 246 |
+
"kind": null,
|
| 247 |
+
"value": null,
|
| 248 |
+
"visible": true
|
| 249 |
+
},
|
| 250 |
+
"physics": {
|
| 251 |
+
"type": "geometry",
|
| 252 |
+
"collision": false,
|
| 253 |
+
"ratio": 1.0
|
| 254 |
+
},
|
| 255 |
+
"primitive_params": null
|
| 256 |
+
},
|
| 257 |
+
"type_specific": {}
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 261 |
+
"pose": {
|
| 262 |
+
"pos": [
|
| 263 |
+
-0.6,
|
| 264 |
+
0.02,
|
| 265 |
+
1.1645
|
| 266 |
+
],
|
| 267 |
+
"ori": [
|
| 268 |
+
6.123234262925839e-17,
|
| 269 |
+
0.0,
|
| 270 |
+
0.0,
|
| 271 |
+
1.0
|
| 272 |
+
],
|
| 273 |
+
"scale": [
|
| 274 |
+
1.0,
|
| 275 |
+
1.0,
|
| 276 |
+
1.0
|
| 277 |
+
]
|
| 278 |
+
},
|
| 279 |
+
"dr": {
|
| 280 |
+
"visual": {
|
| 281 |
+
"kind": null,
|
| 282 |
+
"value": null,
|
| 283 |
+
"visible": true
|
| 284 |
+
},
|
| 285 |
+
"physics": {
|
| 286 |
+
"type": "geometry",
|
| 287 |
+
"collision": false,
|
| 288 |
+
"ratio": 1.0
|
| 289 |
+
},
|
| 290 |
+
"primitive_params": null
|
| 291 |
+
},
|
| 292 |
+
"type_specific": {}
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 296 |
+
"pose": {
|
| 297 |
+
"pos": [
|
| 298 |
+
-0.6,
|
| 299 |
+
0.02,
|
| 300 |
+
1.2325
|
| 301 |
+
],
|
| 302 |
+
"ori": [
|
| 303 |
+
1.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0,
|
| 306 |
+
0.0
|
| 307 |
+
],
|
| 308 |
+
"scale": [
|
| 309 |
+
1.0,
|
| 310 |
+
1.0,
|
| 311 |
+
1.0
|
| 312 |
+
]
|
| 313 |
+
},
|
| 314 |
+
"dr": {
|
| 315 |
+
"visual": {
|
| 316 |
+
"kind": null,
|
| 317 |
+
"value": null,
|
| 318 |
+
"visible": true
|
| 319 |
+
},
|
| 320 |
+
"physics": {
|
| 321 |
+
"type": "geometry",
|
| 322 |
+
"collision": false,
|
| 323 |
+
"ratio": 1.0
|
| 324 |
+
},
|
| 325 |
+
"primitive_params": null
|
| 326 |
+
},
|
| 327 |
+
"type_specific": {}
|
| 328 |
+
}
|
| 329 |
+
],
|
| 330 |
+
"a4s_sealer": [
|
| 331 |
+
{
|
| 332 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 333 |
+
"pose": {
|
| 334 |
+
"pos": [
|
| 335 |
+
0.4789695739746094,
|
| 336 |
+
0.08251476287841797,
|
| 337 |
+
0.8999999761581421
|
| 338 |
+
],
|
| 339 |
+
"ori": [
|
| 340 |
+
-0.6878247261047363,
|
| 341 |
+
0.0,
|
| 342 |
+
0.0,
|
| 343 |
+
0.7258768081665039
|
| 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 |
+
6.728328831584474e-13
|
| 369 |
+
],
|
| 370 |
+
"joint_velocity": [
|
| 371 |
+
0.0
|
| 372 |
+
],
|
| 373 |
+
"linear_velocity": [
|
| 374 |
+
0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
+
"angular_velocity": [
|
| 379 |
+
0.0,
|
| 380 |
+
0.0,
|
| 381 |
+
0.0
|
| 382 |
+
]
|
| 383 |
+
}
|
| 384 |
+
}
|
| 385 |
+
],
|
| 386 |
+
"conveyor": [
|
| 387 |
+
{
|
| 388 |
+
"asset": "Cube",
|
| 389 |
+
"pose": {
|
| 390 |
+
"pos": [
|
| 391 |
+
0.15,
|
| 392 |
+
0.45,
|
| 393 |
+
0.9
|
| 394 |
+
],
|
| 395 |
+
"ori": [
|
| 396 |
+
1.0,
|
| 397 |
+
0.0,
|
| 398 |
+
0.0,
|
| 399 |
+
0.0
|
| 400 |
+
],
|
| 401 |
+
"scale": [
|
| 402 |
+
1.0,
|
| 403 |
+
1.0,
|
| 404 |
+
1.0
|
| 405 |
+
]
|
| 406 |
+
},
|
| 407 |
+
"dr": {
|
| 408 |
+
"visual": {
|
| 409 |
+
"kind": null,
|
| 410 |
+
"value": null,
|
| 411 |
+
"visible": true
|
| 412 |
+
},
|
| 413 |
+
"physics": {
|
| 414 |
+
"type": "conveyor",
|
| 415 |
+
"physics_material": {
|
| 416 |
+
"static_friction": 0.9,
|
| 417 |
+
"dynamic_friction": 0.9
|
| 418 |
+
},
|
| 419 |
+
"ratio": 1.0
|
| 420 |
+
},
|
| 421 |
+
"primitive_params": {
|
| 422 |
+
"size": [
|
| 423 |
+
2.4,
|
| 424 |
+
0.076,
|
| 425 |
+
0.03
|
| 426 |
+
]
|
| 427 |
+
},
|
| 428 |
+
"conveyor": {
|
| 429 |
+
"speed": 0.1568313817346793,
|
| 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": -0.032330662286851664,
|
| 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": 0.1568313817346793,
|
| 478 |
+
"holds": [],
|
| 479 |
+
"station": "pick",
|
| 480 |
+
"rider": "carrier_3",
|
| 481 |
+
"arrived": true,
|
| 482 |
+
"applied_speed": 0.0
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
],
|
| 487 |
+
"carrier": [
|
| 488 |
+
{
|
| 489 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 490 |
+
"pose": {
|
| 491 |
+
"pos": [
|
| 492 |
+
-1.331191062927246,
|
| 493 |
+
0.5933523178100586,
|
| 494 |
+
0.8999999761581421
|
| 495 |
+
],
|
| 496 |
+
"ori": [
|
| 497 |
+
-0.8918873071670532,
|
| 498 |
+
1.9284648544726224e-08,
|
| 499 |
+
4.00479223117145e-08,
|
| 500 |
+
0.45225778222084045
|
| 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 |
+
-2.292732670383657e-10,
|
| 529 |
+
-1.3883144633908273e-10,
|
| 530 |
+
0.0
|
| 531 |
+
],
|
| 532 |
+
"angular_velocity": [
|
| 533 |
+
2.0539300038535657e-08,
|
| 534 |
+
-4.574883050167955e-08,
|
| 535 |
+
-4.434422162802321e-09
|
| 536 |
+
]
|
| 537 |
+
}
|
| 538 |
+
},
|
| 539 |
+
{
|
| 540 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 541 |
+
"pose": {
|
| 542 |
+
"pos": [
|
| 543 |
+
-0.1877593994140625,
|
| 544 |
+
1.150003433227539,
|
| 545 |
+
0.8999999761581421
|
| 546 |
+
],
|
| 547 |
+
"ori": [
|
| 548 |
+
3.180597195751034e-05,
|
| 549 |
+
1.3114882513320936e-09,
|
| 550 |
+
2.4740660631294986e-09,
|
| 551 |
+
1.0
|
| 552 |
+
],
|
| 553 |
+
"scale": [
|
| 554 |
+
1.0,
|
| 555 |
+
1.0,
|
| 556 |
+
1.0
|
| 557 |
+
]
|
| 558 |
+
},
|
| 559 |
+
"dr": {
|
| 560 |
+
"visual": {
|
| 561 |
+
"kind": null,
|
| 562 |
+
"value": null,
|
| 563 |
+
"visible": true
|
| 564 |
+
},
|
| 565 |
+
"physics": {
|
| 566 |
+
"type": "rigid",
|
| 567 |
+
"mass": 0.5,
|
| 568 |
+
"physics_material": {
|
| 569 |
+
"static_friction": 0.9,
|
| 570 |
+
"dynamic_friction": 0.9,
|
| 571 |
+
"restitution": 0.0
|
| 572 |
+
},
|
| 573 |
+
"ratio": 1.0
|
| 574 |
+
},
|
| 575 |
+
"primitive_params": null
|
| 576 |
+
},
|
| 577 |
+
"type_specific": {
|
| 578 |
+
"linear_velocity": [
|
| 579 |
+
7.469136420468203e-12,
|
| 580 |
+
-7.02632174665041e-10,
|
| 581 |
+
3.725290298461914e-09
|
| 582 |
+
],
|
| 583 |
+
"angular_velocity": [
|
| 584 |
+
4.441162104740215e-08,
|
| 585 |
+
6.134168728522127e-09,
|
| 586 |
+
-1.0736849187509279e-09
|
| 587 |
+
]
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
{
|
| 591 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 592 |
+
"pose": {
|
| 593 |
+
"pos": [
|
| 594 |
+
0.11782073974609375,
|
| 595 |
+
0.4499959945678711,
|
| 596 |
+
0.8999999761581421
|
| 597 |
+
],
|
| 598 |
+
"ori": [
|
| 599 |
+
1.0,
|
| 600 |
+
-5.366988187205379e-09,
|
| 601 |
+
-6.575971989164486e-10,
|
| 602 |
+
-2.2818203433416784e-05
|
| 603 |
+
],
|
| 604 |
+
"scale": [
|
| 605 |
+
1.0,
|
| 606 |
+
1.0,
|
| 607 |
+
1.0
|
| 608 |
+
]
|
| 609 |
+
},
|
| 610 |
+
"dr": {
|
| 611 |
+
"visual": {
|
| 612 |
+
"kind": null,
|
| 613 |
+
"value": null,
|
| 614 |
+
"visible": true
|
| 615 |
+
},
|
| 616 |
+
"physics": {
|
| 617 |
+
"type": "rigid",
|
| 618 |
+
"mass": 0.5,
|
| 619 |
+
"physics_material": {
|
| 620 |
+
"static_friction": 0.9,
|
| 621 |
+
"dynamic_friction": 0.9,
|
| 622 |
+
"restitution": 0.0
|
| 623 |
+
},
|
| 624 |
+
"ratio": 1.0
|
| 625 |
+
},
|
| 626 |
+
"primitive_params": null
|
| 627 |
+
},
|
| 628 |
+
"type_specific": {
|
| 629 |
+
"linear_velocity": [
|
| 630 |
+
-3.509548207603075e-10,
|
| 631 |
+
2.1248247605853976e-10,
|
| 632 |
+
0.0
|
| 633 |
+
],
|
| 634 |
+
"angular_velocity": [
|
| 635 |
+
5.082753773422155e-09,
|
| 636 |
+
-3.531454240146559e-08,
|
| 637 |
+
1.0560921026581127e-09
|
| 638 |
+
]
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 643 |
+
"pose": {
|
| 644 |
+
"pos": [
|
| 645 |
+
1.590083122253418,
|
| 646 |
+
0.5492610931396484,
|
| 647 |
+
0.8999999761581421
|
| 648 |
+
],
|
| 649 |
+
"ori": [
|
| 650 |
+
0.9283398985862732,
|
| 651 |
+
3.88734466838514e-09,
|
| 652 |
+
3.3084262440752354e-08,
|
| 653 |
+
0.3717324435710907
|
| 654 |
+
],
|
| 655 |
+
"scale": [
|
| 656 |
+
1.0,
|
| 657 |
+
1.0,
|
| 658 |
+
1.0
|
| 659 |
+
]
|
| 660 |
+
},
|
| 661 |
+
"dr": {
|
| 662 |
+
"visual": {
|
| 663 |
+
"kind": null,
|
| 664 |
+
"value": null,
|
| 665 |
+
"visible": true
|
| 666 |
+
},
|
| 667 |
+
"physics": {
|
| 668 |
+
"type": "rigid",
|
| 669 |
+
"mass": 0.5,
|
| 670 |
+
"physics_material": {
|
| 671 |
+
"static_friction": 0.9,
|
| 672 |
+
"dynamic_friction": 0.9,
|
| 673 |
+
"restitution": 0.0
|
| 674 |
+
},
|
| 675 |
+
"ratio": 1.0
|
| 676 |
+
},
|
| 677 |
+
"primitive_params": null
|
| 678 |
+
},
|
| 679 |
+
"type_specific": {
|
| 680 |
+
"linear_velocity": [
|
| 681 |
+
1.2979950447800093e-10,
|
| 682 |
+
2.356103756540051e-09,
|
| 683 |
+
2.9802322387695312e-08
|
| 684 |
+
],
|
| 685 |
+
"angular_velocity": [
|
| 686 |
+
-3.7266397612256696e-07,
|
| 687 |
+
1.633891741903426e-07,
|
| 688 |
+
-1.8247622080025394e-08
|
| 689 |
+
]
|
| 690 |
+
}
|
| 691 |
+
}
|
| 692 |
+
],
|
| 693 |
+
"plate": [
|
| 694 |
+
{
|
| 695 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
|
| 696 |
+
"pose": {
|
| 697 |
+
"pos": [
|
| 698 |
+
-1.3247251510620117,
|
| 699 |
+
0.5914697647094727,
|
| 700 |
+
0.9179999828338623
|
| 701 |
+
],
|
| 702 |
+
"ori": [
|
| 703 |
+
-0.8741826415061951,
|
| 704 |
+
1.8810979440786468e-08,
|
| 705 |
+
4.0986783744756394e-08,
|
| 706 |
+
0.4855974614620209
|
| 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 |
+
-2.5731239361448388e-08,
|
| 738 |
+
5.9155070175620494e-08,
|
| 739 |
+
8.940696716308594e-08
|
| 740 |
+
],
|
| 741 |
+
"angular_velocity": [
|
| 742 |
+
-1.0087708233186277e-06,
|
| 743 |
+
-2.0746215341205243e-06,
|
| 744 |
+
2.3747136879137543e-07
|
| 745 |
+
]
|
| 746 |
+
}
|
| 747 |
+
},
|
| 748 |
+
{
|
| 749 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
|
| 750 |
+
"pose": {
|
| 751 |
+
"pos": [
|
| 752 |
+
-0.20211219787597656,
|
| 753 |
+
1.1477632522583008,
|
| 754 |
+
0.9180000424385071
|
| 755 |
+
],
|
| 756 |
+
"ori": [
|
| 757 |
+
0.06093355268239975,
|
| 758 |
+
1.7097545601529873e-09,
|
| 759 |
+
1.6604508878970137e-09,
|
| 760 |
+
0.998141884803772
|
| 761 |
+
],
|
| 762 |
+
"scale": [
|
| 763 |
+
1.0,
|
| 764 |
+
1.0,
|
| 765 |
+
1.0
|
| 766 |
+
]
|
| 767 |
+
},
|
| 768 |
+
"dr": {
|
| 769 |
+
"visual": {
|
| 770 |
+
"kind": null,
|
| 771 |
+
"value": null,
|
| 772 |
+
"visible": true
|
| 773 |
+
},
|
| 774 |
+
"physics": {
|
| 775 |
+
"type": "rigid",
|
| 776 |
+
"collision": true,
|
| 777 |
+
"mass": "asset",
|
| 778 |
+
"max_depenetration_velocity": 1.0,
|
| 779 |
+
"physics_material": {
|
| 780 |
+
"static_friction": 0.5,
|
| 781 |
+
"dynamic_friction": 0.45,
|
| 782 |
+
"restitution": 0.0,
|
| 783 |
+
"friction_combine_mode": "average"
|
| 784 |
+
},
|
| 785 |
+
"ratio": 1.0
|
| 786 |
+
},
|
| 787 |
+
"primitive_params": null
|
| 788 |
+
},
|
| 789 |
+
"type_specific": {
|
| 790 |
+
"linear_velocity": [
|
| 791 |
+
1.5448037515852775e-08,
|
| 792 |
+
-1.1344559069925708e-08,
|
| 793 |
+
-5.0514936447143555e-06
|
| 794 |
+
],
|
| 795 |
+
"angular_velocity": [
|
| 796 |
+
1.6761389076691557e-07,
|
| 797 |
+
1.2620054121725843e-06,
|
| 798 |
+
8.329620015956607e-08
|
| 799 |
+
]
|
| 800 |
+
}
|
| 801 |
+
},
|
| 802 |
+
{
|
| 803 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
|
| 804 |
+
"pose": {
|
| 805 |
+
"pos": [
|
| 806 |
+
0.11100482940673828,
|
| 807 |
+
0.45108604431152344,
|
| 808 |
+
0.9179999828338623
|
| 809 |
+
],
|
| 810 |
+
"ori": [
|
| 811 |
+
0.9950642585754395,
|
| 812 |
+
-5.289968463273453e-09,
|
| 813 |
+
-1.499176893737797e-09,
|
| 814 |
+
-0.0992332398891449
|
| 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 |
+
-9.699332892409984e-09,
|
| 846 |
+
1.3723351344196999e-08,
|
| 847 |
+
-5.666166543960571e-06
|
| 848 |
+
],
|
| 849 |
+
"angular_velocity": [
|
| 850 |
+
-4.629981020798368e-08,
|
| 851 |
+
-1.1304126701361383e-06,
|
| 852 |
+
1.0729846877666205e-07
|
| 853 |
+
]
|
| 854 |
+
}
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
|
| 858 |
+
"pose": {
|
| 859 |
+
"pos": [
|
| 860 |
+
1.5922279357910156,
|
| 861 |
+
0.5366668701171875,
|
| 862 |
+
0.9179999828338623
|
| 863 |
+
],
|
| 864 |
+
"ori": [
|
| 865 |
+
0.8993397355079651,
|
| 866 |
+
6.586997614022039e-11,
|
| 867 |
+
3.229536105209263e-08,
|
| 868 |
+
0.43725061416625977
|
| 869 |
+
],
|
| 870 |
+
"scale": [
|
| 871 |
+
1.0,
|
| 872 |
+
1.0,
|
| 873 |
+
1.0
|
| 874 |
+
]
|
| 875 |
+
},
|
| 876 |
+
"dr": {
|
| 877 |
+
"visual": {
|
| 878 |
+
"kind": null,
|
| 879 |
+
"value": null,
|
| 880 |
+
"visible": true
|
| 881 |
+
},
|
| 882 |
+
"physics": {
|
| 883 |
+
"type": "rigid",
|
| 884 |
+
"collision": true,
|
| 885 |
+
"mass": "asset",
|
| 886 |
+
"max_depenetration_velocity": 1.0,
|
| 887 |
+
"physics_material": {
|
| 888 |
+
"static_friction": 0.5,
|
| 889 |
+
"dynamic_friction": 0.45,
|
| 890 |
+
"restitution": 0.0,
|
| 891 |
+
"friction_combine_mode": "average"
|
| 892 |
+
},
|
| 893 |
+
"ratio": 1.0
|
| 894 |
+
},
|
| 895 |
+
"primitive_params": null
|
| 896 |
+
},
|
| 897 |
+
"type_specific": {
|
| 898 |
+
"linear_velocity": [
|
| 899 |
+
-2.3736394183515586e-08,
|
| 900 |
+
-2.51210696688986e-09,
|
| 901 |
+
3.129243850708008e-07
|
| 902 |
+
],
|
| 903 |
+
"angular_velocity": [
|
| 904 |
+
1.6156653828147682e-06,
|
| 905 |
+
-1.7119954236477497e-06,
|
| 906 |
+
-7.698520931853636e-08
|
| 907 |
+
]
|
| 908 |
+
}
|
| 909 |
+
}
|
| 910 |
+
],
|
| 911 |
+
"deco_hub_west": [
|
| 912 |
+
{
|
| 913 |
+
"asset": "$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": 1.219999999999996,
|
| 1105 |
+
"step": 244,
|
| 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": 6.728328831584474e-13
|
| 1122 |
+
},
|
| 1123 |
+
"heater": {
|
| 1124 |
+
"state": "ready",
|
| 1125 |
+
"active": null,
|
| 1126 |
+
"duration": 0.0,
|
| 1127 |
+
"t_start": null,
|
| 1128 |
+
"elapsed": 0.0
|
| 1129 |
+
}
|
| 1130 |
+
},
|
| 1131 |
+
"queues": {},
|
| 1132 |
+
"program": null,
|
| 1133 |
+
"sensors": {
|
| 1134 |
+
"plate_present": {
|
| 1135 |
+
"occupants": [],
|
| 1136 |
+
"pending": {}
|
| 1137 |
+
}
|
| 1138 |
+
},
|
| 1139 |
+
"interlocks": {}
|
| 1140 |
+
},
|
| 1141 |
+
"conveyor_1": {
|
| 1142 |
+
"mode": "auto",
|
| 1143 |
+
"units": {
|
| 1144 |
+
"belt": {
|
| 1145 |
+
"state": "at_station",
|
| 1146 |
+
"active": null,
|
| 1147 |
+
"controller": {
|
| 1148 |
+
"speed": 0.1568313817346793,
|
| 1149 |
+
"holds": [],
|
| 1150 |
+
"station": "pick",
|
| 1151 |
+
"rider": "carrier_3",
|
| 1152 |
+
"arrived": true,
|
| 1153 |
+
"settle_count": 119,
|
| 1154 |
+
"released": {
|
| 1155 |
+
"pick": []
|
| 1156 |
+
},
|
| 1157 |
+
"last_pos": {
|
| 1158 |
+
"carrier_1": [
|
| 1159 |
+
-1.4811910688877106,
|
| 1160 |
+
0.14335232973098755,
|
| 1161 |
+
0.0
|
| 1162 |
+
],
|
| 1163 |
+
"carrier_2": [
|
| 1164 |
+
-0.337759405374527,
|
| 1165 |
+
0.700003445148468,
|
| 1166 |
+
0.0
|
| 1167 |
+
],
|
| 1168 |
+
"carrier_3": [
|
| 1169 |
+
-0.03217926621437073,
|
| 1170 |
+
-3.993511199951172e-06,
|
| 1171 |
+
0.0
|
| 1172 |
+
],
|
| 1173 |
+
"carrier_4": [
|
| 1174 |
+
1.4400831162929535,
|
| 1175 |
+
0.09926110506057739,
|
| 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_3",
|
| 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 |
+
0.6898080209748377,
|
| 1239 |
+
0.5173806533254097,
|
| 1240 |
+
3.115339180635484
|
| 1241 |
+
],
|
| 1242 |
+
"ori": [
|
| 1243 |
+
-7.202020174276279,
|
| 1244 |
+
4.705376335909129,
|
| 1245 |
+
-15.755213374432739
|
| 1246 |
+
],
|
| 1247 |
+
"scale": [
|
| 1248 |
+
1.0,
|
| 1249 |
+
1.0,
|
| 1250 |
+
1.0
|
| 1251 |
+
]
|
| 1252 |
+
},
|
| 1253 |
+
"dr": {
|
| 1254 |
+
"color_temperature": 5139.263978168078,
|
| 1255 |
+
"color": [
|
| 1256 |
+
0.9431872060369391,
|
| 1257 |
+
0.9612396509700336,
|
| 1258 |
+
0.7845775735076156
|
| 1259 |
+
],
|
| 1260 |
+
"intensity": 8985.757486564486,
|
| 1261 |
+
"width": 1.7939883034643156,
|
| 1262 |
+
"height": 1.897944000858551
|
| 1263 |
+
}
|
| 1264 |
+
},
|
| 1265 |
+
"key": {
|
| 1266 |
+
"type": "sphere",
|
| 1267 |
+
"pose": {
|
| 1268 |
+
"pos": [
|
| 1269 |
+
0.6819626325665351,
|
| 1270 |
+
0.5738733905059674,
|
| 1271 |
+
2.688259525726467
|
| 1272 |
+
],
|
| 1273 |
+
"ori": [
|
| 1274 |
+
9.00459354882181,
|
| 1275 |
+
-30.031240925761196,
|
| 1276 |
+
20.074006839923868
|
| 1277 |
+
],
|
| 1278 |
+
"scale": [
|
| 1279 |
+
1.0,
|
| 1280 |
+
1.0,
|
| 1281 |
+
1.0
|
| 1282 |
+
]
|
| 1283 |
+
},
|
| 1284 |
+
"dr": {
|
| 1285 |
+
"color_temperature": 5465.963487114837,
|
| 1286 |
+
"color": [
|
| 1287 |
+
0.822324581307037,
|
| 1288 |
+
0.8560091705827904,
|
| 1289 |
+
0.9493923040591528
|
| 1290 |
+
],
|
| 1291 |
+
"intensity": 3926.236637237767,
|
| 1292 |
+
"radius": 0.2068142279451491
|
| 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": 1028.0693120869357,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
0.9140999913215637,
|
| 1394 |
+
-1.7194000482559204,
|
| 1395 |
+
2.0905001163482666,
|
| 1396 |
+
-1.9419000148773193,
|
| 1397 |
+
-1.5707999467849731,
|
| 1398 |
+
2.4848999977111816,
|
| 1399 |
+
0.017999999225139618,
|
| 1400 |
+
0.017999999225139618
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
0.9140999913215637,
|
| 1404 |
+
-1.7194000482559204,
|
| 1405 |
+
2.0905001163482666,
|
| 1406 |
+
-1.9419000148773193,
|
| 1407 |
+
-1.5707999467849731,
|
| 1408 |
+
2.4848999977111816,
|
| 1409 |
+
0.017999999225139618,
|
| 1410 |
+
0.017999999225139618
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.948739230632782,
|
| 1414 |
+
-1.775657057762146,
|
| 1415 |
+
2.2282841205596924,
|
| 1416 |
+
-2.0224668979644775,
|
| 1417 |
+
-1.5704946517944336,
|
| 1418 |
+
2.059666872024536,
|
| 1419 |
+
0.008627079427242279,
|
| 1420 |
+
0.006209037732332945
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
-0.2910195589065552,
|
| 1424 |
+
-2.172708511352539,
|
| 1425 |
+
2.5460729598999023,
|
| 1426 |
+
-1.944179892539978,
|
| 1427 |
+
-1.5707820653915405,
|
| 1428 |
+
4.355713844299316,
|
| 1429 |
+
0.007696222048252821,
|
| 1430 |
+
0.0068891895934939384
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.0,
|
| 1436 |
+
0.0,
|
| 1437 |
+
0.0,
|
| 1438 |
+
0.0,
|
| 1439 |
+
0.0,
|
| 1440 |
+
0.0,
|
| 1441 |
+
0.0,
|
| 1442 |
+
0.0
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.0,
|
| 1446 |
+
0.0,
|
| 1447 |
+
0.0,
|
| 1448 |
+
0.0,
|
| 1449 |
+
0.0,
|
| 1450 |
+
0.0,
|
| 1451 |
+
0.0,
|
| 1452 |
+
0.0
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
0.031013481318950653,
|
| 1456 |
+
0.013386480510234833,
|
| 1457 |
+
-0.0028806673362851143,
|
| 1458 |
+
-0.005889593157917261,
|
| 1459 |
+
0.0004392203118186444,
|
| 1460 |
+
-0.07078336179256439,
|
| 1461 |
+
-0.0068931193090975285,
|
| 1462 |
+
0.00021837341773789376
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-0.00013931456487625837,
|
| 1466 |
+
-0.014488187618553638,
|
| 1467 |
+
-0.020302386954426765,
|
| 1468 |
+
0.03332147374749184,
|
| 1469 |
+
-0.0002993823145516217,
|
| 1470 |
+
0.0006265065749175847,
|
| 1471 |
+
-0.010153200477361679,
|
| 1472 |
+
0.00036829820601269603
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.045433759689331055,
|
| 1482 |
+
0.0018074301769956946,
|
| 1483 |
+
-0.031004125252366066,
|
| 1484 |
+
-0.274385541677475,
|
| 1485 |
+
0.6590065956115723,
|
| 1486 |
+
0.6399984955787659,
|
| 1487 |
+
-0.28429707884788513
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.051205892115831375,
|
| 1491 |
+
-0.00044977839570492506,
|
| 1492 |
+
-0.033077698200941086,
|
| 1493 |
+
-0.27265021204948425,
|
| 1494 |
+
0.6557726860046387,
|
| 1495 |
+
0.6491602063179016,
|
| 1496 |
+
-0.2724243104457855
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.047885313630104065,
|
| 1500 |
+
0.0033806832507252693,
|
| 1501 |
+
-0.025916706770658493,
|
| 1502 |
+
-0.2625335454940796,
|
| 1503 |
+
0.6528778672218323,
|
| 1504 |
+
0.6520975232124329,
|
| 1505 |
+
-0.28212663531303406
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04920857027173042,
|
| 1509 |
+
-0.00222287536598742,
|
| 1510 |
+
-0.029017716646194458,
|
| 1511 |
+
-0.26509740948677063,
|
| 1512 |
+
0.6554639935493469,
|
| 1513 |
+
0.644683837890625,
|
| 1514 |
+
-0.29064249992370605
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.06213340908288956,
|
| 1520 |
+
0.5999961495399475,
|
| 1521 |
+
1.9415220022201538,
|
| 1522 |
+
0.03251606971025467,
|
| 1523 |
+
0.0028824086766690016,
|
| 1524 |
+
0.25475552678108215,
|
| 1525 |
+
0.9664543271064758
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.03551667556166649,
|
| 1529 |
+
0.5632237195968628,
|
| 1530 |
+
1.9457356929779053,
|
| 1531 |
+
0.05593063682317734,
|
| 1532 |
+
0.0067042456939816475,
|
| 1533 |
+
0.28163379430770874,
|
| 1534 |
+
0.9578670263290405
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.048042088747024536,
|
| 1538 |
+
0.5961597561836243,
|
| 1539 |
+
1.9742274284362793,
|
| 1540 |
+
0.056610144674777985,
|
| 1541 |
+
0.0061823055148124695,
|
| 1542 |
+
0.274436891078949,
|
| 1543 |
+
0.959917426109314
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06532387435436249,
|
| 1547 |
+
0.5927990078926086,
|
| 1548 |
+
1.957279086112976,
|
| 1549 |
+
0.05347219109535217,
|
| 1550 |
+
0.01671055518090725,
|
| 1551 |
+
0.26629170775413513,
|
| 1552 |
+
0.9622630476951599
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p015_e016/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:09672432fd8c2326fac3b4394b1b68917a761cd1250557ba7f535fdca13c6244
|
| 3 |
+
size 7366993
|
episodes/c7_p015_e017/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ff923bcd9d8705c8e41ca24a2e953f1236c56a4bdadde1d80e164e4a88639c4e
|
| 3 |
+
size 190756
|
episodes/c7_p015_e017/device_events.jsonl
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 0, "seq": 1, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 0, "seq": 2, "step": 158, "t": 0.79, "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": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 1983, "t": 9.915, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 6611, "t": 33.055, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 6 |
+
{"env_id": 0, "seq": 6, "step": 7220, "t": 36.1, "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": 7220, "t": 36.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6082017322263793}, "cause": "task-0-1"}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 7220, "t": 36.1, "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": 7220, "t": 36.1, "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": 7220, "t": 36.1, "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": 7639, "t": 38.195, "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": 7639, "t": 38.195, "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": 7639, "t": 38.195, "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": 7639, "t": 38.195, "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": 7639, "t": 38.195, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
|
| 16 |
+
{"env_id": 0, "seq": 16, "step": 7639, "t": 38.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"}
|
| 17 |
+
{"env_id": 0, "seq": 17, "step": 7639, "t": 38.195, "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": 7639, "t": 38.195, "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": 7639, "t": 38.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6082017322263793}, "cause": "program-0-3"}
|
| 20 |
+
{"env_id": 0, "seq": 20, "step": 8361, "t": 41.805, "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": 8361, "t": 41.805, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.610000000001847}, "cause": "program-0-3"}
|
| 22 |
+
{"env_id": 0, "seq": 22, "step": 8361, "t": 41.805, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.610000000001847}}, "cause": "program-0-3"}
|
| 23 |
+
{"env_id": 0, "seq": 23, "step": 8361, "t": 41.805, "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": 8361, "t": 41.805, "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": 8361, "t": 41.805, "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": 8781, "t": 43.905, "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": 8781, "t": 43.905, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"}
|
| 28 |
+
{"env_id": 0, "seq": 28, "step": 8781, "t": 43.905, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"}
|
| 29 |
+
{"env_id": 0, "seq": 29, "step": 8781, "t": 43.905, "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": 8781, "t": 43.905, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
|
| 31 |
+
{"env_id": 0, "seq": 31, "step": 8781, "t": 43.905, "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": 9363, "t": 46.815, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 33 |
+
{"env_id": 0, "seq": 33, "step": 11112, "t": 55.56, "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": 11112, "t": 55.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"}
|
| 35 |
+
{"env_id": 0, "seq": 35, "step": 11112, "t": 55.56, "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": 11112, "t": 55.56, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
|
episodes/c7_p015_e017/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fed9c021142b1a1cae05b6be2ac7a5e89f2e1c372cba3a5f833281e73869bef3
|
| 3 |
+
size 1210576
|
episodes/c7_p015_e017/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p015/magicsim/17",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1202,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1202,
|
| 8 |
+
"env": 1202
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p015_e017/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 17,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c7_p015",
|
| 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
+
],
|
| 196 |
+
"ori": [
|
| 197 |
+
6.123234262925839e-17,
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
1.0
|
| 201 |
+
],
|
| 202 |
+
"scale": [
|
| 203 |
+
1.0,
|
| 204 |
+
1.0,
|
| 205 |
+
1.0
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"dr": {
|
| 209 |
+
"visual": {
|
| 210 |
+
"kind": null,
|
| 211 |
+
"value": null,
|
| 212 |
+
"visible": true
|
| 213 |
+
},
|
| 214 |
+
"physics": {
|
| 215 |
+
"type": "geometry",
|
| 216 |
+
"collision": false,
|
| 217 |
+
"ratio": 1.0
|
| 218 |
+
},
|
| 219 |
+
"primitive_params": null
|
| 220 |
+
},
|
| 221 |
+
"type_specific": {}
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 225 |
+
"pose": {
|
| 226 |
+
"pos": [
|
| 227 |
+
-0.6,
|
| 228 |
+
0.02,
|
| 229 |
+
1.0965
|
| 230 |
+
],
|
| 231 |
+
"ori": [
|
| 232 |
+
1.0,
|
| 233 |
+
0.0,
|
| 234 |
+
0.0,
|
| 235 |
+
0.0
|
| 236 |
+
],
|
| 237 |
+
"scale": [
|
| 238 |
+
1.0,
|
| 239 |
+
1.0,
|
| 240 |
+
1.0
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"dr": {
|
| 244 |
+
"visual": {
|
| 245 |
+
"kind": null,
|
| 246 |
+
"value": null,
|
| 247 |
+
"visible": true
|
| 248 |
+
},
|
| 249 |
+
"physics": {
|
| 250 |
+
"type": "geometry",
|
| 251 |
+
"collision": false,
|
| 252 |
+
"ratio": 1.0
|
| 253 |
+
},
|
| 254 |
+
"primitive_params": null
|
| 255 |
+
},
|
| 256 |
+
"type_specific": {}
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 260 |
+
"pose": {
|
| 261 |
+
"pos": [
|
| 262 |
+
-0.6,
|
| 263 |
+
0.02,
|
| 264 |
+
1.1645
|
| 265 |
+
],
|
| 266 |
+
"ori": [
|
| 267 |
+
6.123234262925839e-17,
|
| 268 |
+
0.0,
|
| 269 |
+
0.0,
|
| 270 |
+
1.0
|
| 271 |
+
],
|
| 272 |
+
"scale": [
|
| 273 |
+
1.0,
|
| 274 |
+
1.0,
|
| 275 |
+
1.0
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"dr": {
|
| 279 |
+
"visual": {
|
| 280 |
+
"kind": null,
|
| 281 |
+
"value": null,
|
| 282 |
+
"visible": true
|
| 283 |
+
},
|
| 284 |
+
"physics": {
|
| 285 |
+
"type": "geometry",
|
| 286 |
+
"collision": false,
|
| 287 |
+
"ratio": 1.0
|
| 288 |
+
},
|
| 289 |
+
"primitive_params": null
|
| 290 |
+
},
|
| 291 |
+
"type_specific": {}
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 295 |
+
"pose": {
|
| 296 |
+
"pos": [
|
| 297 |
+
-0.6,
|
| 298 |
+
0.02,
|
| 299 |
+
1.2325
|
| 300 |
+
],
|
| 301 |
+
"ori": [
|
| 302 |
+
1.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
0.0
|
| 306 |
+
],
|
| 307 |
+
"scale": [
|
| 308 |
+
1.0,
|
| 309 |
+
1.0,
|
| 310 |
+
1.0
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"dr": {
|
| 314 |
+
"visual": {
|
| 315 |
+
"kind": null,
|
| 316 |
+
"value": null,
|
| 317 |
+
"visible": true
|
| 318 |
+
},
|
| 319 |
+
"physics": {
|
| 320 |
+
"type": "geometry",
|
| 321 |
+
"collision": false,
|
| 322 |
+
"ratio": 1.0
|
| 323 |
+
},
|
| 324 |
+
"primitive_params": null
|
| 325 |
+
},
|
| 326 |
+
"type_specific": {}
|
| 327 |
+
}
|
| 328 |
+
],
|
| 329 |
+
"a4s_sealer": [
|
| 330 |
+
{
|
| 331 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 332 |
+
"pose": {
|
| 333 |
+
"pos": [
|
| 334 |
+
0.5013265609741211,
|
| 335 |
+
0.12685012817382812,
|
| 336 |
+
0.8999999761581421
|
| 337 |
+
],
|
| 338 |
+
"ori": [
|
| 339 |
+
0.7300187349319458,
|
| 340 |
+
0.0,
|
| 341 |
+
0.0,
|
| 342 |
+
-0.6834271550178528
|
| 343 |
+
],
|
| 344 |
+
"scale": [
|
| 345 |
+
1.0,
|
| 346 |
+
1.0,
|
| 347 |
+
1.0
|
| 348 |
+
]
|
| 349 |
+
},
|
| 350 |
+
"dr": {
|
| 351 |
+
"visual": {
|
| 352 |
+
"kind": null,
|
| 353 |
+
"value": null,
|
| 354 |
+
"visible": true
|
| 355 |
+
},
|
| 356 |
+
"physics": {
|
| 357 |
+
"type": "articulation",
|
| 358 |
+
"solver_position_iteration_count": 16.0,
|
| 359 |
+
"solver_velocity_iteration_count": 1.0,
|
| 360 |
+
"enabled_self_collisions": false,
|
| 361 |
+
"ratio": 1.0
|
| 362 |
+
},
|
| 363 |
+
"primitive_params": null
|
| 364 |
+
},
|
| 365 |
+
"type_specific": {
|
| 366 |
+
"joint_position": [
|
| 367 |
+
3.0277503594577926e-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": 0.23178339763724942,
|
| 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": -0.2955272010767205,
|
| 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": 0.23178339763724942,
|
| 477 |
+
"holds": [],
|
| 478 |
+
"station": "pick",
|
| 479 |
+
"rider": "carrier_4",
|
| 480 |
+
"arrived": true,
|
| 481 |
+
"applied_speed": 0.0
|
| 482 |
+
}
|
| 483 |
+
}
|
| 484 |
+
}
|
| 485 |
+
],
|
| 486 |
+
"carrier": [
|
| 487 |
+
{
|
| 488 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 489 |
+
"pose": {
|
| 490 |
+
"pos": [
|
| 491 |
+
1.693547248840332,
|
| 492 |
+
0.8517427444458008,
|
| 493 |
+
0.8999999761581421
|
| 494 |
+
],
|
| 495 |
+
"ori": [
|
| 496 |
+
0.6587795615196228,
|
| 497 |
+
-8.19758625425493e-08,
|
| 498 |
+
7.502064391928798e-08,
|
| 499 |
+
0.7523361444473267
|
| 500 |
+
],
|
| 501 |
+
"scale": [
|
| 502 |
+
1.0,
|
| 503 |
+
1.0,
|
| 504 |
+
1.0
|
| 505 |
+
]
|
| 506 |
+
},
|
| 507 |
+
"dr": {
|
| 508 |
+
"visual": {
|
| 509 |
+
"kind": null,
|
| 510 |
+
"value": null,
|
| 511 |
+
"visible": true
|
| 512 |
+
},
|
| 513 |
+
"physics": {
|
| 514 |
+
"type": "rigid",
|
| 515 |
+
"mass": 0.5,
|
| 516 |
+
"physics_material": {
|
| 517 |
+
"static_friction": 0.9,
|
| 518 |
+
"dynamic_friction": 0.9,
|
| 519 |
+
"restitution": 0.0
|
| 520 |
+
},
|
| 521 |
+
"ratio": 1.0
|
| 522 |
+
},
|
| 523 |
+
"primitive_params": null
|
| 524 |
+
},
|
| 525 |
+
"type_specific": {
|
| 526 |
+
"linear_velocity": [
|
| 527 |
+
1.4129568626231048e-09,
|
| 528 |
+
-1.4155148164718412e-09,
|
| 529 |
+
7.450580596923828e-09
|
| 530 |
+
],
|
| 531 |
+
"angular_velocity": [
|
| 532 |
+
1.5478144632652402e-07,
|
| 533 |
+
1.0244548320770264e-08,
|
| 534 |
+
-1.7380131112076924e-08
|
| 535 |
+
]
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 540 |
+
"pose": {
|
| 541 |
+
"pos": [
|
| 542 |
+
0.10198688507080078,
|
| 543 |
+
1.1537227630615234,
|
| 544 |
+
0.8999999761581421
|
| 545 |
+
],
|
| 546 |
+
"ori": [
|
| 547 |
+
-0.002133734291419387,
|
| 548 |
+
6.703253774276163e-08,
|
| 549 |
+
2.2879602212810823e-08,
|
| 550 |
+
0.9999977350234985
|
| 551 |
+
],
|
| 552 |
+
"scale": [
|
| 553 |
+
1.0,
|
| 554 |
+
1.0,
|
| 555 |
+
1.0
|
| 556 |
+
]
|
| 557 |
+
},
|
| 558 |
+
"dr": {
|
| 559 |
+
"visual": {
|
| 560 |
+
"kind": null,
|
| 561 |
+
"value": null,
|
| 562 |
+
"visible": true
|
| 563 |
+
},
|
| 564 |
+
"physics": {
|
| 565 |
+
"type": "rigid",
|
| 566 |
+
"mass": 0.5,
|
| 567 |
+
"physics_material": {
|
| 568 |
+
"static_friction": 0.9,
|
| 569 |
+
"dynamic_friction": 0.9,
|
| 570 |
+
"restitution": 0.0
|
| 571 |
+
},
|
| 572 |
+
"ratio": 1.0
|
| 573 |
+
},
|
| 574 |
+
"primitive_params": null
|
| 575 |
+
},
|
| 576 |
+
"type_specific": {
|
| 577 |
+
"linear_velocity": [
|
| 578 |
+
3.69897179552936e-09,
|
| 579 |
+
2.017105060758695e-08,
|
| 580 |
+
4.470348358154297e-08
|
| 581 |
+
],
|
| 582 |
+
"angular_velocity": [
|
| 583 |
+
-6.674059704891988e-07,
|
| 584 |
+
3.34950357228081e-07,
|
| 585 |
+
-7.161048642956303e-08
|
| 586 |
+
]
|
| 587 |
+
}
|
| 588 |
+
},
|
| 589 |
+
{
|
| 590 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 591 |
+
"pose": {
|
| 592 |
+
"pos": [
|
| 593 |
+
-1.387660026550293,
|
| 594 |
+
0.7179956436157227,
|
| 595 |
+
0.8999999761581421
|
| 596 |
+
],
|
| 597 |
+
"ori": [
|
| 598 |
+
-0.7802360653877258,
|
| 599 |
+
-6.199138091744771e-09,
|
| 600 |
+
-5.714335227224865e-09,
|
| 601 |
+
0.6254851222038269
|
| 602 |
+
],
|
| 603 |
+
"scale": [
|
| 604 |
+
1.0,
|
| 605 |
+
1.0,
|
| 606 |
+
1.0
|
| 607 |
+
]
|
| 608 |
+
},
|
| 609 |
+
"dr": {
|
| 610 |
+
"visual": {
|
| 611 |
+
"kind": null,
|
| 612 |
+
"value": null,
|
| 613 |
+
"visible": true
|
| 614 |
+
},
|
| 615 |
+
"physics": {
|
| 616 |
+
"type": "rigid",
|
| 617 |
+
"mass": 0.5,
|
| 618 |
+
"physics_material": {
|
| 619 |
+
"static_friction": 0.9,
|
| 620 |
+
"dynamic_friction": 0.9,
|
| 621 |
+
"restitution": 0.0
|
| 622 |
+
},
|
| 623 |
+
"ratio": 1.0
|
| 624 |
+
},
|
| 625 |
+
"primitive_params": null
|
| 626 |
+
},
|
| 627 |
+
"type_specific": {
|
| 628 |
+
"linear_velocity": [
|
| 629 |
+
-5.9534981389219865e-09,
|
| 630 |
+
-1.571572982861369e-09,
|
| 631 |
+
3.725290298461914e-09
|
| 632 |
+
],
|
| 633 |
+
"angular_velocity": [
|
| 634 |
+
8.524126116071784e-08,
|
| 635 |
+
-2.608977638374199e-07,
|
| 636 |
+
-6.293267063028907e-08
|
| 637 |
+
]
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
{
|
| 641 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 642 |
+
"pose": {
|
| 643 |
+
"pos": [
|
| 644 |
+
-0.1454477310180664,
|
| 645 |
+
0.4473390579223633,
|
| 646 |
+
0.8999999761581421
|
| 647 |
+
],
|
| 648 |
+
"ori": [
|
| 649 |
+
0.9999456405639648,
|
| 650 |
+
1.4365579836805864e-09,
|
| 651 |
+
2.2295190138521548e-09,
|
| 652 |
+
0.010430962778627872
|
| 653 |
+
],
|
| 654 |
+
"scale": [
|
| 655 |
+
1.0,
|
| 656 |
+
1.0,
|
| 657 |
+
1.0
|
| 658 |
+
]
|
| 659 |
+
},
|
| 660 |
+
"dr": {
|
| 661 |
+
"visual": {
|
| 662 |
+
"kind": null,
|
| 663 |
+
"value": null,
|
| 664 |
+
"visible": true
|
| 665 |
+
},
|
| 666 |
+
"physics": {
|
| 667 |
+
"type": "rigid",
|
| 668 |
+
"mass": 0.5,
|
| 669 |
+
"physics_material": {
|
| 670 |
+
"static_friction": 0.9,
|
| 671 |
+
"dynamic_friction": 0.9,
|
| 672 |
+
"restitution": 0.0
|
| 673 |
+
},
|
| 674 |
+
"ratio": 1.0
|
| 675 |
+
},
|
| 676 |
+
"primitive_params": null
|
| 677 |
+
},
|
| 678 |
+
"type_specific": {
|
| 679 |
+
"linear_velocity": [
|
| 680 |
+
-4.50681225672156e-09,
|
| 681 |
+
-6.555127107787939e-09,
|
| 682 |
+
2.60770320892334e-08
|
| 683 |
+
],
|
| 684 |
+
"angular_velocity": [
|
| 685 |
+
3.3187026815539866e-07,
|
| 686 |
+
-3.852896384159976e-07,
|
| 687 |
+
-4.049012147788744e-08
|
| 688 |
+
]
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
],
|
| 692 |
+
"plate": [
|
| 693 |
+
{
|
| 694 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
|
| 695 |
+
"pose": {
|
| 696 |
+
"pos": [
|
| 697 |
+
1.6951236724853516,
|
| 698 |
+
0.8521747589111328,
|
| 699 |
+
0.9179999828338623
|
| 700 |
+
],
|
| 701 |
+
"ori": [
|
| 702 |
+
0.7191495299339294,
|
| 703 |
+
-8.830304665252697e-08,
|
| 704 |
+
6.891729498192944e-08,
|
| 705 |
+
0.6948553919792175
|
| 706 |
+
],
|
| 707 |
+
"scale": [
|
| 708 |
+
1.0,
|
| 709 |
+
1.0,
|
| 710 |
+
1.0
|
| 711 |
+
]
|
| 712 |
+
},
|
| 713 |
+
"dr": {
|
| 714 |
+
"visual": {
|
| 715 |
+
"kind": null,
|
| 716 |
+
"value": null,
|
| 717 |
+
"visible": true
|
| 718 |
+
},
|
| 719 |
+
"physics": {
|
| 720 |
+
"type": "rigid",
|
| 721 |
+
"collision": true,
|
| 722 |
+
"mass": "asset",
|
| 723 |
+
"max_depenetration_velocity": 1.0,
|
| 724 |
+
"physics_material": {
|
| 725 |
+
"static_friction": 0.5,
|
| 726 |
+
"dynamic_friction": 0.45,
|
| 727 |
+
"restitution": 0.0,
|
| 728 |
+
"friction_combine_mode": "average"
|
| 729 |
+
},
|
| 730 |
+
"ratio": 1.0
|
| 731 |
+
},
|
| 732 |
+
"primitive_params": null
|
| 733 |
+
},
|
| 734 |
+
"type_specific": {
|
| 735 |
+
"linear_velocity": [
|
| 736 |
+
2.299233869962336e-08,
|
| 737 |
+
-5.743390829593409e-08,
|
| 738 |
+
1.2665987014770508e-07
|
| 739 |
+
],
|
| 740 |
+
"angular_velocity": [
|
| 741 |
+
2.57477950071916e-06,
|
| 742 |
+
9.131454135058448e-07,
|
| 743 |
+
-3.205086329671758e-08
|
| 744 |
+
]
|
| 745 |
+
}
|
| 746 |
+
},
|
| 747 |
+
{
|
| 748 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
|
| 749 |
+
"pose": {
|
| 750 |
+
"pos": [
|
| 751 |
+
0.11315441131591797,
|
| 752 |
+
1.1522369384765625,
|
| 753 |
+
0.9180000424385071
|
| 754 |
+
],
|
| 755 |
+
"ori": [
|
| 756 |
+
-0.010674996301531792,
|
| 757 |
+
6.627486470733857e-08,
|
| 758 |
+
2.4122774888724052e-08,
|
| 759 |
+
0.9999430179595947
|
| 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 |
+
4.7664855173934484e-08,
|
| 791 |
+
1.0178784037861988e-07,
|
| 792 |
+
-6.191432476043701e-06
|
| 793 |
+
],
|
| 794 |
+
"angular_velocity": [
|
| 795 |
+
-2.6658308343030512e-06,
|
| 796 |
+
3.3225321658392204e-06,
|
| 797 |
+
-1.0931499616617657e-07
|
| 798 |
+
]
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
{
|
| 802 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
|
| 803 |
+
"pose": {
|
| 804 |
+
"pos": [
|
| 805 |
+
-1.380563735961914,
|
| 806 |
+
0.7284841537475586,
|
| 807 |
+
0.9180000424385071
|
| 808 |
+
],
|
| 809 |
+
"ori": [
|
| 810 |
+
-0.7854931950569153,
|
| 811 |
+
1.884824314402067e-07,
|
| 812 |
+
-1.1039719538530335e-07,
|
| 813 |
+
0.6188704371452332
|
| 814 |
+
],
|
| 815 |
+
"scale": [
|
| 816 |
+
1.0,
|
| 817 |
+
1.0,
|
| 818 |
+
1.0
|
| 819 |
+
]
|
| 820 |
+
},
|
| 821 |
+
"dr": {
|
| 822 |
+
"visual": {
|
| 823 |
+
"kind": null,
|
| 824 |
+
"value": null,
|
| 825 |
+
"visible": true
|
| 826 |
+
},
|
| 827 |
+
"physics": {
|
| 828 |
+
"type": "rigid",
|
| 829 |
+
"collision": true,
|
| 830 |
+
"mass": "asset",
|
| 831 |
+
"max_depenetration_velocity": 1.0,
|
| 832 |
+
"physics_material": {
|
| 833 |
+
"static_friction": 0.5,
|
| 834 |
+
"dynamic_friction": 0.45,
|
| 835 |
+
"restitution": 0.0,
|
| 836 |
+
"friction_combine_mode": "average"
|
| 837 |
+
},
|
| 838 |
+
"ratio": 1.0
|
| 839 |
+
},
|
| 840 |
+
"primitive_params": null
|
| 841 |
+
},
|
| 842 |
+
"type_specific": {
|
| 843 |
+
"linear_velocity": [
|
| 844 |
+
-2.7767866868089186e-06,
|
| 845 |
+
-8.382476153201424e-07,
|
| 846 |
+
-5.029141902923584e-06
|
| 847 |
+
],
|
| 848 |
+
"angular_velocity": [
|
| 849 |
+
6.754562491551042e-05,
|
| 850 |
+
-3.069661761401221e-05,
|
| 851 |
+
-3.108818782493472e-05
|
| 852 |
+
]
|
| 853 |
+
}
|
| 854 |
+
},
|
| 855 |
+
{
|
| 856 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
|
| 857 |
+
"pose": {
|
| 858 |
+
"pos": [
|
| 859 |
+
-0.13684463500976562,
|
| 860 |
+
0.4398488998413086,
|
| 861 |
+
0.9179999828338623
|
| 862 |
+
],
|
| 863 |
+
"ori": [
|
| 864 |
+
0.9941837191581726,
|
| 865 |
+
3.3497131735060748e-09,
|
| 866 |
+
1.619858025492249e-09,
|
| 867 |
+
0.10769711434841156
|
| 868 |
+
],
|
| 869 |
+
"scale": [
|
| 870 |
+
1.0,
|
| 871 |
+
1.0,
|
| 872 |
+
1.0
|
| 873 |
+
]
|
| 874 |
+
},
|
| 875 |
+
"dr": {
|
| 876 |
+
"visual": {
|
| 877 |
+
"kind": null,
|
| 878 |
+
"value": null,
|
| 879 |
+
"visible": true
|
| 880 |
+
},
|
| 881 |
+
"physics": {
|
| 882 |
+
"type": "rigid",
|
| 883 |
+
"collision": true,
|
| 884 |
+
"mass": "asset",
|
| 885 |
+
"max_depenetration_velocity": 1.0,
|
| 886 |
+
"physics_material": {
|
| 887 |
+
"static_friction": 0.5,
|
| 888 |
+
"dynamic_friction": 0.45,
|
| 889 |
+
"restitution": 0.0,
|
| 890 |
+
"friction_combine_mode": "average"
|
| 891 |
+
},
|
| 892 |
+
"ratio": 1.0
|
| 893 |
+
},
|
| 894 |
+
"primitive_params": null
|
| 895 |
+
},
|
| 896 |
+
"type_specific": {
|
| 897 |
+
"linear_velocity": [
|
| 898 |
+
-1.407413634524346e-07,
|
| 899 |
+
-3.381070001751141e-08,
|
| 900 |
+
-1.1064112186431885e-06
|
| 901 |
+
],
|
| 902 |
+
"angular_velocity": [
|
| 903 |
+
8.126643820105528e-07,
|
| 904 |
+
-4.631719548342517e-06,
|
| 905 |
+
3.5524546859733164e-08
|
| 906 |
+
]
|
| 907 |
+
}
|
| 908 |
+
}
|
| 909 |
+
],
|
| 910 |
+
"deco_hub_west": [
|
| 911 |
+
{
|
| 912 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 913 |
+
"pose": {
|
| 914 |
+
"pos": [
|
| 915 |
+
-3.36,
|
| 916 |
+
0.0,
|
| 917 |
+
0.0
|
| 918 |
+
],
|
| 919 |
+
"ori": [
|
| 920 |
+
1.0,
|
| 921 |
+
0.0,
|
| 922 |
+
0.0,
|
| 923 |
+
0.0
|
| 924 |
+
],
|
| 925 |
+
"scale": [
|
| 926 |
+
1.0,
|
| 927 |
+
1.0,
|
| 928 |
+
1.0
|
| 929 |
+
]
|
| 930 |
+
},
|
| 931 |
+
"dr": {
|
| 932 |
+
"visual": {
|
| 933 |
+
"kind": null,
|
| 934 |
+
"value": null,
|
| 935 |
+
"visible": true
|
| 936 |
+
},
|
| 937 |
+
"physics": {
|
| 938 |
+
"type": "geometry",
|
| 939 |
+
"collision": false,
|
| 940 |
+
"ratio": 1.0
|
| 941 |
+
},
|
| 942 |
+
"primitive_params": null
|
| 943 |
+
},
|
| 944 |
+
"type_specific": {}
|
| 945 |
+
}
|
| 946 |
+
],
|
| 947 |
+
"deco_hub_east": [
|
| 948 |
+
{
|
| 949 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 950 |
+
"pose": {
|
| 951 |
+
"pos": [
|
| 952 |
+
3.36,
|
| 953 |
+
0.0,
|
| 954 |
+
0.0
|
| 955 |
+
],
|
| 956 |
+
"ori": [
|
| 957 |
+
1.0,
|
| 958 |
+
0.0,
|
| 959 |
+
0.0,
|
| 960 |
+
0.0
|
| 961 |
+
],
|
| 962 |
+
"scale": [
|
| 963 |
+
1.0,
|
| 964 |
+
1.0,
|
| 965 |
+
1.0
|
| 966 |
+
]
|
| 967 |
+
},
|
| 968 |
+
"dr": {
|
| 969 |
+
"visual": {
|
| 970 |
+
"kind": null,
|
| 971 |
+
"value": null,
|
| 972 |
+
"visible": true
|
| 973 |
+
},
|
| 974 |
+
"physics": {
|
| 975 |
+
"type": "geometry",
|
| 976 |
+
"collision": false,
|
| 977 |
+
"ratio": 1.0
|
| 978 |
+
},
|
| 979 |
+
"primitive_params": null
|
| 980 |
+
},
|
| 981 |
+
"type_specific": {}
|
| 982 |
+
}
|
| 983 |
+
],
|
| 984 |
+
"deco_hub_back": [
|
| 985 |
+
{
|
| 986 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
|
| 987 |
+
"pose": {
|
| 988 |
+
"pos": [
|
| 989 |
+
-3.0,
|
| 990 |
+
-2.1,
|
| 991 |
+
0.0
|
| 992 |
+
],
|
| 993 |
+
"ori": [
|
| 994 |
+
1.0,
|
| 995 |
+
0.0,
|
| 996 |
+
0.0,
|
| 997 |
+
0.0
|
| 998 |
+
],
|
| 999 |
+
"scale": [
|
| 1000 |
+
1.0,
|
| 1001 |
+
1.0,
|
| 1002 |
+
1.0
|
| 1003 |
+
]
|
| 1004 |
+
},
|
| 1005 |
+
"dr": {
|
| 1006 |
+
"visual": {
|
| 1007 |
+
"kind": null,
|
| 1008 |
+
"value": null,
|
| 1009 |
+
"visible": true
|
| 1010 |
+
},
|
| 1011 |
+
"physics": {
|
| 1012 |
+
"type": "geometry",
|
| 1013 |
+
"collision": false,
|
| 1014 |
+
"ratio": 1.0
|
| 1015 |
+
},
|
| 1016 |
+
"primitive_params": null
|
| 1017 |
+
},
|
| 1018 |
+
"type_specific": {}
|
| 1019 |
+
}
|
| 1020 |
+
],
|
| 1021 |
+
"deco_bench_east": [
|
| 1022 |
+
{
|
| 1023 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1024 |
+
"pose": {
|
| 1025 |
+
"pos": [
|
| 1026 |
+
2.6,
|
| 1027 |
+
-2.5,
|
| 1028 |
+
0.0
|
| 1029 |
+
],
|
| 1030 |
+
"ori": [
|
| 1031 |
+
6.123234262925839e-17,
|
| 1032 |
+
0.0,
|
| 1033 |
+
0.0,
|
| 1034 |
+
1.0
|
| 1035 |
+
],
|
| 1036 |
+
"scale": [
|
| 1037 |
+
1.0,
|
| 1038 |
+
1.0,
|
| 1039 |
+
1.0
|
| 1040 |
+
]
|
| 1041 |
+
},
|
| 1042 |
+
"dr": {
|
| 1043 |
+
"visual": {
|
| 1044 |
+
"kind": null,
|
| 1045 |
+
"value": null,
|
| 1046 |
+
"visible": true
|
| 1047 |
+
},
|
| 1048 |
+
"physics": {
|
| 1049 |
+
"type": "geometry",
|
| 1050 |
+
"collision": false,
|
| 1051 |
+
"ratio": 1.0
|
| 1052 |
+
},
|
| 1053 |
+
"primitive_params": null
|
| 1054 |
+
},
|
| 1055 |
+
"type_specific": {}
|
| 1056 |
+
}
|
| 1057 |
+
],
|
| 1058 |
+
"deco_bench_gap": [
|
| 1059 |
+
{
|
| 1060 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1061 |
+
"pose": {
|
| 1062 |
+
"pos": [
|
| 1063 |
+
-0.1,
|
| 1064 |
+
-2.9,
|
| 1065 |
+
0.0
|
| 1066 |
+
],
|
| 1067 |
+
"ori": [
|
| 1068 |
+
1.0,
|
| 1069 |
+
0.0,
|
| 1070 |
+
0.0,
|
| 1071 |
+
0.0
|
| 1072 |
+
],
|
| 1073 |
+
"scale": [
|
| 1074 |
+
1.0,
|
| 1075 |
+
1.0,
|
| 1076 |
+
1.0
|
| 1077 |
+
]
|
| 1078 |
+
},
|
| 1079 |
+
"dr": {
|
| 1080 |
+
"visual": {
|
| 1081 |
+
"kind": null,
|
| 1082 |
+
"value": null,
|
| 1083 |
+
"visible": true
|
| 1084 |
+
},
|
| 1085 |
+
"physics": {
|
| 1086 |
+
"type": "geometry",
|
| 1087 |
+
"collision": false,
|
| 1088 |
+
"ratio": 1.0
|
| 1089 |
+
},
|
| 1090 |
+
"primitive_params": null
|
| 1091 |
+
},
|
| 1092 |
+
"type_specific": {}
|
| 1093 |
+
}
|
| 1094 |
+
]
|
| 1095 |
+
},
|
| 1096 |
+
{},
|
| 1097 |
+
{},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
{
|
| 1103 |
+
"t": 7.6799999999998585,
|
| 1104 |
+
"step": 1536,
|
| 1105 |
+
"counter": 0,
|
| 1106 |
+
"devices": {
|
| 1107 |
+
"a4s_sealer_1": {
|
| 1108 |
+
"mode": "auto",
|
| 1109 |
+
"units": {
|
| 1110 |
+
"drawer": {
|
| 1111 |
+
"state": "at_out",
|
| 1112 |
+
"active": null,
|
| 1113 |
+
"target": 0.0,
|
| 1114 |
+
"goal_name": "out",
|
| 1115 |
+
"profile": null,
|
| 1116 |
+
"q_start": null,
|
| 1117 |
+
"reversing": false,
|
| 1118 |
+
"blocked_for": 0.0,
|
| 1119 |
+
"settled_for": 0.0,
|
| 1120 |
+
"last_q": 3.0277503594577926e-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": 0.23178339763724942,
|
| 1148 |
+
"holds": [],
|
| 1149 |
+
"station": "pick",
|
| 1150 |
+
"rider": "carrier_4",
|
| 1151 |
+
"arrived": true,
|
| 1152 |
+
"settle_count": 1377,
|
| 1153 |
+
"released": {
|
| 1154 |
+
"pick": []
|
| 1155 |
+
},
|
| 1156 |
+
"last_pos": {
|
| 1157 |
+
"carrier_1": [
|
| 1158 |
+
1.5435472428798676,
|
| 1159 |
+
0.40174275636672974,
|
| 1160 |
+
0.0
|
| 1161 |
+
],
|
| 1162 |
+
"carrier_2": [
|
| 1163 |
+
-0.048013120889663696,
|
| 1164 |
+
0.7037227749824524,
|
| 1165 |
+
0.0
|
| 1166 |
+
],
|
| 1167 |
+
"carrier_3": [
|
| 1168 |
+
-1.5376600325107574,
|
| 1169 |
+
0.2679956555366516,
|
| 1170 |
+
0.0
|
| 1171 |
+
],
|
| 1172 |
+
"carrier_4": [
|
| 1173 |
+
-0.2954477369785309,
|
| 1174 |
+
-0.0026609301567077637,
|
| 1175 |
+
0.0
|
| 1176 |
+
]
|
| 1177 |
+
},
|
| 1178 |
+
"command": 0.0
|
| 1179 |
+
},
|
| 1180 |
+
"belt": {
|
| 1181 |
+
"target_speed": 0.0,
|
| 1182 |
+
"command_speed": 0.0
|
| 1183 |
+
},
|
| 1184 |
+
"seen": {
|
| 1185 |
+
"state": "at_station",
|
| 1186 |
+
"station": "pick",
|
| 1187 |
+
"rider": "carrier_4",
|
| 1188 |
+
"arrived": true
|
| 1189 |
+
}
|
| 1190 |
+
}
|
| 1191 |
+
},
|
| 1192 |
+
"queues": {},
|
| 1193 |
+
"program": null,
|
| 1194 |
+
"sensors": {},
|
| 1195 |
+
"interlocks": {}
|
| 1196 |
+
}
|
| 1197 |
+
},
|
| 1198 |
+
"zones": {},
|
| 1199 |
+
"labware": {
|
| 1200 |
+
"plate_1": {
|
| 1201 |
+
"sealed": false
|
| 1202 |
+
},
|
| 1203 |
+
"plate_2": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_3": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_4": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
}
|
| 1212 |
+
},
|
| 1213 |
+
"rules": {},
|
| 1214 |
+
"records": [],
|
| 1215 |
+
"bus": {
|
| 1216 |
+
"seq": 3,
|
| 1217 |
+
"queue": []
|
| 1218 |
+
}
|
| 1219 |
+
},
|
| 1220 |
+
null,
|
| 1221 |
+
null,
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
{},
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{
|
| 1233 |
+
"ceiling": {
|
| 1234 |
+
"type": "rect",
|
| 1235 |
+
"pose": {
|
| 1236 |
+
"pos": [
|
| 1237 |
+
-0.22686195043956403,
|
| 1238 |
+
0.07926433332683103,
|
| 1239 |
+
2.74514327606826
|
| 1240 |
+
],
|
| 1241 |
+
"ori": [
|
| 1242 |
+
-9.739335882295414,
|
| 1243 |
+
6.764687592297747,
|
| 1244 |
+
25.784851741177718
|
| 1245 |
+
],
|
| 1246 |
+
"scale": [
|
| 1247 |
+
1.0,
|
| 1248 |
+
1.0,
|
| 1249 |
+
1.0
|
| 1250 |
+
]
|
| 1251 |
+
},
|
| 1252 |
+
"dr": {
|
| 1253 |
+
"color_temperature": 5329.769262457263,
|
| 1254 |
+
"color": [
|
| 1255 |
+
0.9369503280919994,
|
| 1256 |
+
0.8432770123902653,
|
| 1257 |
+
0.8804377095898728
|
| 1258 |
+
],
|
| 1259 |
+
"intensity": 10377.042324903421,
|
| 1260 |
+
"width": 1.4186326434562855,
|
| 1261 |
+
"height": 1.1235045129780838
|
| 1262 |
+
}
|
| 1263 |
+
},
|
| 1264 |
+
"key": {
|
| 1265 |
+
"type": "sphere",
|
| 1266 |
+
"pose": {
|
| 1267 |
+
"pos": [
|
| 1268 |
+
1.1946933295152733,
|
| 1269 |
+
-1.1001750980382325,
|
| 1270 |
+
2.401556242491061
|
| 1271 |
+
],
|
| 1272 |
+
"ori": [
|
| 1273 |
+
-11.028244468605095,
|
| 1274 |
+
-33.71749049666292,
|
| 1275 |
+
4.767938241474397
|
| 1276 |
+
],
|
| 1277 |
+
"scale": [
|
| 1278 |
+
1.0,
|
| 1279 |
+
1.0,
|
| 1280 |
+
1.0
|
| 1281 |
+
]
|
| 1282 |
+
},
|
| 1283 |
+
"dr": {
|
| 1284 |
+
"color_temperature": 3175.5782546180444,
|
| 1285 |
+
"color": [
|
| 1286 |
+
0.8903397024195455,
|
| 1287 |
+
0.887635426198191,
|
| 1288 |
+
0.9133174715950029
|
| 1289 |
+
],
|
| 1290 |
+
"intensity": 7474.4034253816,
|
| 1291 |
+
"radius": 0.07367704269262512
|
| 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": 1028.0693120869357,
|
| 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 |
+
0.9141046404838562,
|
| 1394 |
+
-1.7193962335586548,
|
| 1395 |
+
2.090498447418213,
|
| 1396 |
+
-1.9419013261795044,
|
| 1397 |
+
-1.5707999467849731,
|
| 1398 |
+
2.484901189804077,
|
| 1399 |
+
0.017999999225139618,
|
| 1400 |
+
0.017999999225139618
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
0.8130300045013428,
|
| 1404 |
+
-1.4878485202789307,
|
| 1405 |
+
2.0736262798309326,
|
| 1406 |
+
-2.156686305999756,
|
| 1407 |
+
-1.5709317922592163,
|
| 1408 |
+
2.57654070854187,
|
| 1409 |
+
0.00716923363506794,
|
| 1410 |
+
0.0067069134674966335
|
| 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 |
+
1.3528087139129639,
|
| 1424 |
+
-1.5677305459976196,
|
| 1425 |
+
2.156156063079834,
|
| 1426 |
+
-2.1616246700286865,
|
| 1427 |
+
-1.5730024576187134,
|
| 1428 |
+
0.5910764932632446,
|
| 1429 |
+
0.007637870032340288,
|
| 1430 |
+
0.006945810746401548
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.0,
|
| 1436 |
+
-2.684326497481541e-38,
|
| 1437 |
+
-1.5071239638312415e-38,
|
| 1438 |
+
-2.3930805686043324e-37,
|
| 1439 |
+
2.3827013190348942e-37,
|
| 1440 |
+
3.6677774339751367e-37,
|
| 1441 |
+
-2.668989285789506e-38,
|
| 1442 |
+
-3.3334390549827043e-38
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.025624366477131844,
|
| 1446 |
+
-0.015290438197553158,
|
| 1447 |
+
0.01249935757368803,
|
| 1448 |
+
0.0037775994278490543,
|
| 1449 |
+
-0.0015776657965034246,
|
| 1450 |
+
0.015131352469325066,
|
| 1451 |
+
-0.007738595362752676,
|
| 1452 |
+
-0.0012227437691763043
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
0.0,
|
| 1456 |
+
0.0,
|
| 1457 |
+
0.0,
|
| 1458 |
+
0.0,
|
| 1459 |
+
0.0,
|
| 1460 |
+
0.0,
|
| 1461 |
+
0.0,
|
| 1462 |
+
0.0
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
0.03206850588321686,
|
| 1466 |
+
0.012532693333923817,
|
| 1467 |
+
-0.004647221881896257,
|
| 1468 |
+
-0.007227111142128706,
|
| 1469 |
+
0.0001894873712444678,
|
| 1470 |
+
-0.07159443944692612,
|
| 1471 |
+
-0.008785541169345379,
|
| 1472 |
+
0.0003236491756979376
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.04820631071925163,
|
| 1482 |
+
-0.0001303861936321482,
|
| 1483 |
+
-0.030390366911888123,
|
| 1484 |
+
-0.2818618416786194,
|
| 1485 |
+
0.6532421708106995,
|
| 1486 |
+
0.640962541103363,
|
| 1487 |
+
-0.2880895137786865
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.05305223912000656,
|
| 1491 |
+
-0.0001239738630829379,
|
| 1492 |
+
-0.03338266536593437,
|
| 1493 |
+
-0.2700102925300598,
|
| 1494 |
+
0.6570901870727539,
|
| 1495 |
+
0.6490880250930786,
|
| 1496 |
+
-0.27205079793930054
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.05149324983358383,
|
| 1500 |
+
-0.002279262989759445,
|
| 1501 |
+
-0.027825087308883667,
|
| 1502 |
+
-0.2821897864341736,
|
| 1503 |
+
0.6450855731964111,
|
| 1504 |
+
0.6572386026382446,
|
| 1505 |
+
-0.26883265376091003
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.05056922137737274,
|
| 1509 |
+
-0.0014163856394588947,
|
| 1510 |
+
-0.027013646438717842,
|
| 1511 |
+
-0.2695470154285431,
|
| 1512 |
+
0.656283438205719,
|
| 1513 |
+
0.6435937881469727,
|
| 1514 |
+
-0.2870948910713196
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.06213340908288956,
|
| 1520 |
+
0.5999961495399475,
|
| 1521 |
+
1.9415220022201538,
|
| 1522 |
+
0.03251606971025467,
|
| 1523 |
+
0.0028824086766690016,
|
| 1524 |
+
0.25475552678108215,
|
| 1525 |
+
0.9664543271064758
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.03551667556166649,
|
| 1529 |
+
0.5632237195968628,
|
| 1530 |
+
1.9457356929779053,
|
| 1531 |
+
0.05593063682317734,
|
| 1532 |
+
0.0067042456939816475,
|
| 1533 |
+
0.28163379430770874,
|
| 1534 |
+
0.9578670263290405
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.031140776351094246,
|
| 1538 |
+
0.5859112739562988,
|
| 1539 |
+
1.9420381784439087,
|
| 1540 |
+
0.0351712629199028,
|
| 1541 |
+
0.020304419100284576,
|
| 1542 |
+
0.2546660304069519,
|
| 1543 |
+
0.96617591381073
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06532387435436249,
|
| 1547 |
+
0.5927990078926086,
|
| 1548 |
+
1.957279086112976,
|
| 1549 |
+
0.05347219109535217,
|
| 1550 |
+
0.01671055518090725,
|
| 1551 |
+
0.26629170775413513,
|
| 1552 |
+
0.9622630476951599
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p015_e017/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0bb8d14c4495873fc79c9a8785823f9023b9d9b85412a1a3ff1d25418abd3d14
|
| 3 |
+
size 6225247
|
episodes/c7_p015_e018/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95044671171dac852b431094618186aa58f5b38d99db6d57b2d066b2908180d8
|
| 3 |
+
size 186265
|
episodes/c7_p015_e018/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 2, "seq": 1, "step": 110, "t": 0.55, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 2 |
+
{"env_id": 2, "seq": 2, "step": 110, "t": 0.55, "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": 115, "t": 0.575, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 6287, "t": 31.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5961412645806643}, "cause": "task-2-1"}
|
| 7 |
+
{"env_id": 2, "seq": 7, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
|
| 8 |
+
{"env_id": 2, "seq": 8, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 2, "seq": 9, "step": 6900, "t": 34.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 10 |
+
{"env_id": 2, "seq": 10, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 2, "seq": 11, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 12 |
+
{"env_id": 2, "seq": 12, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 13 |
+
{"env_id": 2, "seq": 13, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
|
| 14 |
+
{"env_id": 2, "seq": 14, "step": 7319, "t": 36.595, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
|
| 15 |
+
{"env_id": 2, "seq": 15, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
|
| 16 |
+
{"env_id": 2, "seq": 16, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
|
| 17 |
+
{"env_id": 2, "seq": 17, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 2, "seq": 18, "step": 7319, "t": 36.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5961412645806643}, "cause": "program-2-3"}
|
| 19 |
+
{"env_id": 2, "seq": 19, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 2, "seq": 20, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.60000000000133}, "cause": "program-2-3"}
|
| 21 |
+
{"env_id": 2, "seq": 21, "step": 7839, "t": 39.195, "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": 2.60000000000133}}, "cause": "program-2-3"}
|
| 22 |
+
{"env_id": 2, "seq": 22, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
|
| 23 |
+
{"env_id": 2, "seq": 23, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 2, "seq": 24, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 25 |
+
{"env_id": 2, "seq": 25, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 2, "seq": 26, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5069572256720676e-09}, "cause": "program-2-4"}
|
| 27 |
+
{"env_id": 2, "seq": 27, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5069572256720676e-09}, "cause": "program-2-4"}
|
| 28 |
+
{"env_id": 2, "seq": 28, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
|
| 29 |
+
{"env_id": 2, "seq": 29, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 30 |
+
{"env_id": 2, "seq": 30, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 31 |
+
{"env_id": 2, "seq": 31, "step": 8839, "t": 44.195, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 32 |
+
{"env_id": 2, "seq": 32, "step": 10528, "t": 52.64, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 33 |
+
{"env_id": 2, "seq": 33, "step": 10528, "t": 52.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
|
| 34 |
+
{"env_id": 2, "seq": 34, "step": 10528, "t": 52.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 2, "seq": 35, "step": 10528, "t": 52.64, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
|
episodes/c7_p015_e018/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aa014e6d6dba6d938a7e8ab216d408a2657efe24fcfe0a971abfc8e89830fce0
|
| 3 |
+
size 1298975
|
episodes/c7_p015_e018/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p015/magicsim/18",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1222,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1222,
|
| 8 |
+
"env": 1222
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p015_e018/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 18,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c7_p015",
|
| 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_96_2ml/deep_well_96_2ml.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
+
0.9605
|
| 162 |
+
],
|
| 163 |
+
"ori": [
|
| 164 |
+
1.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
"scale": [
|
| 170 |
+
1.0,
|
| 171 |
+
1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
"visual": {
|
| 177 |
+
"kind": null,
|
| 178 |
+
"value": null,
|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
+
-0.6,
|
| 195 |
+
0.02,
|
| 196 |
+
1.0285
|
| 197 |
+
],
|
| 198 |
+
"ori": [
|
| 199 |
+
6.123234262925839e-17,
|
| 200 |
+
0.0,
|
| 201 |
+
0.0,
|
| 202 |
+
1.0
|
| 203 |
+
],
|
| 204 |
+
"scale": [
|
| 205 |
+
1.0,
|
| 206 |
+
1.0,
|
| 207 |
+
1.0
|
| 208 |
+
]
|
| 209 |
+
},
|
| 210 |
+
"dr": {
|
| 211 |
+
"visual": {
|
| 212 |
+
"kind": null,
|
| 213 |
+
"value": null,
|
| 214 |
+
"visible": true
|
| 215 |
+
},
|
| 216 |
+
"physics": {
|
| 217 |
+
"type": "geometry",
|
| 218 |
+
"collision": false,
|
| 219 |
+
"ratio": 1.0
|
| 220 |
+
},
|
| 221 |
+
"primitive_params": null
|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 227 |
+
"pose": {
|
| 228 |
+
"pos": [
|
| 229 |
+
-0.6,
|
| 230 |
+
0.02,
|
| 231 |
+
1.0965
|
| 232 |
+
],
|
| 233 |
+
"ori": [
|
| 234 |
+
1.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0
|
| 238 |
+
],
|
| 239 |
+
"scale": [
|
| 240 |
+
1.0,
|
| 241 |
+
1.0,
|
| 242 |
+
1.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"dr": {
|
| 246 |
+
"visual": {
|
| 247 |
+
"kind": null,
|
| 248 |
+
"value": null,
|
| 249 |
+
"visible": true
|
| 250 |
+
},
|
| 251 |
+
"physics": {
|
| 252 |
+
"type": "geometry",
|
| 253 |
+
"collision": false,
|
| 254 |
+
"ratio": 1.0
|
| 255 |
+
},
|
| 256 |
+
"primitive_params": null
|
| 257 |
+
},
|
| 258 |
+
"type_specific": {}
|
| 259 |
+
},
|
| 260 |
+
{
|
| 261 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 262 |
+
"pose": {
|
| 263 |
+
"pos": [
|
| 264 |
+
-0.6,
|
| 265 |
+
0.02,
|
| 266 |
+
1.1645
|
| 267 |
+
],
|
| 268 |
+
"ori": [
|
| 269 |
+
6.123234262925839e-17,
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
1.0
|
| 273 |
+
],
|
| 274 |
+
"scale": [
|
| 275 |
+
1.0,
|
| 276 |
+
1.0,
|
| 277 |
+
1.0
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"dr": {
|
| 281 |
+
"visual": {
|
| 282 |
+
"kind": null,
|
| 283 |
+
"value": null,
|
| 284 |
+
"visible": true
|
| 285 |
+
},
|
| 286 |
+
"physics": {
|
| 287 |
+
"type": "geometry",
|
| 288 |
+
"collision": false,
|
| 289 |
+
"ratio": 1.0
|
| 290 |
+
},
|
| 291 |
+
"primitive_params": null
|
| 292 |
+
},
|
| 293 |
+
"type_specific": {}
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.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 |
+
0.4706087112426758,
|
| 337 |
+
0.09150505065917969,
|
| 338 |
+
0.8999999761581421
|
| 339 |
+
],
|
| 340 |
+
"ori": [
|
| 341 |
+
0.7163568735122681,
|
| 342 |
+
0.0,
|
| 343 |
+
0.0,
|
| 344 |
+
-0.6977340579032898
|
| 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": 0.22260808652973973,
|
| 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": -0.018271791240366708,
|
| 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": 0.22260808652973973,
|
| 479 |
+
"holds": [],
|
| 480 |
+
"station": "pick",
|
| 481 |
+
"rider": "carrier_1",
|
| 482 |
+
"arrived": true,
|
| 483 |
+
"applied_speed": 0.0
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
],
|
| 488 |
+
"carrier": [
|
| 489 |
+
{
|
| 490 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 491 |
+
"pose": {
|
| 492 |
+
"pos": [
|
| 493 |
+
0.1323680877685547,
|
| 494 |
+
0.45000362396240234,
|
| 495 |
+
0.8999999761581421
|
| 496 |
+
],
|
| 497 |
+
"ori": [
|
| 498 |
+
1.0,
|
| 499 |
+
1.6806862845886172e-10,
|
| 500 |
+
2.2543794608864687e-10,
|
| 501 |
+
3.141157503705472e-05
|
| 502 |
+
],
|
| 503 |
+
"scale": [
|
| 504 |
+
1.0,
|
| 505 |
+
1.0,
|
| 506 |
+
1.0
|
| 507 |
+
]
|
| 508 |
+
},
|
| 509 |
+
"dr": {
|
| 510 |
+
"visual": {
|
| 511 |
+
"kind": null,
|
| 512 |
+
"value": null,
|
| 513 |
+
"visible": true
|
| 514 |
+
},
|
| 515 |
+
"physics": {
|
| 516 |
+
"type": "rigid",
|
| 517 |
+
"mass": 0.5,
|
| 518 |
+
"physics_material": {
|
| 519 |
+
"static_friction": 0.9,
|
| 520 |
+
"dynamic_friction": 0.9,
|
| 521 |
+
"restitution": 0.0
|
| 522 |
+
},
|
| 523 |
+
"ratio": 1.0
|
| 524 |
+
},
|
| 525 |
+
"primitive_params": null
|
| 526 |
+
},
|
| 527 |
+
"type_specific": {
|
| 528 |
+
"linear_velocity": [
|
| 529 |
+
1.0234095793038023e-09,
|
| 530 |
+
-6.265182816989068e-11,
|
| 531 |
+
7.450580596923828e-09
|
| 532 |
+
],
|
| 533 |
+
"angular_velocity": [
|
| 534 |
+
2.0013558810205723e-08,
|
| 535 |
+
1.0488550117315754e-07,
|
| 536 |
+
-7.211431451992212e-09
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
{
|
| 541 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 542 |
+
"pose": {
|
| 543 |
+
"pos": [
|
| 544 |
+
-1.290557861328125,
|
| 545 |
+
1.049941062927246,
|
| 546 |
+
0.8999999761581421
|
| 547 |
+
],
|
| 548 |
+
"ori": [
|
| 549 |
+
-0.3677167594432831,
|
| 550 |
+
2.8890603687159455e-08,
|
| 551 |
+
3.6600134478703694e-08,
|
| 552 |
+
0.9299378395080566
|
| 553 |
+
],
|
| 554 |
+
"scale": [
|
| 555 |
+
1.0,
|
| 556 |
+
1.0,
|
| 557 |
+
1.0
|
| 558 |
+
]
|
| 559 |
+
},
|
| 560 |
+
"dr": {
|
| 561 |
+
"visual": {
|
| 562 |
+
"kind": null,
|
| 563 |
+
"value": null,
|
| 564 |
+
"visible": true
|
| 565 |
+
},
|
| 566 |
+
"physics": {
|
| 567 |
+
"type": "rigid",
|
| 568 |
+
"mass": 0.5,
|
| 569 |
+
"physics_material": {
|
| 570 |
+
"static_friction": 0.9,
|
| 571 |
+
"dynamic_friction": 0.9,
|
| 572 |
+
"restitution": 0.0
|
| 573 |
+
},
|
| 574 |
+
"ratio": 1.0
|
| 575 |
+
},
|
| 576 |
+
"primitive_params": null
|
| 577 |
+
},
|
| 578 |
+
"type_specific": {
|
| 579 |
+
"linear_velocity": [
|
| 580 |
+
4.790194907400291e-10,
|
| 581 |
+
-7.915446076367516e-10,
|
| 582 |
+
1.4901161193847656e-08
|
| 583 |
+
],
|
| 584 |
+
"angular_velocity": [
|
| 585 |
+
-9.997165761888027e-09,
|
| 586 |
+
1.046100805979222e-07,
|
| 587 |
+
-4.954983978677774e-09
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
{
|
| 592 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 593 |
+
"pose": {
|
| 594 |
+
"pos": [
|
| 595 |
+
0.013841629028320312,
|
| 596 |
+
1.1500015258789062,
|
| 597 |
+
0.8999999761581421
|
| 598 |
+
],
|
| 599 |
+
"ori": [
|
| 600 |
+
-2.1630215996992774e-05,
|
| 601 |
+
3.3677408084464844e-10,
|
| 602 |
+
1.260072712838678e-09,
|
| 603 |
+
1.0
|
| 604 |
+
],
|
| 605 |
+
"scale": [
|
| 606 |
+
1.0,
|
| 607 |
+
1.0,
|
| 608 |
+
1.0
|
| 609 |
+
]
|
| 610 |
+
},
|
| 611 |
+
"dr": {
|
| 612 |
+
"visual": {
|
| 613 |
+
"kind": null,
|
| 614 |
+
"value": null,
|
| 615 |
+
"visible": true
|
| 616 |
+
},
|
| 617 |
+
"physics": {
|
| 618 |
+
"type": "rigid",
|
| 619 |
+
"mass": 0.5,
|
| 620 |
+
"physics_material": {
|
| 621 |
+
"static_friction": 0.9,
|
| 622 |
+
"dynamic_friction": 0.9,
|
| 623 |
+
"restitution": 0.0
|
| 624 |
+
},
|
| 625 |
+
"ratio": 1.0
|
| 626 |
+
},
|
| 627 |
+
"primitive_params": null
|
| 628 |
+
},
|
| 629 |
+
"type_specific": {
|
| 630 |
+
"linear_velocity": [
|
| 631 |
+
-1.610264810381068e-09,
|
| 632 |
+
-1.834001395195628e-09,
|
| 633 |
+
1.1175870895385742e-08
|
| 634 |
+
],
|
| 635 |
+
"angular_velocity": [
|
| 636 |
+
7.477559904600639e-08,
|
| 637 |
+
-1.4140148607566516e-07,
|
| 638 |
+
-2.6852720935721663e-08
|
| 639 |
+
]
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 644 |
+
"pose": {
|
| 645 |
+
"pos": [
|
| 646 |
+
1.5886125564575195,
|
| 647 |
+
0.5479755401611328,
|
| 648 |
+
0.8999999761581421
|
| 649 |
+
],
|
| 650 |
+
"ori": [
|
| 651 |
+
0.930655837059021,
|
| 652 |
+
-1.3594816827833256e-08,
|
| 653 |
+
2.3624060929705593e-08,
|
| 654 |
+
0.3658958077430725
|
| 655 |
+
],
|
| 656 |
+
"scale": [
|
| 657 |
+
1.0,
|
| 658 |
+
1.0,
|
| 659 |
+
1.0
|
| 660 |
+
]
|
| 661 |
+
},
|
| 662 |
+
"dr": {
|
| 663 |
+
"visual": {
|
| 664 |
+
"kind": null,
|
| 665 |
+
"value": null,
|
| 666 |
+
"visible": true
|
| 667 |
+
},
|
| 668 |
+
"physics": {
|
| 669 |
+
"type": "rigid",
|
| 670 |
+
"mass": 0.5,
|
| 671 |
+
"physics_material": {
|
| 672 |
+
"static_friction": 0.9,
|
| 673 |
+
"dynamic_friction": 0.9,
|
| 674 |
+
"restitution": 0.0
|
| 675 |
+
},
|
| 676 |
+
"ratio": 1.0
|
| 677 |
+
},
|
| 678 |
+
"primitive_params": null
|
| 679 |
+
},
|
| 680 |
+
"type_specific": {
|
| 681 |
+
"linear_velocity": [
|
| 682 |
+
7.565088999683667e-09,
|
| 683 |
+
2.9657858391374248e-09,
|
| 684 |
+
4.0978193283081055e-08
|
| 685 |
+
],
|
| 686 |
+
"angular_velocity": [
|
| 687 |
+
-3.784577131682454e-07,
|
| 688 |
+
3.4404297366563696e-07,
|
| 689 |
+
9.119759170062025e-08
|
| 690 |
+
]
|
| 691 |
+
}
|
| 692 |
+
}
|
| 693 |
+
],
|
| 694 |
+
"plate": [
|
| 695 |
+
{
|
| 696 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
|
| 697 |
+
"pose": {
|
| 698 |
+
"pos": [
|
| 699 |
+
0.13602638244628906,
|
| 700 |
+
0.45273780822753906,
|
| 701 |
+
0.9179999828338623
|
| 702 |
+
],
|
| 703 |
+
"ori": [
|
| 704 |
+
0.9951642751693726,
|
| 705 |
+
-3.0616520430015726e-09,
|
| 706 |
+
7.943438962154659e-11,
|
| 707 |
+
0.09822461009025574
|
| 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 |
+
-1.1994975679385789e-08,
|
| 739 |
+
-1.396545012966044e-08,
|
| 740 |
+
1.4156103134155273e-07
|
| 741 |
+
],
|
| 742 |
+
"angular_velocity": [
|
| 743 |
+
1.3170292731956579e-06,
|
| 744 |
+
-1.6307798205161816e-06,
|
| 745 |
+
-5.619597231998341e-08
|
| 746 |
+
]
|
| 747 |
+
}
|
| 748 |
+
},
|
| 749 |
+
{
|
| 750 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
|
| 751 |
+
"pose": {
|
| 752 |
+
"pos": [
|
| 753 |
+
-1.277475357055664,
|
| 754 |
+
1.0564994812011719,
|
| 755 |
+
0.9180000424385071
|
| 756 |
+
],
|
| 757 |
+
"ori": [
|
| 758 |
+
-0.321909099817276,
|
| 759 |
+
2.8666457652093413e-08,
|
| 760 |
+
5.807517666767126e-08,
|
| 761 |
+
0.9467706680297852
|
| 762 |
+
],
|
| 763 |
+
"scale": [
|
| 764 |
+
1.0,
|
| 765 |
+
1.0,
|
| 766 |
+
1.0
|
| 767 |
+
]
|
| 768 |
+
},
|
| 769 |
+
"dr": {
|
| 770 |
+
"visual": {
|
| 771 |
+
"kind": null,
|
| 772 |
+
"value": null,
|
| 773 |
+
"visible": true
|
| 774 |
+
},
|
| 775 |
+
"physics": {
|
| 776 |
+
"type": "rigid",
|
| 777 |
+
"collision": true,
|
| 778 |
+
"mass": "asset",
|
| 779 |
+
"max_depenetration_velocity": 1.0,
|
| 780 |
+
"physics_material": {
|
| 781 |
+
"static_friction": 0.5,
|
| 782 |
+
"dynamic_friction": 0.45,
|
| 783 |
+
"restitution": 0.0,
|
| 784 |
+
"friction_combine_mode": "average"
|
| 785 |
+
},
|
| 786 |
+
"ratio": 1.0
|
| 787 |
+
},
|
| 788 |
+
"primitive_params": null
|
| 789 |
+
},
|
| 790 |
+
"type_specific": {
|
| 791 |
+
"linear_velocity": [
|
| 792 |
+
7.184667083492968e-09,
|
| 793 |
+
2.9713987714785617e-08,
|
| 794 |
+
2.5704503059387207e-07
|
| 795 |
+
],
|
| 796 |
+
"angular_velocity": [
|
| 797 |
+
-3.831402864307165e-06,
|
| 798 |
+
1.5890691429376602e-06,
|
| 799 |
+
-2.5131839720415883e-08
|
| 800 |
+
]
|
| 801 |
+
}
|
| 802 |
+
},
|
| 803 |
+
{
|
| 804 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
|
| 805 |
+
"pose": {
|
| 806 |
+
"pos": [
|
| 807 |
+
0.011908531188964844,
|
| 808 |
+
1.1596126556396484,
|
| 809 |
+
0.9180000424385071
|
| 810 |
+
],
|
| 811 |
+
"ori": [
|
| 812 |
+
-0.016294259577989578,
|
| 813 |
+
-3.7452629886303157e-10,
|
| 814 |
+
1.5384791218764349e-09,
|
| 815 |
+
0.99986732006073
|
| 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 |
+
1.7415424657940548e-10,
|
| 847 |
+
-2.265122134303965e-08,
|
| 848 |
+
-5.155801773071289e-06
|
| 849 |
+
],
|
| 850 |
+
"angular_velocity": [
|
| 851 |
+
1.9330228440139763e-07,
|
| 852 |
+
1.6233856285907677e-06,
|
| 853 |
+
-4.381930551744517e-08
|
| 854 |
+
]
|
| 855 |
+
}
|
| 856 |
+
},
|
| 857 |
+
{
|
| 858 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
|
| 859 |
+
"pose": {
|
| 860 |
+
"pos": [
|
| 861 |
+
1.5937328338623047,
|
| 862 |
+
0.5538663864135742,
|
| 863 |
+
0.9179999828338623
|
| 864 |
+
],
|
| 865 |
+
"ori": [
|
| 866 |
+
0.9412617087364197,
|
| 867 |
+
-3.650119095865989e-09,
|
| 868 |
+
4.971104416995331e-09,
|
| 869 |
+
0.33767804503440857
|
| 870 |
+
],
|
| 871 |
+
"scale": [
|
| 872 |
+
1.0,
|
| 873 |
+
1.0,
|
| 874 |
+
1.0
|
| 875 |
+
]
|
| 876 |
+
},
|
| 877 |
+
"dr": {
|
| 878 |
+
"visual": {
|
| 879 |
+
"kind": null,
|
| 880 |
+
"value": null,
|
| 881 |
+
"visible": true
|
| 882 |
+
},
|
| 883 |
+
"physics": {
|
| 884 |
+
"type": "rigid",
|
| 885 |
+
"collision": true,
|
| 886 |
+
"mass": "asset",
|
| 887 |
+
"max_depenetration_velocity": 1.0,
|
| 888 |
+
"physics_material": {
|
| 889 |
+
"static_friction": 0.5,
|
| 890 |
+
"dynamic_friction": 0.45,
|
| 891 |
+
"restitution": 0.0,
|
| 892 |
+
"friction_combine_mode": "average"
|
| 893 |
+
},
|
| 894 |
+
"ratio": 1.0
|
| 895 |
+
},
|
| 896 |
+
"primitive_params": null
|
| 897 |
+
},
|
| 898 |
+
"type_specific": {
|
| 899 |
+
"linear_velocity": [
|
| 900 |
+
-1.0066745659287335e-08,
|
| 901 |
+
-2.7879316633061535e-09,
|
| 902 |
+
-1.3969838619232178e-06
|
| 903 |
+
],
|
| 904 |
+
"angular_velocity": [
|
| 905 |
+
-2.4038565697992453e-06,
|
| 906 |
+
4.102199909539195e-06,
|
| 907 |
+
6.690329428238329e-07
|
| 908 |
+
]
|
| 909 |
+
}
|
| 910 |
+
}
|
| 911 |
+
],
|
| 912 |
+
"deco_hub_west": [
|
| 913 |
+
{
|
| 914 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
|
| 915 |
+
"pose": {
|
| 916 |
+
"pos": [
|
| 917 |
+
-3.36,
|
| 918 |
+
0.0,
|
| 919 |
+
0.0
|
| 920 |
+
],
|
| 921 |
+
"ori": [
|
| 922 |
+
1.0,
|
| 923 |
+
0.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0
|
| 926 |
+
],
|
| 927 |
+
"scale": [
|
| 928 |
+
1.0,
|
| 929 |
+
1.0,
|
| 930 |
+
1.0
|
| 931 |
+
]
|
| 932 |
+
},
|
| 933 |
+
"dr": {
|
| 934 |
+
"visual": {
|
| 935 |
+
"kind": null,
|
| 936 |
+
"value": null,
|
| 937 |
+
"visible": true
|
| 938 |
+
},
|
| 939 |
+
"physics": {
|
| 940 |
+
"type": "geometry",
|
| 941 |
+
"collision": false,
|
| 942 |
+
"ratio": 1.0
|
| 943 |
+
},
|
| 944 |
+
"primitive_params": null
|
| 945 |
+
},
|
| 946 |
+
"type_specific": {}
|
| 947 |
+
}
|
| 948 |
+
],
|
| 949 |
+
"deco_hub_east": [
|
| 950 |
+
{
|
| 951 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 952 |
+
"pose": {
|
| 953 |
+
"pos": [
|
| 954 |
+
3.36,
|
| 955 |
+
0.0,
|
| 956 |
+
0.0
|
| 957 |
+
],
|
| 958 |
+
"ori": [
|
| 959 |
+
1.0,
|
| 960 |
+
0.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0
|
| 963 |
+
],
|
| 964 |
+
"scale": [
|
| 965 |
+
1.0,
|
| 966 |
+
1.0,
|
| 967 |
+
1.0
|
| 968 |
+
]
|
| 969 |
+
},
|
| 970 |
+
"dr": {
|
| 971 |
+
"visual": {
|
| 972 |
+
"kind": null,
|
| 973 |
+
"value": null,
|
| 974 |
+
"visible": true
|
| 975 |
+
},
|
| 976 |
+
"physics": {
|
| 977 |
+
"type": "geometry",
|
| 978 |
+
"collision": false,
|
| 979 |
+
"ratio": 1.0
|
| 980 |
+
},
|
| 981 |
+
"primitive_params": null
|
| 982 |
+
},
|
| 983 |
+
"type_specific": {}
|
| 984 |
+
}
|
| 985 |
+
],
|
| 986 |
+
"deco_hub_back": [
|
| 987 |
+
{
|
| 988 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 989 |
+
"pose": {
|
| 990 |
+
"pos": [
|
| 991 |
+
-3.0,
|
| 992 |
+
-2.1,
|
| 993 |
+
0.0
|
| 994 |
+
],
|
| 995 |
+
"ori": [
|
| 996 |
+
1.0,
|
| 997 |
+
0.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0
|
| 1000 |
+
],
|
| 1001 |
+
"scale": [
|
| 1002 |
+
1.0,
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0
|
| 1005 |
+
]
|
| 1006 |
+
},
|
| 1007 |
+
"dr": {
|
| 1008 |
+
"visual": {
|
| 1009 |
+
"kind": null,
|
| 1010 |
+
"value": null,
|
| 1011 |
+
"visible": true
|
| 1012 |
+
},
|
| 1013 |
+
"physics": {
|
| 1014 |
+
"type": "geometry",
|
| 1015 |
+
"collision": false,
|
| 1016 |
+
"ratio": 1.0
|
| 1017 |
+
},
|
| 1018 |
+
"primitive_params": null
|
| 1019 |
+
},
|
| 1020 |
+
"type_specific": {}
|
| 1021 |
+
}
|
| 1022 |
+
],
|
| 1023 |
+
"deco_bench_east": [
|
| 1024 |
+
{
|
| 1025 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
|
| 1026 |
+
"pose": {
|
| 1027 |
+
"pos": [
|
| 1028 |
+
2.6,
|
| 1029 |
+
-2.5,
|
| 1030 |
+
0.0
|
| 1031 |
+
],
|
| 1032 |
+
"ori": [
|
| 1033 |
+
6.123234262925839e-17,
|
| 1034 |
+
0.0,
|
| 1035 |
+
0.0,
|
| 1036 |
+
1.0
|
| 1037 |
+
],
|
| 1038 |
+
"scale": [
|
| 1039 |
+
1.0,
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0
|
| 1042 |
+
]
|
| 1043 |
+
},
|
| 1044 |
+
"dr": {
|
| 1045 |
+
"visual": {
|
| 1046 |
+
"kind": null,
|
| 1047 |
+
"value": null,
|
| 1048 |
+
"visible": true
|
| 1049 |
+
},
|
| 1050 |
+
"physics": {
|
| 1051 |
+
"type": "geometry",
|
| 1052 |
+
"collision": false,
|
| 1053 |
+
"ratio": 1.0
|
| 1054 |
+
},
|
| 1055 |
+
"primitive_params": null
|
| 1056 |
+
},
|
| 1057 |
+
"type_specific": {}
|
| 1058 |
+
}
|
| 1059 |
+
],
|
| 1060 |
+
"deco_bench_gap": [
|
| 1061 |
+
{
|
| 1062 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1063 |
+
"pose": {
|
| 1064 |
+
"pos": [
|
| 1065 |
+
-0.1,
|
| 1066 |
+
-2.9,
|
| 1067 |
+
0.0
|
| 1068 |
+
],
|
| 1069 |
+
"ori": [
|
| 1070 |
+
1.0,
|
| 1071 |
+
0.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0
|
| 1074 |
+
],
|
| 1075 |
+
"scale": [
|
| 1076 |
+
1.0,
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0
|
| 1079 |
+
]
|
| 1080 |
+
},
|
| 1081 |
+
"dr": {
|
| 1082 |
+
"visual": {
|
| 1083 |
+
"kind": null,
|
| 1084 |
+
"value": null,
|
| 1085 |
+
"visible": true
|
| 1086 |
+
},
|
| 1087 |
+
"physics": {
|
| 1088 |
+
"type": "geometry",
|
| 1089 |
+
"collision": false,
|
| 1090 |
+
"ratio": 1.0
|
| 1091 |
+
},
|
| 1092 |
+
"primitive_params": null
|
| 1093 |
+
},
|
| 1094 |
+
"type_specific": {}
|
| 1095 |
+
}
|
| 1096 |
+
]
|
| 1097 |
+
},
|
| 1098 |
+
{}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
{
|
| 1105 |
+
"t": 3.959999999999938,
|
| 1106 |
+
"step": 792,
|
| 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": 0.22260808652973973,
|
| 1150 |
+
"holds": [],
|
| 1151 |
+
"station": "pick",
|
| 1152 |
+
"rider": "carrier_1",
|
| 1153 |
+
"arrived": true,
|
| 1154 |
+
"settle_count": 681,
|
| 1155 |
+
"released": {
|
| 1156 |
+
"pick": []
|
| 1157 |
+
},
|
| 1158 |
+
"last_pos": {
|
| 1159 |
+
"carrier_1": [
|
| 1160 |
+
-0.01763191819190979,
|
| 1161 |
+
3.635883331298828e-06,
|
| 1162 |
+
0.0
|
| 1163 |
+
],
|
| 1164 |
+
"carrier_2": [
|
| 1165 |
+
-1.4405578672885895,
|
| 1166 |
+
0.599941074848175,
|
| 1167 |
+
0.0
|
| 1168 |
+
],
|
| 1169 |
+
"carrier_3": [
|
| 1170 |
+
-0.13615837693214417,
|
| 1171 |
+
0.7000015377998352,
|
| 1172 |
+
0.0
|
| 1173 |
+
],
|
| 1174 |
+
"carrier_4": [
|
| 1175 |
+
1.438612550497055,
|
| 1176 |
+
0.09797555208206177,
|
| 1177 |
+
0.0
|
| 1178 |
+
]
|
| 1179 |
+
},
|
| 1180 |
+
"command": 0.0
|
| 1181 |
+
},
|
| 1182 |
+
"belt": {
|
| 1183 |
+
"target_speed": 0.0,
|
| 1184 |
+
"command_speed": 0.0
|
| 1185 |
+
},
|
| 1186 |
+
"seen": {
|
| 1187 |
+
"state": "at_station",
|
| 1188 |
+
"station": "pick",
|
| 1189 |
+
"rider": "carrier_1",
|
| 1190 |
+
"arrived": true
|
| 1191 |
+
}
|
| 1192 |
+
}
|
| 1193 |
+
},
|
| 1194 |
+
"queues": {},
|
| 1195 |
+
"program": null,
|
| 1196 |
+
"sensors": {},
|
| 1197 |
+
"interlocks": {}
|
| 1198 |
+
}
|
| 1199 |
+
},
|
| 1200 |
+
"zones": {},
|
| 1201 |
+
"labware": {
|
| 1202 |
+
"plate_1": {
|
| 1203 |
+
"sealed": false
|
| 1204 |
+
},
|
| 1205 |
+
"plate_2": {
|
| 1206 |
+
"sealed": false
|
| 1207 |
+
},
|
| 1208 |
+
"plate_3": {
|
| 1209 |
+
"sealed": false
|
| 1210 |
+
},
|
| 1211 |
+
"plate_4": {
|
| 1212 |
+
"sealed": false
|
| 1213 |
+
}
|
| 1214 |
+
},
|
| 1215 |
+
"rules": {},
|
| 1216 |
+
"records": [],
|
| 1217 |
+
"bus": {
|
| 1218 |
+
"seq": 3,
|
| 1219 |
+
"queue": []
|
| 1220 |
+
}
|
| 1221 |
+
},
|
| 1222 |
+
null
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
{},
|
| 1228 |
+
null
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{
|
| 1235 |
+
"ceiling": {
|
| 1236 |
+
"type": "rect",
|
| 1237 |
+
"pose": {
|
| 1238 |
+
"pos": [
|
| 1239 |
+
0.32513393523685397,
|
| 1240 |
+
-0.4785072885595819,
|
| 1241 |
+
3.0044985948034877
|
| 1242 |
+
],
|
| 1243 |
+
"ori": [
|
| 1244 |
+
-2.0051769161369766,
|
| 1245 |
+
-5.3860940438858815,
|
| 1246 |
+
-12.857332491451615
|
| 1247 |
+
],
|
| 1248 |
+
"scale": [
|
| 1249 |
+
1.0,
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0
|
| 1252 |
+
]
|
| 1253 |
+
},
|
| 1254 |
+
"dr": {
|
| 1255 |
+
"color_temperature": 6403.687661285847,
|
| 1256 |
+
"color": [
|
| 1257 |
+
0.9708855555316771,
|
| 1258 |
+
0.8245903278781326,
|
| 1259 |
+
0.9316199687149638
|
| 1260 |
+
],
|
| 1261 |
+
"intensity": 4270.413375038688,
|
| 1262 |
+
"width": 2.387683280223613,
|
| 1263 |
+
"height": 1.8982590587306816
|
| 1264 |
+
}
|
| 1265 |
+
},
|
| 1266 |
+
"key": {
|
| 1267 |
+
"type": "sphere",
|
| 1268 |
+
"pose": {
|
| 1269 |
+
"pos": [
|
| 1270 |
+
1.1998530336601876,
|
| 1271 |
+
-0.09797498394298154,
|
| 1272 |
+
1.78338553983357
|
| 1273 |
+
],
|
| 1274 |
+
"ori": [
|
| 1275 |
+
-11.572989201666928,
|
| 1276 |
+
2.5741490298565566,
|
| 1277 |
+
16.12411027890738
|
| 1278 |
+
],
|
| 1279 |
+
"scale": [
|
| 1280 |
+
1.0,
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0
|
| 1283 |
+
]
|
| 1284 |
+
},
|
| 1285 |
+
"dr": {
|
| 1286 |
+
"color_temperature": 2969.995915766228,
|
| 1287 |
+
"color": [
|
| 1288 |
+
0.7662220172946917,
|
| 1289 |
+
0.8159615376737177,
|
| 1290 |
+
0.7699140024182121
|
| 1291 |
+
],
|
| 1292 |
+
"intensity": 2655.7690472643008,
|
| 1293 |
+
"radius": 0.14427283384918965
|
| 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": 1028.0693120869357,
|
| 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 |
+
1.2833161354064941,
|
| 1394 |
+
-1.3431566953659058,
|
| 1395 |
+
2.2054238319396973,
|
| 1396 |
+
-2.4330198764801025,
|
| 1397 |
+
-1.5708446502685547,
|
| 1398 |
+
2.6381633281707764,
|
| 1399 |
+
0.007784074638038874,
|
| 1400 |
+
0.007236582227051258
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
2.7369225025177,
|
| 1404 |
+
-1.560101866722107,
|
| 1405 |
+
2.4096767902374268,
|
| 1406 |
+
-2.4188249111175537,
|
| 1407 |
+
-1.5704402923583984,
|
| 1408 |
+
4.304022789001465,
|
| 1409 |
+
0.0072018736973404884,
|
| 1410 |
+
0.006667560897767544
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.9141048192977905,
|
| 1414 |
+
-1.7193968296051025,
|
| 1415 |
+
2.0904996395111084,
|
| 1416 |
+
-1.9419008493423462,
|
| 1417 |
+
-1.5707999467849731,
|
| 1418 |
+
2.4849014282226562,
|
| 1419 |
+
0.017999999225139618,
|
| 1420 |
+
0.017999999225139618
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
1.5949774980545044,
|
| 1424 |
+
-1.3716319799423218,
|
| 1425 |
+
2.1783525943756104,
|
| 1426 |
+
-2.3818275928497314,
|
| 1427 |
+
-1.5747177600860596,
|
| 1428 |
+
0.03749680891633034,
|
| 1429 |
+
0.018000034615397453,
|
| 1430 |
+
0.017999965697526932
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.0003939074231311679,
|
| 1436 |
+
-0.018821008503437042,
|
| 1437 |
+
-0.007819167338311672,
|
| 1438 |
+
0.02447783574461937,
|
| 1439 |
+
0.0006051345844753087,
|
| 1440 |
+
0.002573538338765502,
|
| 1441 |
+
-0.006678860168904066,
|
| 1442 |
+
0.0002913082134909928
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
0.00997085776180029,
|
| 1446 |
+
0.023026812821626663,
|
| 1447 |
+
-0.022274496033787727,
|
| 1448 |
+
-5.873966438230127e-05,
|
| 1449 |
+
0.0029038938228040934,
|
| 1450 |
+
0.0033612060360610485,
|
| 1451 |
+
-0.008563357405364513,
|
| 1452 |
+
-0.0011311318958178163
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
3.8546654712535775e-38,
|
| 1456 |
+
-1.9509036968355036e-38,
|
| 1457 |
+
0.0,
|
| 1458 |
+
-5.655604280358766e-37,
|
| 1459 |
+
5.629914107456484e-37,
|
| 1460 |
+
3.3275053967653673e-37,
|
| 1461 |
+
2.622370888478348e-38,
|
| 1462 |
+
-1.2160580177287909e-38
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
0.00014568690676242113,
|
| 1466 |
+
-0.017731383442878723,
|
| 1467 |
+
-0.008333174511790276,
|
| 1468 |
+
0.024759070947766304,
|
| 1469 |
+
-6.451710305555025e-06,
|
| 1470 |
+
-3.4442771266185446e-06,
|
| 1471 |
+
-9.012248483486474e-06,
|
| 1472 |
+
8.988785339170136e-06
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.04850613698363304,
|
| 1482 |
+
0.0002757151087280363,
|
| 1483 |
+
-0.0329299233853817,
|
| 1484 |
+
-0.27912214398384094,
|
| 1485 |
+
0.6553071141242981,
|
| 1486 |
+
0.6402613520622253,
|
| 1487 |
+
-0.28762608766555786
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.05199050530791283,
|
| 1491 |
+
-0.0008799018687568605,
|
| 1492 |
+
-0.033750031143426895,
|
| 1493 |
+
-0.2659752070903778,
|
| 1494 |
+
0.6569823026657104,
|
| 1495 |
+
0.6492812037467957,
|
| 1496 |
+
-0.2757995128631592
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.04959418997168541,
|
| 1500 |
+
-0.0009386746096424758,
|
| 1501 |
+
-0.028966061770915985,
|
| 1502 |
+
-0.28293538093566895,
|
| 1503 |
+
0.6427256464958191,
|
| 1504 |
+
0.6584900617599487,
|
| 1505 |
+
-0.2706328332424164
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.049590203911066055,
|
| 1509 |
+
-0.004996087867766619,
|
| 1510 |
+
-0.02783970721065998,
|
| 1511 |
+
-0.26968708634376526,
|
| 1512 |
+
0.6597527861595154,
|
| 1513 |
+
0.6400133371353149,
|
| 1514 |
+
-0.2870158553123474
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.06213340908288956,
|
| 1520 |
+
0.5999961495399475,
|
| 1521 |
+
1.9415220022201538,
|
| 1522 |
+
0.03251606971025467,
|
| 1523 |
+
0.0028824086766690016,
|
| 1524 |
+
0.25475552678108215,
|
| 1525 |
+
0.9664543271064758
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.03551667556166649,
|
| 1529 |
+
0.5632237195968628,
|
| 1530 |
+
1.9457356929779053,
|
| 1531 |
+
0.05593063682317734,
|
| 1532 |
+
0.0067042456939816475,
|
| 1533 |
+
0.28163379430770874,
|
| 1534 |
+
0.9578670263290405
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.031140776351094246,
|
| 1538 |
+
0.5859112739562988,
|
| 1539 |
+
1.9420381784439087,
|
| 1540 |
+
0.0351712629199028,
|
| 1541 |
+
0.020304419100284576,
|
| 1542 |
+
0.2546660304069519,
|
| 1543 |
+
0.96617591381073
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06532387435436249,
|
| 1547 |
+
0.5927990078926086,
|
| 1548 |
+
1.957279086112976,
|
| 1549 |
+
0.05347219109535217,
|
| 1550 |
+
0.01671055518090725,
|
| 1551 |
+
0.26629170775413513,
|
| 1552 |
+
0.9622630476951599
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p015_e018/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b4b7966d39208629a473c3a42081d60e2ef23cca6293dff621222e7813eed3ee
|
| 3 |
+
size 7441919
|
episodes/c7_p015_e019/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bf790ea7856e00aed1e67e06702a7f56349b94dc7025cd5f60d25cdac27f5dd6
|
| 3 |
+
size 184725
|
episodes/c7_p015_e019/device_events.jsonl
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 3, "seq": 1, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 1303, "t": 6.515, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 1362, "t": 6.81, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 1413, "t": 7.065, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 1428, "t": 7.14, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 1465, "t": 7.325, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 5854, "t": 29.27, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 10 |
+
{"env_id": 3, "seq": 10, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 11 |
+
{"env_id": 3, "seq": 11, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1910152903218347}, "cause": "task-3-1"}
|
| 12 |
+
{"env_id": 3, "seq": 12, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 13 |
+
{"env_id": 3, "seq": 13, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 16 |
+
{"env_id": 3, "seq": 16, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 6887, "t": 34.435, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1910152903218347}, "cause": "program-3-3"}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 7526, "t": 37.63, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 7526, "t": 37.63, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1950000000016345}, "cause": "program-3-3"}
|
| 26 |
+
{"env_id": 3, "seq": 26, "step": 7526, "t": 37.63, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1950000000016345}}, "cause": "program-3-3"}
|
| 27 |
+
{"env_id": 3, "seq": 27, "step": 7526, "t": 37.63, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
|
| 28 |
+
{"env_id": 3, "seq": 28, "step": 7526, "t": 37.63, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 7526, "t": 37.63, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.7120369011358605e-10}, "cause": "program-3-4"}
|
| 32 |
+
{"env_id": 3, "seq": 32, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.7120369011358605e-10}, "cause": "program-3-4"}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 36 |
+
{"env_id": 3, "seq": 36, "step": 8527, "t": 42.635, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 37 |
+
{"env_id": 3, "seq": 37, "step": 10240, "t": 51.2, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 38 |
+
{"env_id": 3, "seq": 38, "step": 10240, "t": 51.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"}
|
| 39 |
+
{"env_id": 3, "seq": 39, "step": 10240, "t": 51.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 40 |
+
{"env_id": 3, "seq": 40, "step": 10240, "t": 51.2, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
|
episodes/c7_p015_e019/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e9935489689a16b41ea4bcad533a69680f1745254a7f24fc1bee447a8bf3a9a5
|
| 3 |
+
size 1291193
|
episodes/c7_p015_e019/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p015/magicsim/19",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1181,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1181,
|
| 8 |
+
"env": 1181
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p015_e019/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 19,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c7_p015",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
+
0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
| 123 |
+
6.123234262925839e-17,
|
| 124 |
+
0.0,
|
| 125 |
+
0.0,
|
| 126 |
+
1.0
|
| 127 |
+
],
|
| 128 |
+
"scale": [
|
| 129 |
+
1.0,
|
| 130 |
+
1.0,
|
| 131 |
+
1.0
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"dr": {
|
| 135 |
+
"visual": {
|
| 136 |
+
"kind": null,
|
| 137 |
+
"value": null,
|
| 138 |
+
"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
+
-0.6,
|
| 161 |
+
0.02,
|
| 162 |
+
0.9605
|
| 163 |
+
],
|
| 164 |
+
"ori": [
|
| 165 |
+
1.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
"scale": [
|
| 171 |
+
1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"dr": {
|
| 177 |
+
"visual": {
|
| 178 |
+
"kind": null,
|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
+
-0.6,
|
| 196 |
+
0.02,
|
| 197 |
+
1.0285
|
| 198 |
+
],
|
| 199 |
+
"ori": [
|
| 200 |
+
6.123234262925839e-17,
|
| 201 |
+
0.0,
|
| 202 |
+
0.0,
|
| 203 |
+
1.0
|
| 204 |
+
],
|
| 205 |
+
"scale": [
|
| 206 |
+
1.0,
|
| 207 |
+
1.0,
|
| 208 |
+
1.0
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"dr": {
|
| 212 |
+
"visual": {
|
| 213 |
+
"kind": null,
|
| 214 |
+
"value": null,
|
| 215 |
+
"visible": true
|
| 216 |
+
},
|
| 217 |
+
"physics": {
|
| 218 |
+
"type": "geometry",
|
| 219 |
+
"collision": false,
|
| 220 |
+
"ratio": 1.0
|
| 221 |
+
},
|
| 222 |
+
"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 228 |
+
"pose": {
|
| 229 |
+
"pos": [
|
| 230 |
+
-0.6,
|
| 231 |
+
0.02,
|
| 232 |
+
1.0965
|
| 233 |
+
],
|
| 234 |
+
"ori": [
|
| 235 |
+
1.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0,
|
| 238 |
+
0.0
|
| 239 |
+
],
|
| 240 |
+
"scale": [
|
| 241 |
+
1.0,
|
| 242 |
+
1.0,
|
| 243 |
+
1.0
|
| 244 |
+
]
|
| 245 |
+
},
|
| 246 |
+
"dr": {
|
| 247 |
+
"visual": {
|
| 248 |
+
"kind": null,
|
| 249 |
+
"value": null,
|
| 250 |
+
"visible": true
|
| 251 |
+
},
|
| 252 |
+
"physics": {
|
| 253 |
+
"type": "geometry",
|
| 254 |
+
"collision": false,
|
| 255 |
+
"ratio": 1.0
|
| 256 |
+
},
|
| 257 |
+
"primitive_params": null
|
| 258 |
+
},
|
| 259 |
+
"type_specific": {}
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 263 |
+
"pose": {
|
| 264 |
+
"pos": [
|
| 265 |
+
-0.6,
|
| 266 |
+
0.02,
|
| 267 |
+
1.1645
|
| 268 |
+
],
|
| 269 |
+
"ori": [
|
| 270 |
+
6.123234262925839e-17,
|
| 271 |
+
0.0,
|
| 272 |
+
0.0,
|
| 273 |
+
1.0
|
| 274 |
+
],
|
| 275 |
+
"scale": [
|
| 276 |
+
1.0,
|
| 277 |
+
1.0,
|
| 278 |
+
1.0
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"dr": {
|
| 282 |
+
"visual": {
|
| 283 |
+
"kind": null,
|
| 284 |
+
"value": null,
|
| 285 |
+
"visible": true
|
| 286 |
+
},
|
| 287 |
+
"physics": {
|
| 288 |
+
"type": "geometry",
|
| 289 |
+
"collision": false,
|
| 290 |
+
"ratio": 1.0
|
| 291 |
+
},
|
| 292 |
+
"primitive_params": null
|
| 293 |
+
},
|
| 294 |
+
"type_specific": {}
|
| 295 |
+
},
|
| 296 |
+
{
|
| 297 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 298 |
+
"pose": {
|
| 299 |
+
"pos": [
|
| 300 |
+
-0.6,
|
| 301 |
+
0.02,
|
| 302 |
+
1.2325
|
| 303 |
+
],
|
| 304 |
+
"ori": [
|
| 305 |
+
1.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0,
|
| 308 |
+
0.0
|
| 309 |
+
],
|
| 310 |
+
"scale": [
|
| 311 |
+
1.0,
|
| 312 |
+
1.0,
|
| 313 |
+
1.0
|
| 314 |
+
]
|
| 315 |
+
},
|
| 316 |
+
"dr": {
|
| 317 |
+
"visual": {
|
| 318 |
+
"kind": null,
|
| 319 |
+
"value": null,
|
| 320 |
+
"visible": true
|
| 321 |
+
},
|
| 322 |
+
"physics": {
|
| 323 |
+
"type": "geometry",
|
| 324 |
+
"collision": false,
|
| 325 |
+
"ratio": 1.0
|
| 326 |
+
},
|
| 327 |
+
"primitive_params": null
|
| 328 |
+
},
|
| 329 |
+
"type_specific": {}
|
| 330 |
+
}
|
| 331 |
+
],
|
| 332 |
+
"a4s_sealer": [
|
| 333 |
+
{
|
| 334 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 335 |
+
"pose": {
|
| 336 |
+
"pos": [
|
| 337 |
+
0.5025548934936523,
|
| 338 |
+
0.05330467224121094,
|
| 339 |
+
0.8999999761581421
|
| 340 |
+
],
|
| 341 |
+
"ori": [
|
| 342 |
+
-0.6839194893836975,
|
| 343 |
+
0.0,
|
| 344 |
+
0.0,
|
| 345 |
+
0.7295575141906738
|
| 346 |
+
],
|
| 347 |
+
"scale": [
|
| 348 |
+
1.0,
|
| 349 |
+
1.0,
|
| 350 |
+
1.0
|
| 351 |
+
]
|
| 352 |
+
},
|
| 353 |
+
"dr": {
|
| 354 |
+
"visual": {
|
| 355 |
+
"kind": null,
|
| 356 |
+
"value": null,
|
| 357 |
+
"visible": true
|
| 358 |
+
},
|
| 359 |
+
"physics": {
|
| 360 |
+
"type": "articulation",
|
| 361 |
+
"solver_position_iteration_count": 16.0,
|
| 362 |
+
"solver_velocity_iteration_count": 1.0,
|
| 363 |
+
"enabled_self_collisions": false,
|
| 364 |
+
"ratio": 1.0
|
| 365 |
+
},
|
| 366 |
+
"primitive_params": null
|
| 367 |
+
},
|
| 368 |
+
"type_specific": {
|
| 369 |
+
"joint_position": [
|
| 370 |
+
0.0
|
| 371 |
+
],
|
| 372 |
+
"joint_velocity": [
|
| 373 |
+
0.0
|
| 374 |
+
],
|
| 375 |
+
"linear_velocity": [
|
| 376 |
+
0.0,
|
| 377 |
+
0.0,
|
| 378 |
+
0.0
|
| 379 |
+
],
|
| 380 |
+
"angular_velocity": [
|
| 381 |
+
0.0,
|
| 382 |
+
0.0,
|
| 383 |
+
0.0
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
}
|
| 387 |
+
],
|
| 388 |
+
"conveyor": [
|
| 389 |
+
{
|
| 390 |
+
"asset": "Cube",
|
| 391 |
+
"pose": {
|
| 392 |
+
"pos": [
|
| 393 |
+
0.15,
|
| 394 |
+
0.45,
|
| 395 |
+
0.9
|
| 396 |
+
],
|
| 397 |
+
"ori": [
|
| 398 |
+
1.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0,
|
| 401 |
+
0.0
|
| 402 |
+
],
|
| 403 |
+
"scale": [
|
| 404 |
+
1.0,
|
| 405 |
+
1.0,
|
| 406 |
+
1.0
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
"dr": {
|
| 410 |
+
"visual": {
|
| 411 |
+
"kind": null,
|
| 412 |
+
"value": null,
|
| 413 |
+
"visible": true
|
| 414 |
+
},
|
| 415 |
+
"physics": {
|
| 416 |
+
"type": "conveyor",
|
| 417 |
+
"physics_material": {
|
| 418 |
+
"static_friction": 0.9,
|
| 419 |
+
"dynamic_friction": 0.9
|
| 420 |
+
},
|
| 421 |
+
"ratio": 1.0
|
| 422 |
+
},
|
| 423 |
+
"primitive_params": {
|
| 424 |
+
"size": [
|
| 425 |
+
2.4,
|
| 426 |
+
0.076,
|
| 427 |
+
0.03
|
| 428 |
+
]
|
| 429 |
+
},
|
| 430 |
+
"conveyor": {
|
| 431 |
+
"speed": 0.2704494938514672,
|
| 432 |
+
"direction": [
|
| 433 |
+
1.0,
|
| 434 |
+
0.0,
|
| 435 |
+
0.0
|
| 436 |
+
],
|
| 437 |
+
"enabled": true,
|
| 438 |
+
"drive": "surface_velocity",
|
| 439 |
+
"lines": null,
|
| 440 |
+
"station_line": null,
|
| 441 |
+
"riders": [
|
| 442 |
+
"carrier"
|
| 443 |
+
],
|
| 444 |
+
"stations": {
|
| 445 |
+
"pick": {
|
| 446 |
+
"position": -0.2965253865224823,
|
| 447 |
+
"slow_distance": 0.03,
|
| 448 |
+
"slow_speed": 0.03
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"rails": {
|
| 452 |
+
"height": 0.01,
|
| 453 |
+
"thickness": 0.01,
|
| 454 |
+
"gap": 0.001,
|
| 455 |
+
"friction": 0.05
|
| 456 |
+
},
|
| 457 |
+
"legs": 0.87,
|
| 458 |
+
"loop": {
|
| 459 |
+
"radius": 0.35,
|
| 460 |
+
"side": "left",
|
| 461 |
+
"curve_extra_width": 0.0,
|
| 462 |
+
"segments": 18,
|
| 463 |
+
"curve_rails": "both"
|
| 464 |
+
},
|
| 465 |
+
"snap_distance": 0.1,
|
| 466 |
+
"junction_snap": 0.02,
|
| 467 |
+
"collision_approximation": "auto",
|
| 468 |
+
"plate_mass": 1.0,
|
| 469 |
+
"lift_drop": 0.004,
|
| 470 |
+
"accel": 0.0,
|
| 471 |
+
"decel": 0.0,
|
| 472 |
+
"drive_damping": 1000000.0,
|
| 473 |
+
"drive_max_force": 1000000000.0
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"type_specific": {
|
| 477 |
+
"controller": {
|
| 478 |
+
"state": "at_station",
|
| 479 |
+
"speed": 0.2704494938514672,
|
| 480 |
+
"holds": [],
|
| 481 |
+
"station": "pick",
|
| 482 |
+
"rider": "carrier_3",
|
| 483 |
+
"arrived": true,
|
| 484 |
+
"applied_speed": 0.0
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"carrier": [
|
| 490 |
+
{
|
| 491 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 492 |
+
"pose": {
|
| 493 |
+
"pos": [
|
| 494 |
+
0.6268711090087891,
|
| 495 |
+
1.1526174545288086,
|
| 496 |
+
0.8999999761581421
|
| 497 |
+
],
|
| 498 |
+
"ori": [
|
| 499 |
+
-0.011040270328521729,
|
| 500 |
+
-6.670659757901376e-08,
|
| 501 |
+
-3.28205267408066e-08,
|
| 502 |
+
0.9999391436576843
|
| 503 |
+
],
|
| 504 |
+
"scale": [
|
| 505 |
+
1.0,
|
| 506 |
+
1.0,
|
| 507 |
+
1.0
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"dr": {
|
| 511 |
+
"visual": {
|
| 512 |
+
"kind": null,
|
| 513 |
+
"value": null,
|
| 514 |
+
"visible": true
|
| 515 |
+
},
|
| 516 |
+
"physics": {
|
| 517 |
+
"type": "rigid",
|
| 518 |
+
"mass": 0.5,
|
| 519 |
+
"physics_material": {
|
| 520 |
+
"static_friction": 0.9,
|
| 521 |
+
"dynamic_friction": 0.9,
|
| 522 |
+
"restitution": 0.0
|
| 523 |
+
},
|
| 524 |
+
"ratio": 1.0
|
| 525 |
+
},
|
| 526 |
+
"primitive_params": null
|
| 527 |
+
},
|
| 528 |
+
"type_specific": {
|
| 529 |
+
"linear_velocity": [
|
| 530 |
+
8.760618896985761e-10,
|
| 531 |
+
9.981317106166898e-09,
|
| 532 |
+
1.1175870895385742e-08
|
| 533 |
+
],
|
| 534 |
+
"angular_velocity": [
|
| 535 |
+
-4.4947583432985994e-07,
|
| 536 |
+
2.028948742349712e-08,
|
| 537 |
+
1.941406146954705e-08
|
| 538 |
+
]
|
| 539 |
+
}
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 543 |
+
"pose": {
|
| 544 |
+
"pos": [
|
| 545 |
+
1.6929845809936523,
|
| 546 |
+
0.8563756942749023,
|
| 547 |
+
0.8999999761581421
|
| 548 |
+
],
|
| 549 |
+
"ori": [
|
| 550 |
+
0.6550363898277283,
|
| 551 |
+
-3.0061091393918105e-08,
|
| 552 |
+
2.014356326185407e-08,
|
| 553 |
+
0.7555974125862122
|
| 554 |
+
],
|
| 555 |
+
"scale": [
|
| 556 |
+
1.0,
|
| 557 |
+
1.0,
|
| 558 |
+
1.0
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
"dr": {
|
| 562 |
+
"visual": {
|
| 563 |
+
"kind": null,
|
| 564 |
+
"value": null,
|
| 565 |
+
"visible": true
|
| 566 |
+
},
|
| 567 |
+
"physics": {
|
| 568 |
+
"type": "rigid",
|
| 569 |
+
"mass": 0.5,
|
| 570 |
+
"physics_material": {
|
| 571 |
+
"static_friction": 0.9,
|
| 572 |
+
"dynamic_friction": 0.9,
|
| 573 |
+
"restitution": 0.0
|
| 574 |
+
},
|
| 575 |
+
"ratio": 1.0
|
| 576 |
+
},
|
| 577 |
+
"primitive_params": null
|
| 578 |
+
},
|
| 579 |
+
"type_specific": {
|
| 580 |
+
"linear_velocity": [
|
| 581 |
+
-2.0457469052104216e-11,
|
| 582 |
+
1.9720070021378433e-10,
|
| 583 |
+
0.0
|
| 584 |
+
],
|
| 585 |
+
"angular_velocity": [
|
| 586 |
+
-3.768352740962655e-09,
|
| 587 |
+
2.7065409469173574e-08,
|
| 588 |
+
5.936096059144802e-09
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 594 |
+
"pose": {
|
| 595 |
+
"pos": [
|
| 596 |
+
-0.1458606719970703,
|
| 597 |
+
0.44727230072021484,
|
| 598 |
+
0.8999999761581421
|
| 599 |
+
],
|
| 600 |
+
"ori": [
|
| 601 |
+
-0.9999479055404663,
|
| 602 |
+
2.785087049872459e-09,
|
| 603 |
+
-2.4664620346115385e-10,
|
| 604 |
+
-0.010210469365119934
|
| 605 |
+
],
|
| 606 |
+
"scale": [
|
| 607 |
+
1.0,
|
| 608 |
+
1.0,
|
| 609 |
+
1.0
|
| 610 |
+
]
|
| 611 |
+
},
|
| 612 |
+
"dr": {
|
| 613 |
+
"visual": {
|
| 614 |
+
"kind": null,
|
| 615 |
+
"value": null,
|
| 616 |
+
"visible": true
|
| 617 |
+
},
|
| 618 |
+
"physics": {
|
| 619 |
+
"type": "rigid",
|
| 620 |
+
"mass": 0.5,
|
| 621 |
+
"physics_material": {
|
| 622 |
+
"static_friction": 0.9,
|
| 623 |
+
"dynamic_friction": 0.9,
|
| 624 |
+
"restitution": 0.0
|
| 625 |
+
},
|
| 626 |
+
"ratio": 1.0
|
| 627 |
+
},
|
| 628 |
+
"primitive_params": null
|
| 629 |
+
},
|
| 630 |
+
"type_specific": {
|
| 631 |
+
"linear_velocity": [
|
| 632 |
+
-2.540463617251021e-09,
|
| 633 |
+
-6.6699237244449705e-09,
|
| 634 |
+
1.862645149230957e-08
|
| 635 |
+
],
|
| 636 |
+
"angular_velocity": [
|
| 637 |
+
2.637726197463053e-07,
|
| 638 |
+
-2.0977658721221815e-07,
|
| 639 |
+
-3.769718404100786e-08
|
| 640 |
+
]
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
{
|
| 644 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 645 |
+
"pose": {
|
| 646 |
+
"pos": [
|
| 647 |
+
-1.1767215728759766,
|
| 648 |
+
1.1226921081542969,
|
| 649 |
+
0.8999999761581421
|
| 650 |
+
],
|
| 651 |
+
"ori": [
|
| 652 |
+
-0.17744284868240356,
|
| 653 |
+
2.2131057875185434e-08,
|
| 654 |
+
-1.5143122311656043e-08,
|
| 655 |
+
0.9841311573982239
|
| 656 |
+
],
|
| 657 |
+
"scale": [
|
| 658 |
+
1.0,
|
| 659 |
+
1.0,
|
| 660 |
+
1.0
|
| 661 |
+
]
|
| 662 |
+
},
|
| 663 |
+
"dr": {
|
| 664 |
+
"visual": {
|
| 665 |
+
"kind": null,
|
| 666 |
+
"value": null,
|
| 667 |
+
"visible": true
|
| 668 |
+
},
|
| 669 |
+
"physics": {
|
| 670 |
+
"type": "rigid",
|
| 671 |
+
"mass": 0.5,
|
| 672 |
+
"physics_material": {
|
| 673 |
+
"static_friction": 0.9,
|
| 674 |
+
"dynamic_friction": 0.9,
|
| 675 |
+
"restitution": 0.0
|
| 676 |
+
},
|
| 677 |
+
"ratio": 1.0
|
| 678 |
+
},
|
| 679 |
+
"primitive_params": null
|
| 680 |
+
},
|
| 681 |
+
"type_specific": {
|
| 682 |
+
"linear_velocity": [
|
| 683 |
+
-2.8968383247729435e-11,
|
| 684 |
+
1.2287668660349027e-09,
|
| 685 |
+
-3.725290298461914e-09
|
| 686 |
+
],
|
| 687 |
+
"angular_velocity": [
|
| 688 |
+
2.2332514504341816e-08,
|
| 689 |
+
-2.7298767690808745e-08,
|
| 690 |
+
-1.7401067253786096e-08
|
| 691 |
+
]
|
| 692 |
+
}
|
| 693 |
+
}
|
| 694 |
+
],
|
| 695 |
+
"plate": [
|
| 696 |
+
{
|
| 697 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
|
| 698 |
+
"pose": {
|
| 699 |
+
"pos": [
|
| 700 |
+
0.6172714233398438,
|
| 701 |
+
1.1617155075073242,
|
| 702 |
+
0.9179999828338623
|
| 703 |
+
],
|
| 704 |
+
"ori": [
|
| 705 |
+
-0.11346510052680969,
|
| 706 |
+
-7.013331781990928e-08,
|
| 707 |
+
-2.8595817269660984e-08,
|
| 708 |
+
0.993541955947876
|
| 709 |
+
],
|
| 710 |
+
"scale": [
|
| 711 |
+
1.0,
|
| 712 |
+
1.0,
|
| 713 |
+
1.0
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
"dr": {
|
| 717 |
+
"visual": {
|
| 718 |
+
"kind": null,
|
| 719 |
+
"value": null,
|
| 720 |
+
"visible": true
|
| 721 |
+
},
|
| 722 |
+
"physics": {
|
| 723 |
+
"type": "rigid",
|
| 724 |
+
"collision": true,
|
| 725 |
+
"mass": "asset",
|
| 726 |
+
"max_depenetration_velocity": 1.0,
|
| 727 |
+
"physics_material": {
|
| 728 |
+
"static_friction": 0.5,
|
| 729 |
+
"dynamic_friction": 0.45,
|
| 730 |
+
"restitution": 0.0,
|
| 731 |
+
"friction_combine_mode": "average"
|
| 732 |
+
},
|
| 733 |
+
"ratio": 1.0
|
| 734 |
+
},
|
| 735 |
+
"primitive_params": null
|
| 736 |
+
},
|
| 737 |
+
"type_specific": {
|
| 738 |
+
"linear_velocity": [
|
| 739 |
+
2.9913199028897e-08,
|
| 740 |
+
9.416527291250532e-08,
|
| 741 |
+
1.2665987014770508e-07
|
| 742 |
+
],
|
| 743 |
+
"angular_velocity": [
|
| 744 |
+
-2.243830067527597e-06,
|
| 745 |
+
1.9858878204104258e-06,
|
| 746 |
+
-6.519633188872831e-08
|
| 747 |
+
]
|
| 748 |
+
}
|
| 749 |
+
},
|
| 750 |
+
{
|
| 751 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
|
| 752 |
+
"pose": {
|
| 753 |
+
"pos": [
|
| 754 |
+
1.69146728515625,
|
| 755 |
+
0.8489456176757812,
|
| 756 |
+
0.9180000424385071
|
| 757 |
+
],
|
| 758 |
+
"ori": [
|
| 759 |
+
0.6154300570487976,
|
| 760 |
+
-2.7835064031478396e-08,
|
| 761 |
+
2.3205014798577395e-08,
|
| 762 |
+
0.788191556930542
|
| 763 |
+
],
|
| 764 |
+
"scale": [
|
| 765 |
+
1.0,
|
| 766 |
+
1.0,
|
| 767 |
+
1.0
|
| 768 |
+
]
|
| 769 |
+
},
|
| 770 |
+
"dr": {
|
| 771 |
+
"visual": {
|
| 772 |
+
"kind": null,
|
| 773 |
+
"value": null,
|
| 774 |
+
"visible": true
|
| 775 |
+
},
|
| 776 |
+
"physics": {
|
| 777 |
+
"type": "rigid",
|
| 778 |
+
"collision": true,
|
| 779 |
+
"mass": "asset",
|
| 780 |
+
"max_depenetration_velocity": 1.0,
|
| 781 |
+
"physics_material": {
|
| 782 |
+
"static_friction": 0.5,
|
| 783 |
+
"dynamic_friction": 0.45,
|
| 784 |
+
"restitution": 0.0,
|
| 785 |
+
"friction_combine_mode": "average"
|
| 786 |
+
},
|
| 787 |
+
"ratio": 1.0
|
| 788 |
+
},
|
| 789 |
+
"primitive_params": null
|
| 790 |
+
},
|
| 791 |
+
"type_specific": {
|
| 792 |
+
"linear_velocity": [
|
| 793 |
+
1.0713132603257236e-08,
|
| 794 |
+
-1.6576446881799711e-09,
|
| 795 |
+
-5.815178155899048e-06
|
| 796 |
+
],
|
| 797 |
+
"angular_velocity": [
|
| 798 |
+
7.39861718557222e-07,
|
| 799 |
+
8.49894377097371e-07,
|
| 800 |
+
-4.1152645735564874e-08
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
},
|
| 804 |
+
{
|
| 805 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
|
| 806 |
+
"pose": {
|
| 807 |
+
"pos": [
|
| 808 |
+
-0.1520709991455078,
|
| 809 |
+
0.4355278015136719,
|
| 810 |
+
0.9180000424385071
|
| 811 |
+
],
|
| 812 |
+
"ori": [
|
| 813 |
+
-0.9989818334579468,
|
| 814 |
+
3.86062959378819e-09,
|
| 815 |
+
-3.367997547520929e-10,
|
| 816 |
+
0.04511648789048195
|
| 817 |
+
],
|
| 818 |
+
"scale": [
|
| 819 |
+
1.0,
|
| 820 |
+
1.0,
|
| 821 |
+
1.0
|
| 822 |
+
]
|
| 823 |
+
},
|
| 824 |
+
"dr": {
|
| 825 |
+
"visual": {
|
| 826 |
+
"kind": null,
|
| 827 |
+
"value": null,
|
| 828 |
+
"visible": true
|
| 829 |
+
},
|
| 830 |
+
"physics": {
|
| 831 |
+
"type": "rigid",
|
| 832 |
+
"collision": true,
|
| 833 |
+
"mass": "asset",
|
| 834 |
+
"max_depenetration_velocity": 1.0,
|
| 835 |
+
"physics_material": {
|
| 836 |
+
"static_friction": 0.5,
|
| 837 |
+
"dynamic_friction": 0.45,
|
| 838 |
+
"restitution": 0.0,
|
| 839 |
+
"friction_combine_mode": "average"
|
| 840 |
+
},
|
| 841 |
+
"ratio": 1.0
|
| 842 |
+
},
|
| 843 |
+
"primitive_params": null
|
| 844 |
+
},
|
| 845 |
+
"type_specific": {
|
| 846 |
+
"linear_velocity": [
|
| 847 |
+
-4.4349970806933925e-08,
|
| 848 |
+
-3.259706105041005e-08,
|
| 849 |
+
-5.058944225311279e-06
|
| 850 |
+
],
|
| 851 |
+
"angular_velocity": [
|
| 852 |
+
2.3745633370708674e-07,
|
| 853 |
+
-2.6298339435015805e-06,
|
| 854 |
+
-6.229680593605735e-08
|
| 855 |
+
]
|
| 856 |
+
}
|
| 857 |
+
},
|
| 858 |
+
{
|
| 859 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
|
| 860 |
+
"pose": {
|
| 861 |
+
"pos": [
|
| 862 |
+
-1.182295799255371,
|
| 863 |
+
1.1293792724609375,
|
| 864 |
+
0.9179999828338623
|
| 865 |
+
],
|
| 866 |
+
"ori": [
|
| 867 |
+
-0.20101524889469147,
|
| 868 |
+
2.2833990698245543e-08,
|
| 869 |
+
-1.3941173548914776e-08,
|
| 870 |
+
0.9795880913734436
|
| 871 |
+
],
|
| 872 |
+
"scale": [
|
| 873 |
+
1.0,
|
| 874 |
+
1.0,
|
| 875 |
+
1.0
|
| 876 |
+
]
|
| 877 |
+
},
|
| 878 |
+
"dr": {
|
| 879 |
+
"visual": {
|
| 880 |
+
"kind": null,
|
| 881 |
+
"value": null,
|
| 882 |
+
"visible": true
|
| 883 |
+
},
|
| 884 |
+
"physics": {
|
| 885 |
+
"type": "rigid",
|
| 886 |
+
"collision": true,
|
| 887 |
+
"mass": "asset",
|
| 888 |
+
"max_depenetration_velocity": 1.0,
|
| 889 |
+
"physics_material": {
|
| 890 |
+
"static_friction": 0.5,
|
| 891 |
+
"dynamic_friction": 0.45,
|
| 892 |
+
"restitution": 0.0,
|
| 893 |
+
"friction_combine_mode": "average"
|
| 894 |
+
},
|
| 895 |
+
"ratio": 1.0
|
| 896 |
+
},
|
| 897 |
+
"primitive_params": null
|
| 898 |
+
},
|
| 899 |
+
"type_specific": {
|
| 900 |
+
"linear_velocity": [
|
| 901 |
+
6.62555024177891e-08,
|
| 902 |
+
2.5648443369163942e-08,
|
| 903 |
+
-1.7993152141571045e-06
|
| 904 |
+
],
|
| 905 |
+
"angular_velocity": [
|
| 906 |
+
-2.819336941684014e-07,
|
| 907 |
+
1.6090723420347786e-06,
|
| 908 |
+
9.413147949999257e-08
|
| 909 |
+
]
|
| 910 |
+
}
|
| 911 |
+
}
|
| 912 |
+
],
|
| 913 |
+
"deco_hub_west": [
|
| 914 |
+
{
|
| 915 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 916 |
+
"pose": {
|
| 917 |
+
"pos": [
|
| 918 |
+
-3.36,
|
| 919 |
+
0.0,
|
| 920 |
+
0.0
|
| 921 |
+
],
|
| 922 |
+
"ori": [
|
| 923 |
+
1.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0,
|
| 926 |
+
0.0
|
| 927 |
+
],
|
| 928 |
+
"scale": [
|
| 929 |
+
1.0,
|
| 930 |
+
1.0,
|
| 931 |
+
1.0
|
| 932 |
+
]
|
| 933 |
+
},
|
| 934 |
+
"dr": {
|
| 935 |
+
"visual": {
|
| 936 |
+
"kind": null,
|
| 937 |
+
"value": null,
|
| 938 |
+
"visible": true
|
| 939 |
+
},
|
| 940 |
+
"physics": {
|
| 941 |
+
"type": "geometry",
|
| 942 |
+
"collision": false,
|
| 943 |
+
"ratio": 1.0
|
| 944 |
+
},
|
| 945 |
+
"primitive_params": null
|
| 946 |
+
},
|
| 947 |
+
"type_specific": {}
|
| 948 |
+
}
|
| 949 |
+
],
|
| 950 |
+
"deco_hub_east": [
|
| 951 |
+
{
|
| 952 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 953 |
+
"pose": {
|
| 954 |
+
"pos": [
|
| 955 |
+
3.36,
|
| 956 |
+
0.0,
|
| 957 |
+
0.0
|
| 958 |
+
],
|
| 959 |
+
"ori": [
|
| 960 |
+
1.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0,
|
| 963 |
+
0.0
|
| 964 |
+
],
|
| 965 |
+
"scale": [
|
| 966 |
+
1.0,
|
| 967 |
+
1.0,
|
| 968 |
+
1.0
|
| 969 |
+
]
|
| 970 |
+
},
|
| 971 |
+
"dr": {
|
| 972 |
+
"visual": {
|
| 973 |
+
"kind": null,
|
| 974 |
+
"value": null,
|
| 975 |
+
"visible": true
|
| 976 |
+
},
|
| 977 |
+
"physics": {
|
| 978 |
+
"type": "geometry",
|
| 979 |
+
"collision": false,
|
| 980 |
+
"ratio": 1.0
|
| 981 |
+
},
|
| 982 |
+
"primitive_params": null
|
| 983 |
+
},
|
| 984 |
+
"type_specific": {}
|
| 985 |
+
}
|
| 986 |
+
],
|
| 987 |
+
"deco_hub_back": [
|
| 988 |
+
{
|
| 989 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 990 |
+
"pose": {
|
| 991 |
+
"pos": [
|
| 992 |
+
-3.0,
|
| 993 |
+
-2.1,
|
| 994 |
+
0.0
|
| 995 |
+
],
|
| 996 |
+
"ori": [
|
| 997 |
+
1.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0,
|
| 1000 |
+
0.0
|
| 1001 |
+
],
|
| 1002 |
+
"scale": [
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0,
|
| 1005 |
+
1.0
|
| 1006 |
+
]
|
| 1007 |
+
},
|
| 1008 |
+
"dr": {
|
| 1009 |
+
"visual": {
|
| 1010 |
+
"kind": null,
|
| 1011 |
+
"value": null,
|
| 1012 |
+
"visible": true
|
| 1013 |
+
},
|
| 1014 |
+
"physics": {
|
| 1015 |
+
"type": "geometry",
|
| 1016 |
+
"collision": false,
|
| 1017 |
+
"ratio": 1.0
|
| 1018 |
+
},
|
| 1019 |
+
"primitive_params": null
|
| 1020 |
+
},
|
| 1021 |
+
"type_specific": {}
|
| 1022 |
+
}
|
| 1023 |
+
],
|
| 1024 |
+
"deco_bench_east": [
|
| 1025 |
+
{
|
| 1026 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
|
| 1027 |
+
"pose": {
|
| 1028 |
+
"pos": [
|
| 1029 |
+
2.6,
|
| 1030 |
+
-2.5,
|
| 1031 |
+
0.0
|
| 1032 |
+
],
|
| 1033 |
+
"ori": [
|
| 1034 |
+
6.123234262925839e-17,
|
| 1035 |
+
0.0,
|
| 1036 |
+
0.0,
|
| 1037 |
+
1.0
|
| 1038 |
+
],
|
| 1039 |
+
"scale": [
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0,
|
| 1042 |
+
1.0
|
| 1043 |
+
]
|
| 1044 |
+
},
|
| 1045 |
+
"dr": {
|
| 1046 |
+
"visual": {
|
| 1047 |
+
"kind": null,
|
| 1048 |
+
"value": null,
|
| 1049 |
+
"visible": true
|
| 1050 |
+
},
|
| 1051 |
+
"physics": {
|
| 1052 |
+
"type": "geometry",
|
| 1053 |
+
"collision": false,
|
| 1054 |
+
"ratio": 1.0
|
| 1055 |
+
},
|
| 1056 |
+
"primitive_params": null
|
| 1057 |
+
},
|
| 1058 |
+
"type_specific": {}
|
| 1059 |
+
}
|
| 1060 |
+
],
|
| 1061 |
+
"deco_bench_gap": [
|
| 1062 |
+
{
|
| 1063 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1064 |
+
"pose": {
|
| 1065 |
+
"pos": [
|
| 1066 |
+
-0.1,
|
| 1067 |
+
-2.9,
|
| 1068 |
+
0.0
|
| 1069 |
+
],
|
| 1070 |
+
"ori": [
|
| 1071 |
+
1.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0,
|
| 1074 |
+
0.0
|
| 1075 |
+
],
|
| 1076 |
+
"scale": [
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0,
|
| 1079 |
+
1.0
|
| 1080 |
+
]
|
| 1081 |
+
},
|
| 1082 |
+
"dr": {
|
| 1083 |
+
"visual": {
|
| 1084 |
+
"kind": null,
|
| 1085 |
+
"value": null,
|
| 1086 |
+
"visible": true
|
| 1087 |
+
},
|
| 1088 |
+
"physics": {
|
| 1089 |
+
"type": "geometry",
|
| 1090 |
+
"collision": false,
|
| 1091 |
+
"ratio": 1.0
|
| 1092 |
+
},
|
| 1093 |
+
"primitive_params": null
|
| 1094 |
+
},
|
| 1095 |
+
"type_specific": {}
|
| 1096 |
+
}
|
| 1097 |
+
]
|
| 1098 |
+
}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
null,
|
| 1105 |
+
{
|
| 1106 |
+
"t": 4.119999999999934,
|
| 1107 |
+
"step": 824,
|
| 1108 |
+
"counter": 0,
|
| 1109 |
+
"devices": {
|
| 1110 |
+
"a4s_sealer_1": {
|
| 1111 |
+
"mode": "auto",
|
| 1112 |
+
"units": {
|
| 1113 |
+
"drawer": {
|
| 1114 |
+
"state": "at_out",
|
| 1115 |
+
"active": null,
|
| 1116 |
+
"target": 0.0,
|
| 1117 |
+
"goal_name": "out",
|
| 1118 |
+
"profile": null,
|
| 1119 |
+
"q_start": null,
|
| 1120 |
+
"reversing": false,
|
| 1121 |
+
"blocked_for": 0.0,
|
| 1122 |
+
"settled_for": 0.0,
|
| 1123 |
+
"last_q": 0.0
|
| 1124 |
+
},
|
| 1125 |
+
"heater": {
|
| 1126 |
+
"state": "ready",
|
| 1127 |
+
"active": null,
|
| 1128 |
+
"duration": 0.0,
|
| 1129 |
+
"t_start": null,
|
| 1130 |
+
"elapsed": 0.0
|
| 1131 |
+
}
|
| 1132 |
+
},
|
| 1133 |
+
"queues": {},
|
| 1134 |
+
"program": null,
|
| 1135 |
+
"sensors": {
|
| 1136 |
+
"plate_present": {
|
| 1137 |
+
"occupants": [],
|
| 1138 |
+
"pending": {}
|
| 1139 |
+
}
|
| 1140 |
+
},
|
| 1141 |
+
"interlocks": {}
|
| 1142 |
+
},
|
| 1143 |
+
"conveyor_1": {
|
| 1144 |
+
"mode": "auto",
|
| 1145 |
+
"units": {
|
| 1146 |
+
"belt": {
|
| 1147 |
+
"state": "at_station",
|
| 1148 |
+
"active": null,
|
| 1149 |
+
"controller": {
|
| 1150 |
+
"speed": 0.2704494938514672,
|
| 1151 |
+
"holds": [],
|
| 1152 |
+
"station": "pick",
|
| 1153 |
+
"rider": "carrier_3",
|
| 1154 |
+
"arrived": true,
|
| 1155 |
+
"settle_count": 660,
|
| 1156 |
+
"released": {
|
| 1157 |
+
"pick": []
|
| 1158 |
+
},
|
| 1159 |
+
"last_pos": {
|
| 1160 |
+
"carrier_1": [
|
| 1161 |
+
0.4768711030483246,
|
| 1162 |
+
0.7026174664497375,
|
| 1163 |
+
0.0
|
| 1164 |
+
],
|
| 1165 |
+
"carrier_2": [
|
| 1166 |
+
1.5429845750331879,
|
| 1167 |
+
0.4063757061958313,
|
| 1168 |
+
0.0
|
| 1169 |
+
],
|
| 1170 |
+
"carrier_3": [
|
| 1171 |
+
-0.2958606779575348,
|
| 1172 |
+
-0.002727687358856201,
|
| 1173 |
+
0.0
|
| 1174 |
+
],
|
| 1175 |
+
"carrier_4": [
|
| 1176 |
+
-1.326721578836441,
|
| 1177 |
+
0.6726921200752258,
|
| 1178 |
+
0.0
|
| 1179 |
+
]
|
| 1180 |
+
},
|
| 1181 |
+
"command": 0.0
|
| 1182 |
+
},
|
| 1183 |
+
"belt": {
|
| 1184 |
+
"target_speed": 0.0,
|
| 1185 |
+
"command_speed": 0.0
|
| 1186 |
+
},
|
| 1187 |
+
"seen": {
|
| 1188 |
+
"state": "at_station",
|
| 1189 |
+
"station": "pick",
|
| 1190 |
+
"rider": "carrier_3",
|
| 1191 |
+
"arrived": true
|
| 1192 |
+
}
|
| 1193 |
+
}
|
| 1194 |
+
},
|
| 1195 |
+
"queues": {},
|
| 1196 |
+
"program": null,
|
| 1197 |
+
"sensors": {},
|
| 1198 |
+
"interlocks": {}
|
| 1199 |
+
}
|
| 1200 |
+
},
|
| 1201 |
+
"zones": {},
|
| 1202 |
+
"labware": {
|
| 1203 |
+
"plate_1": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_2": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_3": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
},
|
| 1212 |
+
"plate_4": {
|
| 1213 |
+
"sealed": false
|
| 1214 |
+
}
|
| 1215 |
+
},
|
| 1216 |
+
"rules": {},
|
| 1217 |
+
"records": [],
|
| 1218 |
+
"bus": {
|
| 1219 |
+
"seq": 3,
|
| 1220 |
+
"queue": []
|
| 1221 |
+
}
|
| 1222 |
+
}
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
{}
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{},
|
| 1235 |
+
{
|
| 1236 |
+
"ceiling": {
|
| 1237 |
+
"type": "rect",
|
| 1238 |
+
"pose": {
|
| 1239 |
+
"pos": [
|
| 1240 |
+
0.322495924296769,
|
| 1241 |
+
0.48006794947380793,
|
| 1242 |
+
2.769761829409651
|
| 1243 |
+
],
|
| 1244 |
+
"ori": [
|
| 1245 |
+
5.0289528519794615,
|
| 1246 |
+
9.444958482271815,
|
| 1247 |
+
15.364594468560895
|
| 1248 |
+
],
|
| 1249 |
+
"scale": [
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0,
|
| 1252 |
+
1.0
|
| 1253 |
+
]
|
| 1254 |
+
},
|
| 1255 |
+
"dr": {
|
| 1256 |
+
"color_temperature": 6417.535946468086,
|
| 1257 |
+
"color": [
|
| 1258 |
+
0.9041933225770806,
|
| 1259 |
+
0.8505021377273243,
|
| 1260 |
+
0.7959200706797349
|
| 1261 |
+
],
|
| 1262 |
+
"intensity": 15343.1292655344,
|
| 1263 |
+
"width": 2.5290090123323656,
|
| 1264 |
+
"height": 0.8022894614092656
|
| 1265 |
+
}
|
| 1266 |
+
},
|
| 1267 |
+
"key": {
|
| 1268 |
+
"type": "sphere",
|
| 1269 |
+
"pose": {
|
| 1270 |
+
"pos": [
|
| 1271 |
+
0.43155598330427614,
|
| 1272 |
+
0.9798596823370869,
|
| 1273 |
+
1.7278345501987664
|
| 1274 |
+
],
|
| 1275 |
+
"ori": [
|
| 1276 |
+
0.7114319972216592,
|
| 1277 |
+
-22.593055355973817,
|
| 1278 |
+
17.031217745280998
|
| 1279 |
+
],
|
| 1280 |
+
"scale": [
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0,
|
| 1283 |
+
1.0
|
| 1284 |
+
]
|
| 1285 |
+
},
|
| 1286 |
+
"dr": {
|
| 1287 |
+
"color_temperature": 3508.4821581379215,
|
| 1288 |
+
"color": [
|
| 1289 |
+
0.8668231307258151,
|
| 1290 |
+
0.9759069327854837,
|
| 1291 |
+
0.9457221076895375
|
| 1292 |
+
],
|
| 1293 |
+
"intensity": 2455.849135683491,
|
| 1294 |
+
"radius": 0.13091665808566877
|
| 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": 1028.0693120869357,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
2.4531450271606445,
|
| 1394 |
+
-2.2756078243255615,
|
| 1395 |
+
2.5981998443603516,
|
| 1396 |
+
-1.89287269115448,
|
| 1397 |
+
-1.5714925527572632,
|
| 1398 |
+
4.023987770080566,
|
| 1399 |
+
0.007823139429092407,
|
| 1400 |
+
0.007194976322352886
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
2.5261571407318115,
|
| 1404 |
+
-1.9776116609573364,
|
| 1405 |
+
2.7044999599456787,
|
| 1406 |
+
-2.2949936389923096,
|
| 1407 |
+
-1.568210244178772,
|
| 1408 |
+
4.09311056137085,
|
| 1409 |
+
0.01799999549984932,
|
| 1410 |
+
0.018000002950429916
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.8095959424972534,
|
| 1414 |
+
-1.3239555358886719,
|
| 1415 |
+
1.8827780485153198,
|
| 1416 |
+
-2.129718542098999,
|
| 1417 |
+
-1.5707900524139404,
|
| 1418 |
+
2.1836044788360596,
|
| 1419 |
+
0.007145858835428953,
|
| 1420 |
+
0.007769641000777483
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
0.9141024947166443,
|
| 1424 |
+
-1.719399094581604,
|
| 1425 |
+
2.090500593185425,
|
| 1426 |
+
-1.941901683807373,
|
| 1427 |
+
-1.5707999467849731,
|
| 1428 |
+
2.484900712966919,
|
| 1429 |
+
0.017999999225139618,
|
| 1430 |
+
0.017999999225139618
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.026556754484772682,
|
| 1436 |
+
0.043912503868341446,
|
| 1437 |
+
-0.012948788702487946,
|
| 1438 |
+
-0.03227109834551811,
|
| 1439 |
+
-0.0008839437505230308,
|
| 1440 |
+
0.029405713081359863,
|
| 1441 |
+
-0.007593994960188866,
|
| 1442 |
+
0.00034425826743245125
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
6.811923412897158e-06,
|
| 1446 |
+
6.8118470153422095e-06,
|
| 1447 |
+
6.811912953708088e-06,
|
| 1448 |
+
1.3623904123960529e-05,
|
| 1449 |
+
-3.405978986847913e-06,
|
| 1450 |
+
-1.3623913218907546e-05,
|
| 1451 |
+
5.197177443960754e-08,
|
| 1452 |
+
-5.196819330421931e-08
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
-0.0006042590248398483,
|
| 1456 |
+
-0.0008035872597247362,
|
| 1457 |
+
-0.0020029048901051283,
|
| 1458 |
+
0.00019221988623030484,
|
| 1459 |
+
0.00017994633526541293,
|
| 1460 |
+
-0.0007238062680698931,
|
| 1461 |
+
-0.007242018822580576,
|
| 1462 |
+
0.00025802964228205383
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
0.0,
|
| 1466 |
+
2.5530623861731495e-38,
|
| 1467 |
+
2.096313916141254e-38,
|
| 1468 |
+
2.698184722722389e-37,
|
| 1469 |
+
-5.5587438400115835e-37,
|
| 1470 |
+
6.106303569127926e-37,
|
| 1471 |
+
-1.0076899807581621e-37,
|
| 1472 |
+
8.000080195156668e-38
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.046152178198099136,
|
| 1482 |
+
0.00235967175103724,
|
| 1483 |
+
-0.029983287677168846,
|
| 1484 |
+
-0.2812950611114502,
|
| 1485 |
+
0.6523727774620056,
|
| 1486 |
+
0.646050751209259,
|
| 1487 |
+
-0.2791080176830292
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04876426234841347,
|
| 1491 |
+
-0.002242466900497675,
|
| 1492 |
+
-0.032206807285547256,
|
| 1493 |
+
-0.2713320255279541,
|
| 1494 |
+
0.6565393805503845,
|
| 1495 |
+
0.6486901044845581,
|
| 1496 |
+
-0.2730129659175873
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.05178843438625336,
|
| 1500 |
+
0.00027520759613253176,
|
| 1501 |
+
-0.02933180145919323,
|
| 1502 |
+
-0.2797861695289612,
|
| 1503 |
+
0.6459752321243286,
|
| 1504 |
+
0.6576912999153137,
|
| 1505 |
+
-0.2681005299091339
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04684514179825783,
|
| 1509 |
+
-0.0009358699317090213,
|
| 1510 |
+
-0.033756423741579056,
|
| 1511 |
+
-0.2842670977115631,
|
| 1512 |
+
0.6498345732688904,
|
| 1513 |
+
0.6494057774543762,
|
| 1514 |
+
-0.2741886079311371
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.06213340908288956,
|
| 1520 |
+
0.5999961495399475,
|
| 1521 |
+
1.9415220022201538,
|
| 1522 |
+
0.03251606971025467,
|
| 1523 |
+
0.0028824086766690016,
|
| 1524 |
+
0.25475552678108215,
|
| 1525 |
+
0.9664543271064758
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.03551667556166649,
|
| 1529 |
+
0.5632237195968628,
|
| 1530 |
+
1.9457356929779053,
|
| 1531 |
+
0.05593063682317734,
|
| 1532 |
+
0.0067042456939816475,
|
| 1533 |
+
0.28163379430770874,
|
| 1534 |
+
0.9578670263290405
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.031140776351094246,
|
| 1538 |
+
0.5859112739562988,
|
| 1539 |
+
1.9420381784439087,
|
| 1540 |
+
0.0351712629199028,
|
| 1541 |
+
0.020304419100284576,
|
| 1542 |
+
0.2546660304069519,
|
| 1543 |
+
0.96617591381073
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.07236238569021225,
|
| 1547 |
+
0.5764328241348267,
|
| 1548 |
+
1.928544044494629,
|
| 1549 |
+
0.05379364266991615,
|
| 1550 |
+
-0.007490493357181549,
|
| 1551 |
+
0.26636001467704773,
|
| 1552 |
+
0.9623422026634216
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p015_e019/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:79e8a1d528d368abfc5ed09008750d1a45ad3af1bc6522ae1370d97e6dfab404
|
| 3 |
+
size 6640582
|
episodes/c8_p014_e036/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c343c272a532fbbedccc7bca21df6a9e266ab73414428e271751b676e7518807
|
| 3 |
+
size 193165
|
episodes/c8_p014_e036/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 3, "seq": 1, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 60, "t": 0.3, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 6503, "t": 32.515, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.059142678478336}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 7116, "t": 35.58, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 10 |
+
{"env_id": 3, "seq": 10, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 3, "seq": 11, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 12 |
+
{"env_id": 3, "seq": 12, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 13 |
+
{"env_id": 3, "seq": 13, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 7535, "t": 37.675, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"}
|
| 16 |
+
{"env_id": 3, "seq": 16, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 7535, "t": 37.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.059142678478336}, "cause": "program-3-3"}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 8347, "t": 41.735, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 8347, "t": 41.735, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.060000000002077}, "cause": "program-3-3"}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 8347, "t": 41.735, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.060000000002077}}, "cause": "program-3-3"}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 8347, "t": 41.735, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 8347, "t": 41.735, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 8347, "t": 41.735, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 3, "seq": 26, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"}
|
| 27 |
+
{"env_id": 3, "seq": 27, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"}
|
| 28 |
+
{"env_id": 3, "seq": 28, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 9347, "t": 46.735, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
+
{"env_id": 3, "seq": 32, "step": 11076, "t": 55.38, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 11076, "t": 55.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 11076, "t": 55.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 11076, "t": 55.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
|
episodes/c8_p014_e036/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fdb3a239fc2918f23cd9ddf7ebd0fe3dab8d8c20fbeef5f3713b326b7507c58e
|
| 3 |
+
size 1301863
|
episodes/c8_p014_e036/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c8_p014/magicsim/36",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1249,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1249,
|
| 8 |
+
"env": 1249
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c8_p014_e036/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 36,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c8_p014",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
+
0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
| 123 |
+
6.123234262925839e-17,
|
| 124 |
+
0.0,
|
| 125 |
+
0.0,
|
| 126 |
+
1.0
|
| 127 |
+
],
|
| 128 |
+
"scale": [
|
| 129 |
+
1.0,
|
| 130 |
+
1.0,
|
| 131 |
+
1.0
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"dr": {
|
| 135 |
+
"visual": {
|
| 136 |
+
"kind": null,
|
| 137 |
+
"value": null,
|
| 138 |
+
"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
+
-0.6,
|
| 161 |
+
0.02,
|
| 162 |
+
0.9605
|
| 163 |
+
],
|
| 164 |
+
"ori": [
|
| 165 |
+
1.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
"scale": [
|
| 171 |
+
1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"dr": {
|
| 177 |
+
"visual": {
|
| 178 |
+
"kind": null,
|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
+
-0.6,
|
| 196 |
+
0.02,
|
| 197 |
+
1.0285
|
| 198 |
+
],
|
| 199 |
+
"ori": [
|
| 200 |
+
6.123234262925839e-17,
|
| 201 |
+
0.0,
|
| 202 |
+
0.0,
|
| 203 |
+
1.0
|
| 204 |
+
],
|
| 205 |
+
"scale": [
|
| 206 |
+
1.0,
|
| 207 |
+
1.0,
|
| 208 |
+
1.0
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"dr": {
|
| 212 |
+
"visual": {
|
| 213 |
+
"kind": null,
|
| 214 |
+
"value": null,
|
| 215 |
+
"visible": true
|
| 216 |
+
},
|
| 217 |
+
"physics": {
|
| 218 |
+
"type": "geometry",
|
| 219 |
+
"collision": false,
|
| 220 |
+
"ratio": 1.0
|
| 221 |
+
},
|
| 222 |
+
"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 228 |
+
"pose": {
|
| 229 |
+
"pos": [
|
| 230 |
+
-0.6,
|
| 231 |
+
0.02,
|
| 232 |
+
1.0965
|
| 233 |
+
],
|
| 234 |
+
"ori": [
|
| 235 |
+
1.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0,
|
| 238 |
+
0.0
|
| 239 |
+
],
|
| 240 |
+
"scale": [
|
| 241 |
+
1.0,
|
| 242 |
+
1.0,
|
| 243 |
+
1.0
|
| 244 |
+
]
|
| 245 |
+
},
|
| 246 |
+
"dr": {
|
| 247 |
+
"visual": {
|
| 248 |
+
"kind": null,
|
| 249 |
+
"value": null,
|
| 250 |
+
"visible": true
|
| 251 |
+
},
|
| 252 |
+
"physics": {
|
| 253 |
+
"type": "geometry",
|
| 254 |
+
"collision": false,
|
| 255 |
+
"ratio": 1.0
|
| 256 |
+
},
|
| 257 |
+
"primitive_params": null
|
| 258 |
+
},
|
| 259 |
+
"type_specific": {}
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 263 |
+
"pose": {
|
| 264 |
+
"pos": [
|
| 265 |
+
-0.6,
|
| 266 |
+
0.02,
|
| 267 |
+
1.1645
|
| 268 |
+
],
|
| 269 |
+
"ori": [
|
| 270 |
+
6.123234262925839e-17,
|
| 271 |
+
0.0,
|
| 272 |
+
0.0,
|
| 273 |
+
1.0
|
| 274 |
+
],
|
| 275 |
+
"scale": [
|
| 276 |
+
1.0,
|
| 277 |
+
1.0,
|
| 278 |
+
1.0
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"dr": {
|
| 282 |
+
"visual": {
|
| 283 |
+
"kind": null,
|
| 284 |
+
"value": null,
|
| 285 |
+
"visible": true
|
| 286 |
+
},
|
| 287 |
+
"physics": {
|
| 288 |
+
"type": "geometry",
|
| 289 |
+
"collision": false,
|
| 290 |
+
"ratio": 1.0
|
| 291 |
+
},
|
| 292 |
+
"primitive_params": null
|
| 293 |
+
},
|
| 294 |
+
"type_specific": {}
|
| 295 |
+
},
|
| 296 |
+
{
|
| 297 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 298 |
+
"pose": {
|
| 299 |
+
"pos": [
|
| 300 |
+
-0.6,
|
| 301 |
+
0.02,
|
| 302 |
+
1.2325
|
| 303 |
+
],
|
| 304 |
+
"ori": [
|
| 305 |
+
1.0,
|
| 306 |
+
0.0,
|
| 307 |
+
0.0,
|
| 308 |
+
0.0
|
| 309 |
+
],
|
| 310 |
+
"scale": [
|
| 311 |
+
1.0,
|
| 312 |
+
1.0,
|
| 313 |
+
1.0
|
| 314 |
+
]
|
| 315 |
+
},
|
| 316 |
+
"dr": {
|
| 317 |
+
"visual": {
|
| 318 |
+
"kind": null,
|
| 319 |
+
"value": null,
|
| 320 |
+
"visible": true
|
| 321 |
+
},
|
| 322 |
+
"physics": {
|
| 323 |
+
"type": "geometry",
|
| 324 |
+
"collision": false,
|
| 325 |
+
"ratio": 1.0
|
| 326 |
+
},
|
| 327 |
+
"primitive_params": null
|
| 328 |
+
},
|
| 329 |
+
"type_specific": {}
|
| 330 |
+
}
|
| 331 |
+
],
|
| 332 |
+
"a4s_sealer": [
|
| 333 |
+
{
|
| 334 |
+
"asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
|
| 335 |
+
"pose": {
|
| 336 |
+
"pos": [
|
| 337 |
+
0.5213470458984375,
|
| 338 |
+
0.08469390869140625,
|
| 339 |
+
0.8999999761581421
|
| 340 |
+
],
|
| 341 |
+
"ori": [
|
| 342 |
+
-0.6827499270439148,
|
| 343 |
+
0.0,
|
| 344 |
+
0.0,
|
| 345 |
+
0.7306521534919739
|
| 346 |
+
],
|
| 347 |
+
"scale": [
|
| 348 |
+
1.0,
|
| 349 |
+
1.0,
|
| 350 |
+
1.0
|
| 351 |
+
]
|
| 352 |
+
},
|
| 353 |
+
"dr": {
|
| 354 |
+
"visual": {
|
| 355 |
+
"kind": null,
|
| 356 |
+
"value": null,
|
| 357 |
+
"visible": true
|
| 358 |
+
},
|
| 359 |
+
"physics": {
|
| 360 |
+
"type": "articulation",
|
| 361 |
+
"solver_position_iteration_count": 16.0,
|
| 362 |
+
"solver_velocity_iteration_count": 1.0,
|
| 363 |
+
"enabled_self_collisions": false,
|
| 364 |
+
"ratio": 1.0
|
| 365 |
+
},
|
| 366 |
+
"primitive_params": null
|
| 367 |
+
},
|
| 368 |
+
"type_specific": {
|
| 369 |
+
"joint_position": [
|
| 370 |
+
0.0
|
| 371 |
+
],
|
| 372 |
+
"joint_velocity": [
|
| 373 |
+
0.0
|
| 374 |
+
],
|
| 375 |
+
"linear_velocity": [
|
| 376 |
+
0.0,
|
| 377 |
+
0.0,
|
| 378 |
+
0.0
|
| 379 |
+
],
|
| 380 |
+
"angular_velocity": [
|
| 381 |
+
0.0,
|
| 382 |
+
0.0,
|
| 383 |
+
0.0
|
| 384 |
+
]
|
| 385 |
+
}
|
| 386 |
+
}
|
| 387 |
+
],
|
| 388 |
+
"conveyor": [
|
| 389 |
+
{
|
| 390 |
+
"asset": "Cube",
|
| 391 |
+
"pose": {
|
| 392 |
+
"pos": [
|
| 393 |
+
0.15,
|
| 394 |
+
0.45,
|
| 395 |
+
0.9
|
| 396 |
+
],
|
| 397 |
+
"ori": [
|
| 398 |
+
1.0,
|
| 399 |
+
0.0,
|
| 400 |
+
0.0,
|
| 401 |
+
0.0
|
| 402 |
+
],
|
| 403 |
+
"scale": [
|
| 404 |
+
1.0,
|
| 405 |
+
1.0,
|
| 406 |
+
1.0
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
"dr": {
|
| 410 |
+
"visual": {
|
| 411 |
+
"kind": null,
|
| 412 |
+
"value": null,
|
| 413 |
+
"visible": true
|
| 414 |
+
},
|
| 415 |
+
"physics": {
|
| 416 |
+
"type": "conveyor",
|
| 417 |
+
"physics_material": {
|
| 418 |
+
"static_friction": 0.9,
|
| 419 |
+
"dynamic_friction": 0.9
|
| 420 |
+
},
|
| 421 |
+
"ratio": 1.0
|
| 422 |
+
},
|
| 423 |
+
"primitive_params": {
|
| 424 |
+
"size": [
|
| 425 |
+
2.4,
|
| 426 |
+
0.076,
|
| 427 |
+
0.03
|
| 428 |
+
]
|
| 429 |
+
},
|
| 430 |
+
"conveyor": {
|
| 431 |
+
"speed": 0.2396046176942243,
|
| 432 |
+
"direction": [
|
| 433 |
+
1.0,
|
| 434 |
+
0.0,
|
| 435 |
+
0.0
|
| 436 |
+
],
|
| 437 |
+
"enabled": true,
|
| 438 |
+
"drive": "surface_velocity",
|
| 439 |
+
"lines": null,
|
| 440 |
+
"station_line": null,
|
| 441 |
+
"riders": [
|
| 442 |
+
"carrier"
|
| 443 |
+
],
|
| 444 |
+
"stations": {
|
| 445 |
+
"pick": {
|
| 446 |
+
"position": -0.2710118447793308,
|
| 447 |
+
"slow_distance": 0.03,
|
| 448 |
+
"slow_speed": 0.03
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"rails": {
|
| 452 |
+
"height": 0.01,
|
| 453 |
+
"thickness": 0.01,
|
| 454 |
+
"gap": 0.001,
|
| 455 |
+
"friction": 0.05
|
| 456 |
+
},
|
| 457 |
+
"legs": 0.87,
|
| 458 |
+
"loop": {
|
| 459 |
+
"radius": 0.35,
|
| 460 |
+
"side": "left",
|
| 461 |
+
"curve_extra_width": 0.0,
|
| 462 |
+
"segments": 18,
|
| 463 |
+
"curve_rails": "both"
|
| 464 |
+
},
|
| 465 |
+
"snap_distance": 0.1,
|
| 466 |
+
"junction_snap": 0.02,
|
| 467 |
+
"collision_approximation": "auto",
|
| 468 |
+
"plate_mass": 1.0,
|
| 469 |
+
"lift_drop": 0.004,
|
| 470 |
+
"accel": 0.0,
|
| 471 |
+
"decel": 0.0,
|
| 472 |
+
"drive_damping": 1000000.0,
|
| 473 |
+
"drive_max_force": 1000000000.0
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"type_specific": {
|
| 477 |
+
"controller": {
|
| 478 |
+
"state": "at_station",
|
| 479 |
+
"speed": 0.2396046176942243,
|
| 480 |
+
"holds": [],
|
| 481 |
+
"station": "pick",
|
| 482 |
+
"rider": "carrier_3",
|
| 483 |
+
"arrived": true,
|
| 484 |
+
"applied_speed": 0.0
|
| 485 |
+
}
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
],
|
| 489 |
+
"carrier": [
|
| 490 |
+
{
|
| 491 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 492 |
+
"pose": {
|
| 493 |
+
"pos": [
|
| 494 |
+
-1.3935213088989258,
|
| 495 |
+
0.8615045547485352,
|
| 496 |
+
0.8999999761581421
|
| 497 |
+
],
|
| 498 |
+
"ori": [
|
| 499 |
+
-0.6400341391563416,
|
| 500 |
+
2.7344141173557546e-08,
|
| 501 |
+
3.810266235859672e-08,
|
| 502 |
+
0.7683464884757996
|
| 503 |
+
],
|
| 504 |
+
"scale": [
|
| 505 |
+
1.0,
|
| 506 |
+
1.0,
|
| 507 |
+
1.0
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"dr": {
|
| 511 |
+
"visual": {
|
| 512 |
+
"kind": null,
|
| 513 |
+
"value": null,
|
| 514 |
+
"visible": true
|
| 515 |
+
},
|
| 516 |
+
"physics": {
|
| 517 |
+
"type": "rigid",
|
| 518 |
+
"mass": 0.5,
|
| 519 |
+
"physics_material": {
|
| 520 |
+
"static_friction": 0.9,
|
| 521 |
+
"dynamic_friction": 0.9,
|
| 522 |
+
"restitution": 0.0
|
| 523 |
+
},
|
| 524 |
+
"ratio": 1.0
|
| 525 |
+
},
|
| 526 |
+
"primitive_params": null
|
| 527 |
+
},
|
| 528 |
+
"type_specific": {
|
| 529 |
+
"linear_velocity": [
|
| 530 |
+
-1.0228671243339704e-09,
|
| 531 |
+
-4.058291480646403e-10,
|
| 532 |
+
3.725290298461914e-09
|
| 533 |
+
],
|
| 534 |
+
"angular_velocity": [
|
| 535 |
+
2.7498979093820708e-08,
|
| 536 |
+
-3.586483998674339e-08,
|
| 537 |
+
9.419640178975897e-09
|
| 538 |
+
]
|
| 539 |
+
}
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 543 |
+
"pose": {
|
| 544 |
+
"pos": [
|
| 545 |
+
1.6519527435302734,
|
| 546 |
+
0.628474235534668,
|
| 547 |
+
0.8999999761581421
|
| 548 |
+
],
|
| 549 |
+
"ori": [
|
| 550 |
+
0.8725173473358154,
|
| 551 |
+
-1.0609485912027594e-07,
|
| 552 |
+
-6.97117297221439e-09,
|
| 553 |
+
0.4885832369327545
|
| 554 |
+
],
|
| 555 |
+
"scale": [
|
| 556 |
+
1.0,
|
| 557 |
+
1.0,
|
| 558 |
+
1.0
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
"dr": {
|
| 562 |
+
"visual": {
|
| 563 |
+
"kind": null,
|
| 564 |
+
"value": null,
|
| 565 |
+
"visible": true
|
| 566 |
+
},
|
| 567 |
+
"physics": {
|
| 568 |
+
"type": "rigid",
|
| 569 |
+
"mass": 0.5,
|
| 570 |
+
"physics_material": {
|
| 571 |
+
"static_friction": 0.9,
|
| 572 |
+
"dynamic_friction": 0.9,
|
| 573 |
+
"restitution": 0.0
|
| 574 |
+
},
|
| 575 |
+
"ratio": 1.0
|
| 576 |
+
},
|
| 577 |
+
"primitive_params": null
|
| 578 |
+
},
|
| 579 |
+
"type_specific": {
|
| 580 |
+
"linear_velocity": [
|
| 581 |
+
2.8122948414477378e-11,
|
| 582 |
+
-2.272984300777381e-10,
|
| 583 |
+
0.0
|
| 584 |
+
],
|
| 585 |
+
"angular_velocity": [
|
| 586 |
+
2.0121609267675922e-08,
|
| 587 |
+
6.38049613144176e-09,
|
| 588 |
+
9.218572571967343e-10
|
| 589 |
+
]
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 594 |
+
"pose": {
|
| 595 |
+
"pos": [
|
| 596 |
+
-0.12110424041748047,
|
| 597 |
+
0.45000171661376953,
|
| 598 |
+
0.8999999761581421
|
| 599 |
+
],
|
| 600 |
+
"ori": [
|
| 601 |
+
1.0,
|
| 602 |
+
5.693074900392503e-10,
|
| 603 |
+
2.6814628295568355e-10,
|
| 604 |
+
-2.1587551600532606e-05
|
| 605 |
+
],
|
| 606 |
+
"scale": [
|
| 607 |
+
1.0,
|
| 608 |
+
1.0,
|
| 609 |
+
1.0
|
| 610 |
+
]
|
| 611 |
+
},
|
| 612 |
+
"dr": {
|
| 613 |
+
"visual": {
|
| 614 |
+
"kind": null,
|
| 615 |
+
"value": null,
|
| 616 |
+
"visible": true
|
| 617 |
+
},
|
| 618 |
+
"physics": {
|
| 619 |
+
"type": "rigid",
|
| 620 |
+
"mass": 0.5,
|
| 621 |
+
"physics_material": {
|
| 622 |
+
"static_friction": 0.9,
|
| 623 |
+
"dynamic_friction": 0.9,
|
| 624 |
+
"restitution": 0.0
|
| 625 |
+
},
|
| 626 |
+
"ratio": 1.0
|
| 627 |
+
},
|
| 628 |
+
"primitive_params": null
|
| 629 |
+
},
|
| 630 |
+
"type_specific": {
|
| 631 |
+
"linear_velocity": [
|
| 632 |
+
1.7641008653868084e-09,
|
| 633 |
+
5.66562075032806e-10,
|
| 634 |
+
7.450580596923828e-09
|
| 635 |
+
],
|
| 636 |
+
"angular_velocity": [
|
| 637 |
+
2.819837874312725e-08,
|
| 638 |
+
1.523273880366105e-07,
|
| 639 |
+
-2.4589962066556836e-08
|
| 640 |
+
]
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
{
|
| 644 |
+
"asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
|
| 645 |
+
"pose": {
|
| 646 |
+
"pos": [
|
| 647 |
+
0.6564788818359375,
|
| 648 |
+
1.1499958038330078,
|
| 649 |
+
0.8999999761581421
|
| 650 |
+
],
|
| 651 |
+
"ori": [
|
| 652 |
+
-6.418192060664296e-05,
|
| 653 |
+
1.149750294970886e-09,
|
| 654 |
+
-7.513020761074074e-10,
|
| 655 |
+
1.0
|
| 656 |
+
],
|
| 657 |
+
"scale": [
|
| 658 |
+
1.0,
|
| 659 |
+
1.0,
|
| 660 |
+
1.0
|
| 661 |
+
]
|
| 662 |
+
},
|
| 663 |
+
"dr": {
|
| 664 |
+
"visual": {
|
| 665 |
+
"kind": null,
|
| 666 |
+
"value": null,
|
| 667 |
+
"visible": true
|
| 668 |
+
},
|
| 669 |
+
"physics": {
|
| 670 |
+
"type": "rigid",
|
| 671 |
+
"mass": 0.5,
|
| 672 |
+
"physics_material": {
|
| 673 |
+
"static_friction": 0.9,
|
| 674 |
+
"dynamic_friction": 0.9,
|
| 675 |
+
"restitution": 0.0
|
| 676 |
+
},
|
| 677 |
+
"ratio": 1.0
|
| 678 |
+
},
|
| 679 |
+
"primitive_params": null
|
| 680 |
+
},
|
| 681 |
+
"type_specific": {
|
| 682 |
+
"linear_velocity": [
|
| 683 |
+
-6.544893516036154e-10,
|
| 684 |
+
-6.940369390306955e-10,
|
| 685 |
+
1.4901161193847656e-08
|
| 686 |
+
],
|
| 687 |
+
"angular_velocity": [
|
| 688 |
+
5.5135927823357633e-08,
|
| 689 |
+
-7.976206006787834e-08,
|
| 690 |
+
-4.070153991619918e-09
|
| 691 |
+
]
|
| 692 |
+
}
|
| 693 |
+
}
|
| 694 |
+
],
|
| 695 |
+
"plate": [
|
| 696 |
+
{
|
| 697 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
|
| 698 |
+
"pose": {
|
| 699 |
+
"pos": [
|
| 700 |
+
-1.3916654586791992,
|
| 701 |
+
0.8591594696044922,
|
| 702 |
+
0.9179999828338623
|
| 703 |
+
],
|
| 704 |
+
"ori": [
|
| 705 |
+
-0.6266372799873352,
|
| 706 |
+
2.5467134179280038e-08,
|
| 707 |
+
3.767935297105396e-08,
|
| 708 |
+
0.7793110013008118
|
| 709 |
+
],
|
| 710 |
+
"scale": [
|
| 711 |
+
1.0,
|
| 712 |
+
1.0,
|
| 713 |
+
1.0
|
| 714 |
+
]
|
| 715 |
+
},
|
| 716 |
+
"dr": {
|
| 717 |
+
"visual": {
|
| 718 |
+
"kind": null,
|
| 719 |
+
"value": null,
|
| 720 |
+
"visible": true
|
| 721 |
+
},
|
| 722 |
+
"physics": {
|
| 723 |
+
"type": "rigid",
|
| 724 |
+
"collision": true,
|
| 725 |
+
"mass": "asset",
|
| 726 |
+
"max_depenetration_velocity": 1.0,
|
| 727 |
+
"physics_material": {
|
| 728 |
+
"static_friction": 0.5,
|
| 729 |
+
"dynamic_friction": 0.45,
|
| 730 |
+
"restitution": 0.0,
|
| 731 |
+
"friction_combine_mode": "average"
|
| 732 |
+
},
|
| 733 |
+
"ratio": 1.0
|
| 734 |
+
},
|
| 735 |
+
"primitive_params": null
|
| 736 |
+
},
|
| 737 |
+
"type_specific": {
|
| 738 |
+
"linear_velocity": [
|
| 739 |
+
-8.17047585144337e-09,
|
| 740 |
+
2.808215704419581e-08,
|
| 741 |
+
7.82310962677002e-08
|
| 742 |
+
],
|
| 743 |
+
"angular_velocity": [
|
| 744 |
+
-1.7759017509888508e-06,
|
| 745 |
+
-5.404830858424248e-07,
|
| 746 |
+
3.825937255896861e-08
|
| 747 |
+
]
|
| 748 |
+
}
|
| 749 |
+
},
|
| 750 |
+
{
|
| 751 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
|
| 752 |
+
"pose": {
|
| 753 |
+
"pos": [
|
| 754 |
+
1.648294448852539,
|
| 755 |
+
0.6235170364379883,
|
| 756 |
+
0.9180000424385071
|
| 757 |
+
],
|
| 758 |
+
"ori": [
|
| 759 |
+
0.872840404510498,
|
| 760 |
+
-1.2796142812021571e-07,
|
| 761 |
+
-1.686789907751063e-08,
|
| 762 |
+
0.4880058467388153
|
| 763 |
+
],
|
| 764 |
+
"scale": [
|
| 765 |
+
1.0,
|
| 766 |
+
1.0,
|
| 767 |
+
1.0
|
| 768 |
+
]
|
| 769 |
+
},
|
| 770 |
+
"dr": {
|
| 771 |
+
"visual": {
|
| 772 |
+
"kind": null,
|
| 773 |
+
"value": null,
|
| 774 |
+
"visible": true
|
| 775 |
+
},
|
| 776 |
+
"physics": {
|
| 777 |
+
"type": "rigid",
|
| 778 |
+
"collision": true,
|
| 779 |
+
"mass": "asset",
|
| 780 |
+
"max_depenetration_velocity": 1.0,
|
| 781 |
+
"physics_material": {
|
| 782 |
+
"static_friction": 0.5,
|
| 783 |
+
"dynamic_friction": 0.45,
|
| 784 |
+
"restitution": 0.0,
|
| 785 |
+
"friction_combine_mode": "average"
|
| 786 |
+
},
|
| 787 |
+
"ratio": 1.0
|
| 788 |
+
},
|
| 789 |
+
"primitive_params": null
|
| 790 |
+
},
|
| 791 |
+
"type_specific": {
|
| 792 |
+
"linear_velocity": [
|
| 793 |
+
-3.829875794281179e-08,
|
| 794 |
+
-9.041421833444474e-08,
|
| 795 |
+
-5.457550287246704e-06
|
| 796 |
+
],
|
| 797 |
+
"angular_velocity": [
|
| 798 |
+
7.025193553999998e-06,
|
| 799 |
+
7.390964583464665e-06,
|
| 800 |
+
8.72625719239295e-07
|
| 801 |
+
]
|
| 802 |
+
}
|
| 803 |
+
},
|
| 804 |
+
{
|
| 805 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
|
| 806 |
+
"pose": {
|
| 807 |
+
"pos": [
|
| 808 |
+
-0.11553192138671875,
|
| 809 |
+
0.4405403137207031,
|
| 810 |
+
0.9180000424385071
|
| 811 |
+
],
|
| 812 |
+
"ori": [
|
| 813 |
+
0.9987167716026306,
|
| 814 |
+
-1.1069692940068876e-09,
|
| 815 |
+
6.736199931189901e-10,
|
| 816 |
+
0.05064564198255539
|
| 817 |
+
],
|
| 818 |
+
"scale": [
|
| 819 |
+
1.0,
|
| 820 |
+
1.0,
|
| 821 |
+
1.0
|
| 822 |
+
]
|
| 823 |
+
},
|
| 824 |
+
"dr": {
|
| 825 |
+
"visual": {
|
| 826 |
+
"kind": null,
|
| 827 |
+
"value": null,
|
| 828 |
+
"visible": true
|
| 829 |
+
},
|
| 830 |
+
"physics": {
|
| 831 |
+
"type": "rigid",
|
| 832 |
+
"collision": true,
|
| 833 |
+
"mass": "asset",
|
| 834 |
+
"max_depenetration_velocity": 1.0,
|
| 835 |
+
"physics_material": {
|
| 836 |
+
"static_friction": 0.5,
|
| 837 |
+
"dynamic_friction": 0.45,
|
| 838 |
+
"restitution": 0.0,
|
| 839 |
+
"friction_combine_mode": "average"
|
| 840 |
+
},
|
| 841 |
+
"ratio": 1.0
|
| 842 |
+
},
|
| 843 |
+
"primitive_params": null
|
| 844 |
+
},
|
| 845 |
+
"type_specific": {
|
| 846 |
+
"linear_velocity": [
|
| 847 |
+
-4.9042783167863035e-09,
|
| 848 |
+
1.6313576267634744e-08,
|
| 849 |
+
-5.558133125305176e-06
|
| 850 |
+
],
|
| 851 |
+
"angular_velocity": [
|
| 852 |
+
1.5275061571173865e-07,
|
| 853 |
+
-1.4779265029574162e-06,
|
| 854 |
+
-2.735502846462623e-08
|
| 855 |
+
]
|
| 856 |
+
}
|
| 857 |
+
},
|
| 858 |
+
{
|
| 859 |
+
"asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
|
| 860 |
+
"pose": {
|
| 861 |
+
"pos": [
|
| 862 |
+
0.6504192352294922,
|
| 863 |
+
1.1411018371582031,
|
| 864 |
+
0.9179999828338623
|
| 865 |
+
],
|
| 866 |
+
"ori": [
|
| 867 |
+
-0.025515634566545486,
|
| 868 |
+
-1.3359142680968716e-09,
|
| 869 |
+
-3.128573622390718e-09,
|
| 870 |
+
0.9996744990348816
|
| 871 |
+
],
|
| 872 |
+
"scale": [
|
| 873 |
+
1.0,
|
| 874 |
+
1.0,
|
| 875 |
+
1.0
|
| 876 |
+
]
|
| 877 |
+
},
|
| 878 |
+
"dr": {
|
| 879 |
+
"visual": {
|
| 880 |
+
"kind": null,
|
| 881 |
+
"value": null,
|
| 882 |
+
"visible": true
|
| 883 |
+
},
|
| 884 |
+
"physics": {
|
| 885 |
+
"type": "rigid",
|
| 886 |
+
"collision": true,
|
| 887 |
+
"mass": "asset",
|
| 888 |
+
"max_depenetration_velocity": 1.0,
|
| 889 |
+
"physics_material": {
|
| 890 |
+
"static_friction": 0.5,
|
| 891 |
+
"dynamic_friction": 0.45,
|
| 892 |
+
"restitution": 0.0,
|
| 893 |
+
"friction_combine_mode": "average"
|
| 894 |
+
},
|
| 895 |
+
"ratio": 1.0
|
| 896 |
+
},
|
| 897 |
+
"primitive_params": null
|
| 898 |
+
},
|
| 899 |
+
"type_specific": {
|
| 900 |
+
"linear_velocity": [
|
| 901 |
+
2.74272711209278e-08,
|
| 902 |
+
3.4076354182843716e-08,
|
| 903 |
+
-1.341104507446289e-06
|
| 904 |
+
],
|
| 905 |
+
"angular_velocity": [
|
| 906 |
+
-1.6057690572779393e-06,
|
| 907 |
+
1.5366957768492284e-06,
|
| 908 |
+
-3.184140595635654e-08
|
| 909 |
+
]
|
| 910 |
+
}
|
| 911 |
+
}
|
| 912 |
+
],
|
| 913 |
+
"deco_hub_west": [
|
| 914 |
+
{
|
| 915 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
|
| 916 |
+
"pose": {
|
| 917 |
+
"pos": [
|
| 918 |
+
-3.36,
|
| 919 |
+
0.0,
|
| 920 |
+
0.0
|
| 921 |
+
],
|
| 922 |
+
"ori": [
|
| 923 |
+
1.0,
|
| 924 |
+
0.0,
|
| 925 |
+
0.0,
|
| 926 |
+
0.0
|
| 927 |
+
],
|
| 928 |
+
"scale": [
|
| 929 |
+
1.0,
|
| 930 |
+
1.0,
|
| 931 |
+
1.0
|
| 932 |
+
]
|
| 933 |
+
},
|
| 934 |
+
"dr": {
|
| 935 |
+
"visual": {
|
| 936 |
+
"kind": null,
|
| 937 |
+
"value": null,
|
| 938 |
+
"visible": true
|
| 939 |
+
},
|
| 940 |
+
"physics": {
|
| 941 |
+
"type": "geometry",
|
| 942 |
+
"collision": false,
|
| 943 |
+
"ratio": 1.0
|
| 944 |
+
},
|
| 945 |
+
"primitive_params": null
|
| 946 |
+
},
|
| 947 |
+
"type_specific": {}
|
| 948 |
+
}
|
| 949 |
+
],
|
| 950 |
+
"deco_hub_east": [
|
| 951 |
+
{
|
| 952 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
|
| 953 |
+
"pose": {
|
| 954 |
+
"pos": [
|
| 955 |
+
3.36,
|
| 956 |
+
0.0,
|
| 957 |
+
0.0
|
| 958 |
+
],
|
| 959 |
+
"ori": [
|
| 960 |
+
1.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0,
|
| 963 |
+
0.0
|
| 964 |
+
],
|
| 965 |
+
"scale": [
|
| 966 |
+
1.0,
|
| 967 |
+
1.0,
|
| 968 |
+
1.0
|
| 969 |
+
]
|
| 970 |
+
},
|
| 971 |
+
"dr": {
|
| 972 |
+
"visual": {
|
| 973 |
+
"kind": null,
|
| 974 |
+
"value": null,
|
| 975 |
+
"visible": true
|
| 976 |
+
},
|
| 977 |
+
"physics": {
|
| 978 |
+
"type": "geometry",
|
| 979 |
+
"collision": false,
|
| 980 |
+
"ratio": 1.0
|
| 981 |
+
},
|
| 982 |
+
"primitive_params": null
|
| 983 |
+
},
|
| 984 |
+
"type_specific": {}
|
| 985 |
+
}
|
| 986 |
+
],
|
| 987 |
+
"deco_hub_back": [
|
| 988 |
+
{
|
| 989 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
|
| 990 |
+
"pose": {
|
| 991 |
+
"pos": [
|
| 992 |
+
-3.0,
|
| 993 |
+
-2.1,
|
| 994 |
+
0.0
|
| 995 |
+
],
|
| 996 |
+
"ori": [
|
| 997 |
+
1.0,
|
| 998 |
+
0.0,
|
| 999 |
+
0.0,
|
| 1000 |
+
0.0
|
| 1001 |
+
],
|
| 1002 |
+
"scale": [
|
| 1003 |
+
1.0,
|
| 1004 |
+
1.0,
|
| 1005 |
+
1.0
|
| 1006 |
+
]
|
| 1007 |
+
},
|
| 1008 |
+
"dr": {
|
| 1009 |
+
"visual": {
|
| 1010 |
+
"kind": null,
|
| 1011 |
+
"value": null,
|
| 1012 |
+
"visible": true
|
| 1013 |
+
},
|
| 1014 |
+
"physics": {
|
| 1015 |
+
"type": "geometry",
|
| 1016 |
+
"collision": false,
|
| 1017 |
+
"ratio": 1.0
|
| 1018 |
+
},
|
| 1019 |
+
"primitive_params": null
|
| 1020 |
+
},
|
| 1021 |
+
"type_specific": {}
|
| 1022 |
+
}
|
| 1023 |
+
],
|
| 1024 |
+
"deco_bench_east": [
|
| 1025 |
+
{
|
| 1026 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
|
| 1027 |
+
"pose": {
|
| 1028 |
+
"pos": [
|
| 1029 |
+
2.6,
|
| 1030 |
+
-2.5,
|
| 1031 |
+
0.0
|
| 1032 |
+
],
|
| 1033 |
+
"ori": [
|
| 1034 |
+
6.123234262925839e-17,
|
| 1035 |
+
0.0,
|
| 1036 |
+
0.0,
|
| 1037 |
+
1.0
|
| 1038 |
+
],
|
| 1039 |
+
"scale": [
|
| 1040 |
+
1.0,
|
| 1041 |
+
1.0,
|
| 1042 |
+
1.0
|
| 1043 |
+
]
|
| 1044 |
+
},
|
| 1045 |
+
"dr": {
|
| 1046 |
+
"visual": {
|
| 1047 |
+
"kind": null,
|
| 1048 |
+
"value": null,
|
| 1049 |
+
"visible": true
|
| 1050 |
+
},
|
| 1051 |
+
"physics": {
|
| 1052 |
+
"type": "geometry",
|
| 1053 |
+
"collision": false,
|
| 1054 |
+
"ratio": 1.0
|
| 1055 |
+
},
|
| 1056 |
+
"primitive_params": null
|
| 1057 |
+
},
|
| 1058 |
+
"type_specific": {}
|
| 1059 |
+
}
|
| 1060 |
+
],
|
| 1061 |
+
"deco_bench_gap": [
|
| 1062 |
+
{
|
| 1063 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
|
| 1064 |
+
"pose": {
|
| 1065 |
+
"pos": [
|
| 1066 |
+
-0.1,
|
| 1067 |
+
-2.9,
|
| 1068 |
+
0.0
|
| 1069 |
+
],
|
| 1070 |
+
"ori": [
|
| 1071 |
+
1.0,
|
| 1072 |
+
0.0,
|
| 1073 |
+
0.0,
|
| 1074 |
+
0.0
|
| 1075 |
+
],
|
| 1076 |
+
"scale": [
|
| 1077 |
+
1.0,
|
| 1078 |
+
1.0,
|
| 1079 |
+
1.0
|
| 1080 |
+
]
|
| 1081 |
+
},
|
| 1082 |
+
"dr": {
|
| 1083 |
+
"visual": {
|
| 1084 |
+
"kind": null,
|
| 1085 |
+
"value": null,
|
| 1086 |
+
"visible": true
|
| 1087 |
+
},
|
| 1088 |
+
"physics": {
|
| 1089 |
+
"type": "geometry",
|
| 1090 |
+
"collision": false,
|
| 1091 |
+
"ratio": 1.0
|
| 1092 |
+
},
|
| 1093 |
+
"primitive_params": null
|
| 1094 |
+
},
|
| 1095 |
+
"type_specific": {}
|
| 1096 |
+
}
|
| 1097 |
+
]
|
| 1098 |
+
}
|
| 1099 |
+
],
|
| 1100 |
+
"devices": {
|
| 1101 |
+
"hub": [
|
| 1102 |
+
null,
|
| 1103 |
+
null,
|
| 1104 |
+
null,
|
| 1105 |
+
{
|
| 1106 |
+
"t": 5.619999999999902,
|
| 1107 |
+
"step": 1124,
|
| 1108 |
+
"counter": 0,
|
| 1109 |
+
"devices": {
|
| 1110 |
+
"a4s_sealer_1": {
|
| 1111 |
+
"mode": "auto",
|
| 1112 |
+
"units": {
|
| 1113 |
+
"drawer": {
|
| 1114 |
+
"state": "at_out",
|
| 1115 |
+
"active": null,
|
| 1116 |
+
"target": 0.0,
|
| 1117 |
+
"goal_name": "out",
|
| 1118 |
+
"profile": null,
|
| 1119 |
+
"q_start": null,
|
| 1120 |
+
"reversing": false,
|
| 1121 |
+
"blocked_for": 0.0,
|
| 1122 |
+
"settled_for": 0.0,
|
| 1123 |
+
"last_q": 0.0
|
| 1124 |
+
},
|
| 1125 |
+
"heater": {
|
| 1126 |
+
"state": "ready",
|
| 1127 |
+
"active": null,
|
| 1128 |
+
"duration": 0.0,
|
| 1129 |
+
"t_start": null,
|
| 1130 |
+
"elapsed": 0.0
|
| 1131 |
+
}
|
| 1132 |
+
},
|
| 1133 |
+
"queues": {},
|
| 1134 |
+
"program": null,
|
| 1135 |
+
"sensors": {
|
| 1136 |
+
"plate_present": {
|
| 1137 |
+
"occupants": [],
|
| 1138 |
+
"pending": {}
|
| 1139 |
+
}
|
| 1140 |
+
},
|
| 1141 |
+
"interlocks": {}
|
| 1142 |
+
},
|
| 1143 |
+
"conveyor_1": {
|
| 1144 |
+
"mode": "auto",
|
| 1145 |
+
"units": {
|
| 1146 |
+
"belt": {
|
| 1147 |
+
"state": "at_station",
|
| 1148 |
+
"active": null,
|
| 1149 |
+
"controller": {
|
| 1150 |
+
"speed": 0.2396046176942243,
|
| 1151 |
+
"holds": [],
|
| 1152 |
+
"station": "pick",
|
| 1153 |
+
"rider": "carrier_3",
|
| 1154 |
+
"arrived": true,
|
| 1155 |
+
"settle_count": 1068,
|
| 1156 |
+
"released": {
|
| 1157 |
+
"pick": []
|
| 1158 |
+
},
|
| 1159 |
+
"last_pos": {
|
| 1160 |
+
"carrier_1": [
|
| 1161 |
+
-1.5435213148593903,
|
| 1162 |
+
0.4115045666694641,
|
| 1163 |
+
0.0
|
| 1164 |
+
],
|
| 1165 |
+
"carrier_2": [
|
| 1166 |
+
1.501952737569809,
|
| 1167 |
+
0.17847424745559692,
|
| 1168 |
+
0.0
|
| 1169 |
+
],
|
| 1170 |
+
"carrier_3": [
|
| 1171 |
+
-0.27110424637794495,
|
| 1172 |
+
1.7285346984863281e-06,
|
| 1173 |
+
0.0
|
| 1174 |
+
],
|
| 1175 |
+
"carrier_4": [
|
| 1176 |
+
0.506478875875473,
|
| 1177 |
+
0.6999958157539368,
|
| 1178 |
+
0.0
|
| 1179 |
+
]
|
| 1180 |
+
},
|
| 1181 |
+
"command": 0.0
|
| 1182 |
+
},
|
| 1183 |
+
"belt": {
|
| 1184 |
+
"target_speed": 0.0,
|
| 1185 |
+
"command_speed": 0.0
|
| 1186 |
+
},
|
| 1187 |
+
"seen": {
|
| 1188 |
+
"state": "at_station",
|
| 1189 |
+
"station": "pick",
|
| 1190 |
+
"rider": "carrier_3",
|
| 1191 |
+
"arrived": true
|
| 1192 |
+
}
|
| 1193 |
+
}
|
| 1194 |
+
},
|
| 1195 |
+
"queues": {},
|
| 1196 |
+
"program": null,
|
| 1197 |
+
"sensors": {},
|
| 1198 |
+
"interlocks": {}
|
| 1199 |
+
}
|
| 1200 |
+
},
|
| 1201 |
+
"zones": {},
|
| 1202 |
+
"labware": {
|
| 1203 |
+
"plate_1": {
|
| 1204 |
+
"sealed": false
|
| 1205 |
+
},
|
| 1206 |
+
"plate_2": {
|
| 1207 |
+
"sealed": false
|
| 1208 |
+
},
|
| 1209 |
+
"plate_3": {
|
| 1210 |
+
"sealed": false
|
| 1211 |
+
},
|
| 1212 |
+
"plate_4": {
|
| 1213 |
+
"sealed": false
|
| 1214 |
+
}
|
| 1215 |
+
},
|
| 1216 |
+
"rules": {},
|
| 1217 |
+
"records": [],
|
| 1218 |
+
"bus": {
|
| 1219 |
+
"seq": 3,
|
| 1220 |
+
"queue": []
|
| 1221 |
+
}
|
| 1222 |
+
}
|
| 1223 |
+
],
|
| 1224 |
+
"drives": [
|
| 1225 |
+
null,
|
| 1226 |
+
null,
|
| 1227 |
+
null,
|
| 1228 |
+
{}
|
| 1229 |
+
]
|
| 1230 |
+
},
|
| 1231 |
+
"artifacts": [
|
| 1232 |
+
{},
|
| 1233 |
+
{},
|
| 1234 |
+
{},
|
| 1235 |
+
{
|
| 1236 |
+
"ceiling": {
|
| 1237 |
+
"type": "rect",
|
| 1238 |
+
"pose": {
|
| 1239 |
+
"pos": [
|
| 1240 |
+
0.1486305814814558,
|
| 1241 |
+
-0.39794788659815417,
|
| 1242 |
+
2.6231277482236686
|
| 1243 |
+
],
|
| 1244 |
+
"ori": [
|
| 1245 |
+
-13.894125458517246,
|
| 1246 |
+
12.492891536864601,
|
| 1247 |
+
5.946762488240616
|
| 1248 |
+
],
|
| 1249 |
+
"scale": [
|
| 1250 |
+
1.0,
|
| 1251 |
+
1.0,
|
| 1252 |
+
1.0
|
| 1253 |
+
]
|
| 1254 |
+
},
|
| 1255 |
+
"dr": {
|
| 1256 |
+
"color_temperature": 3273.865547688426,
|
| 1257 |
+
"color": [
|
| 1258 |
+
0.8710657880252904,
|
| 1259 |
+
0.8783965005851992,
|
| 1260 |
+
0.7849455773930448
|
| 1261 |
+
],
|
| 1262 |
+
"intensity": 10463.014501436664,
|
| 1263 |
+
"width": 2.616096720296673,
|
| 1264 |
+
"height": 1.2208937207249806
|
| 1265 |
+
}
|
| 1266 |
+
},
|
| 1267 |
+
"key": {
|
| 1268 |
+
"type": "disk",
|
| 1269 |
+
"pose": {
|
| 1270 |
+
"pos": [
|
| 1271 |
+
0.7381128955456604,
|
| 1272 |
+
0.11923608202500313,
|
| 1273 |
+
1.912624475319052
|
| 1274 |
+
],
|
| 1275 |
+
"ori": [
|
| 1276 |
+
26.737549660802785,
|
| 1277 |
+
-25.330078450085203,
|
| 1278 |
+
8.925188811167757
|
| 1279 |
+
],
|
| 1280 |
+
"scale": [
|
| 1281 |
+
1.0,
|
| 1282 |
+
1.0,
|
| 1283 |
+
1.0
|
| 1284 |
+
]
|
| 1285 |
+
},
|
| 1286 |
+
"dr": {
|
| 1287 |
+
"color_temperature": 6985.150063563611,
|
| 1288 |
+
"color": [
|
| 1289 |
+
0.9530525331562846,
|
| 1290 |
+
0.8445264432779517,
|
| 1291 |
+
0.8211740657071046
|
| 1292 |
+
],
|
| 1293 |
+
"intensity": 7812.831340659894,
|
| 1294 |
+
"radius": 0.1668308112845708
|
| 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": 951.5134825373395,
|
| 1308 |
+
"texture": null,
|
| 1309 |
+
"color": [
|
| 1310 |
+
0.92,
|
| 1311 |
+
0.94,
|
| 1312 |
+
0.96
|
| 1313 |
+
]
|
| 1314 |
+
}
|
| 1315 |
+
}
|
| 1316 |
+
},
|
| 1317 |
+
"robots": {
|
| 1318 |
+
"UR5e": {
|
| 1319 |
+
"root_pose": [
|
| 1320 |
+
[
|
| 1321 |
+
11.0,
|
| 1322 |
+
-11.0,
|
| 1323 |
+
0.9150000214576721,
|
| 1324 |
+
1.0,
|
| 1325 |
+
0.0,
|
| 1326 |
+
0.0,
|
| 1327 |
+
0.0
|
| 1328 |
+
],
|
| 1329 |
+
[
|
| 1330 |
+
11.0,
|
| 1331 |
+
11.0,
|
| 1332 |
+
0.9150000214576721,
|
| 1333 |
+
1.0,
|
| 1334 |
+
0.0,
|
| 1335 |
+
0.0,
|
| 1336 |
+
0.0
|
| 1337 |
+
],
|
| 1338 |
+
[
|
| 1339 |
+
-11.0,
|
| 1340 |
+
-11.0,
|
| 1341 |
+
0.9150000214576721,
|
| 1342 |
+
1.0,
|
| 1343 |
+
0.0,
|
| 1344 |
+
0.0,
|
| 1345 |
+
0.0
|
| 1346 |
+
],
|
| 1347 |
+
[
|
| 1348 |
+
-11.0,
|
| 1349 |
+
11.0,
|
| 1350 |
+
0.9150000214576721,
|
| 1351 |
+
1.0,
|
| 1352 |
+
0.0,
|
| 1353 |
+
0.0,
|
| 1354 |
+
0.0
|
| 1355 |
+
]
|
| 1356 |
+
],
|
| 1357 |
+
"root_vel": [
|
| 1358 |
+
[
|
| 1359 |
+
0.0,
|
| 1360 |
+
0.0,
|
| 1361 |
+
0.0,
|
| 1362 |
+
0.0,
|
| 1363 |
+
0.0,
|
| 1364 |
+
0.0
|
| 1365 |
+
],
|
| 1366 |
+
[
|
| 1367 |
+
0.0,
|
| 1368 |
+
0.0,
|
| 1369 |
+
0.0,
|
| 1370 |
+
0.0,
|
| 1371 |
+
0.0,
|
| 1372 |
+
0.0
|
| 1373 |
+
],
|
| 1374 |
+
[
|
| 1375 |
+
0.0,
|
| 1376 |
+
0.0,
|
| 1377 |
+
0.0,
|
| 1378 |
+
0.0,
|
| 1379 |
+
0.0,
|
| 1380 |
+
0.0
|
| 1381 |
+
],
|
| 1382 |
+
[
|
| 1383 |
+
0.0,
|
| 1384 |
+
0.0,
|
| 1385 |
+
0.0,
|
| 1386 |
+
0.0,
|
| 1387 |
+
0.0,
|
| 1388 |
+
0.0
|
| 1389 |
+
]
|
| 1390 |
+
],
|
| 1391 |
+
"joint_pos": [
|
| 1392 |
+
[
|
| 1393 |
+
0.9140999913215637,
|
| 1394 |
+
-1.7194000482559204,
|
| 1395 |
+
2.0905001163482666,
|
| 1396 |
+
-1.9419000148773193,
|
| 1397 |
+
-1.5707999467849731,
|
| 1398 |
+
2.4848999977111816,
|
| 1399 |
+
0.017999999225139618,
|
| 1400 |
+
0.017999999225139618
|
| 1401 |
+
],
|
| 1402 |
+
[
|
| 1403 |
+
-0.19232980906963348,
|
| 1404 |
+
-1.9539750814437866,
|
| 1405 |
+
2.665379047393799,
|
| 1406 |
+
-2.282252788543701,
|
| 1407 |
+
-1.5707396268844604,
|
| 1408 |
+
4.4510722160339355,
|
| 1409 |
+
0.007718298118561506,
|
| 1410 |
+
0.006936321500688791
|
| 1411 |
+
],
|
| 1412 |
+
[
|
| 1413 |
+
0.9141014218330383,
|
| 1414 |
+
-1.719399094581604,
|
| 1415 |
+
2.0904998779296875,
|
| 1416 |
+
-1.9419009685516357,
|
| 1417 |
+
-1.5707999467849731,
|
| 1418 |
+
2.4848999977111816,
|
| 1419 |
+
0.017999999225139618,
|
| 1420 |
+
0.017999999225139618
|
| 1421 |
+
],
|
| 1422 |
+
[
|
| 1423 |
+
0.9141027331352234,
|
| 1424 |
+
-1.7193981409072876,
|
| 1425 |
+
2.0905003547668457,
|
| 1426 |
+
-1.9419012069702148,
|
| 1427 |
+
-1.5707999467849731,
|
| 1428 |
+
2.484900712966919,
|
| 1429 |
+
0.017999999225139618,
|
| 1430 |
+
0.017999999225139618
|
| 1431 |
+
]
|
| 1432 |
+
],
|
| 1433 |
+
"joint_vel": [
|
| 1434 |
+
[
|
| 1435 |
+
0.0,
|
| 1436 |
+
0.0,
|
| 1437 |
+
0.0,
|
| 1438 |
+
0.0,
|
| 1439 |
+
0.0,
|
| 1440 |
+
0.0,
|
| 1441 |
+
0.0,
|
| 1442 |
+
0.0
|
| 1443 |
+
],
|
| 1444 |
+
[
|
| 1445 |
+
-0.0004837560700252652,
|
| 1446 |
+
1.2406418136379216e-05,
|
| 1447 |
+
0.0006013012025505304,
|
| 1448 |
+
-6.353281787596643e-05,
|
| 1449 |
+
-0.0020798256155103445,
|
| 1450 |
+
0.004823179449886084,
|
| 1451 |
+
-0.010224142111837864,
|
| 1452 |
+
0.00043227290734648705
|
| 1453 |
+
],
|
| 1454 |
+
[
|
| 1455 |
+
-2.4799384284092876e-38,
|
| 1456 |
+
1.689200839014208e-38,
|
| 1457 |
+
0.0,
|
| 1458 |
+
3.5418704306439205e-37,
|
| 1459 |
+
6.713138895908471e-38,
|
| 1460 |
+
9.194073030954569e-37,
|
| 1461 |
+
-3.354786996307614e-38,
|
| 1462 |
+
1.3836638518264907e-37
|
| 1463 |
+
],
|
| 1464 |
+
[
|
| 1465 |
+
-2.404574635180049e-38,
|
| 1466 |
+
3.0306745087806843e-38,
|
| 1467 |
+
0.0,
|
| 1468 |
+
5.942322501793864e-37,
|
| 1469 |
+
-7.093901956712353e-37,
|
| 1470 |
+
-2.420353737935018e-36,
|
| 1471 |
+
0.0,
|
| 1472 |
+
-9.419573118742279e-38
|
| 1473 |
+
]
|
| 1474 |
+
]
|
| 1475 |
+
}
|
| 1476 |
+
},
|
| 1477 |
+
"cameras": {
|
| 1478 |
+
"cameras": {
|
| 1479 |
+
"camera0": [
|
| 1480 |
+
[
|
| 1481 |
+
0.049090784043073654,
|
| 1482 |
+
0.0003239313664380461,
|
| 1483 |
+
-0.034583136439323425,
|
| 1484 |
+
-0.2687072157859802,
|
| 1485 |
+
0.6549485325813293,
|
| 1486 |
+
0.6494188904762268,
|
| 1487 |
+
-0.27765801548957825
|
| 1488 |
+
],
|
| 1489 |
+
[
|
| 1490 |
+
0.04751485586166382,
|
| 1491 |
+
0.00016817156574688852,
|
| 1492 |
+
-0.02532227896153927,
|
| 1493 |
+
-0.28963717818260193,
|
| 1494 |
+
0.6438664793968201,
|
| 1495 |
+
0.6508095264434814,
|
| 1496 |
+
-0.2792726159095764
|
| 1497 |
+
],
|
| 1498 |
+
[
|
| 1499 |
+
0.048791419714689255,
|
| 1500 |
+
-0.0001162514672614634,
|
| 1501 |
+
-0.027185149490833282,
|
| 1502 |
+
-0.2785223722457886,
|
| 1503 |
+
0.6436025500297546,
|
| 1504 |
+
0.6547902226448059,
|
| 1505 |
+
-0.28187015652656555
|
| 1506 |
+
],
|
| 1507 |
+
[
|
| 1508 |
+
0.04892034828662872,
|
| 1509 |
+
-0.0024777825456112623,
|
| 1510 |
+
-0.03157038986682892,
|
| 1511 |
+
-0.2888765335083008,
|
| 1512 |
+
0.6513746976852417,
|
| 1513 |
+
0.6414782404899597,
|
| 1514 |
+
-0.2841953933238983
|
| 1515 |
+
]
|
| 1516 |
+
],
|
| 1517 |
+
"camera1": [
|
| 1518 |
+
[
|
| 1519 |
+
0.028398511931300163,
|
| 1520 |
+
0.6002201437950134,
|
| 1521 |
+
1.964774250984192,
|
| 1522 |
+
0.025567295029759407,
|
| 1523 |
+
0.01617727428674698,
|
| 1524 |
+
0.2564316689968109,
|
| 1525 |
+
0.9660887122154236
|
| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.039827458560466766,
|
| 1529 |
+
0.5572842359542847,
|
| 1530 |
+
1.9426594972610474,
|
| 1531 |
+
0.04010564833879471,
|
| 1532 |
+
0.019033007323741913,
|
| 1533 |
+
0.27813661098480225,
|
| 1534 |
+
0.9595151543617249
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.05831990763545036,
|
| 1538 |
+
0.5757508277893066,
|
| 1539 |
+
1.962916374206543,
|
| 1540 |
+
0.05102634057402611,
|
| 1541 |
+
-0.0007423126953653991,
|
| 1542 |
+
0.27273133397102356,
|
| 1543 |
+
0.9607358574867249
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.053381357342004776,
|
| 1547 |
+
0.5900184512138367,
|
| 1548 |
+
1.9459947347640991,
|
| 1549 |
+
0.04485100135207176,
|
| 1550 |
+
0.019872182980179787,
|
| 1551 |
+
0.279546320438385,
|
| 1552 |
+
0.9588781595230103
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c8_p014_e036/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:063a4c09ec27d0a706a0a145cf8bf88614ea3678d1ab918fa8c8ddb90c08c7fe
|
| 3 |
+
size 8140799
|
episodes/c8_p014_e037/data.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1a608f21b0f1d184950bb0abc21c7f8f6cd49c9da12e24723ace9c5d764886c1
|
| 3 |
+
size 189155
|
episodes/c8_p014_e037/device_events.jsonl
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 0, "seq": 1, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 0, "seq": 2, "step": 138, "t": 0.69, "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": 143, "t": 0.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 1999, "t": 9.995, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 2069, "t": 10.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 6 |
+
{"env_id": 0, "seq": 6, "step": 6710, "t": 33.55, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 7 |
+
{"env_id": 0, "seq": 7, "step": 7320, "t": 36.6, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 7320, "t": 36.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6375004245376474}, "cause": "task-0-1"}
|
| 9 |
+
{"env_id": 0, "seq": 9, "step": 7320, "t": 36.6, "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"}
|
| 10 |
+
{"env_id": 0, "seq": 10, "step": 7320, "t": 36.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 11 |
+
{"env_id": 0, "seq": 11, "step": 7320, "t": 36.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
|
| 12 |
+
{"env_id": 0, "seq": 12, "step": 7739, "t": 38.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 13 |
+
{"env_id": 0, "seq": 13, "step": 7739, "t": 38.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 14 |
+
{"env_id": 0, "seq": 14, "step": 7739, "t": 38.695, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 15 |
+
{"env_id": 0, "seq": 15, "step": 7739, "t": 38.695, "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"}
|
| 16 |
+
{"env_id": 0, "seq": 16, "step": 7739, "t": 38.695, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
|
| 17 |
+
{"env_id": 0, "seq": 17, "step": 7739, "t": 38.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"}
|
| 18 |
+
{"env_id": 0, "seq": 18, "step": 7739, "t": 38.695, "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"}
|
| 19 |
+
{"env_id": 0, "seq": 19, "step": 7739, "t": 38.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 20 |
+
{"env_id": 0, "seq": 20, "step": 7739, "t": 38.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6375004245376474}, "cause": "program-0-3"}
|
| 21 |
+
{"env_id": 0, "seq": 21, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 22 |
+
{"env_id": 0, "seq": 22, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.640000000000839}, "cause": "program-0-3"}
|
| 23 |
+
{"env_id": 0, "seq": 23, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.640000000000839}}, "cause": "program-0-3"}
|
| 24 |
+
{"env_id": 0, "seq": 24, "step": 8067, "t": 40.335, "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"}
|
| 25 |
+
{"env_id": 0, "seq": 25, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 26 |
+
{"env_id": 0, "seq": 26, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
|
| 27 |
+
{"env_id": 0, "seq": 27, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 28 |
+
{"env_id": 0, "seq": 28, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"}
|
| 29 |
+
{"env_id": 0, "seq": 29, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"}
|
| 30 |
+
{"env_id": 0, "seq": 30, "step": 8487, "t": 42.435, "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"}
|
| 31 |
+
{"env_id": 0, "seq": 31, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
|
| 32 |
+
{"env_id": 0, "seq": 32, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 33 |
+
{"env_id": 0, "seq": 33, "step": 9068, "t": 45.34, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 34 |
+
{"env_id": 0, "seq": 34, "step": 10804, "t": 54.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
|
| 35 |
+
{"env_id": 0, "seq": 35, "step": 10804, "t": 54.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"}
|
| 36 |
+
{"env_id": 0, "seq": 36, "step": 10804, "t": 54.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 37 |
+
{"env_id": 0, "seq": 37, "step": 10804, "t": 54.02, "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"}
|