Arashi2001 commited on
Commit
bad2edc
·
verified ·
1 Parent(s): fe51c1b

add 11 episodes (c4_p014_e012 .. c9_p019_e029); total 4223 {'v1': 1088, 'v2': 3135}

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. episodes/c4_p014_e012/data.npz +3 -0
  2. episodes/c4_p014_e012/device_events.jsonl +35 -0
  3. episodes/c4_p014_e012/env.mp4 +3 -0
  4. episodes/c4_p014_e012/meta.json +32 -0
  5. episodes/c4_p014_e012/scene_snapshot.json +1558 -0
  6. episodes/c4_p014_e012/wrist.mp4 +3 -0
  7. episodes/c4_p014_e013/data.npz +3 -0
  8. episodes/c4_p014_e013/device_events.jsonl +35 -0
  9. episodes/c4_p014_e013/env.mp4 +3 -0
  10. episodes/c4_p014_e013/meta.json +32 -0
  11. episodes/c4_p014_e013/scene_snapshot.json +1558 -0
  12. episodes/c4_p014_e013/wrist.mp4 +3 -0
  13. episodes/c4_p014_e014/data.npz +3 -0
  14. episodes/c4_p014_e014/device_events.jsonl +37 -0
  15. episodes/c4_p014_e014/env.mp4 +3 -0
  16. episodes/c4_p014_e014/meta.json +32 -0
  17. episodes/c4_p014_e014/scene_snapshot.json +1558 -0
  18. episodes/c4_p014_e014/wrist.mp4 +3 -0
  19. episodes/c4_p014_e015/data.npz +3 -0
  20. episodes/c4_p014_e015/device_events.jsonl +35 -0
  21. episodes/c4_p014_e015/env.mp4 +3 -0
  22. episodes/c4_p014_e015/meta.json +32 -0
  23. episodes/c4_p014_e015/scene_snapshot.json +1558 -0
  24. episodes/c4_p014_e015/wrist.mp4 +3 -0
  25. episodes/c5_p013_e008/data.npz +3 -0
  26. episodes/c5_p013_e008/device_events.jsonl +37 -0
  27. episodes/c5_p013_e008/env.mp4 +3 -0
  28. episodes/c5_p013_e008/meta.json +32 -0
  29. episodes/c5_p013_e008/scene_snapshot.json +1558 -0
  30. episodes/c5_p013_e008/wrist.mp4 +3 -0
  31. episodes/c5_p013_e009/data.npz +3 -0
  32. episodes/c5_p013_e009/device_events.jsonl +38 -0
  33. episodes/c5_p013_e009/env.mp4 +3 -0
  34. episodes/c5_p013_e009/meta.json +32 -0
  35. episodes/c5_p013_e009/scene_snapshot.json +1558 -0
  36. episodes/c5_p013_e009/wrist.mp4 +3 -0
  37. episodes/c5_p013_e010/data.npz +3 -0
  38. episodes/c5_p013_e010/device_events.jsonl +36 -0
  39. episodes/c5_p013_e010/env.mp4 +3 -0
  40. episodes/c5_p013_e010/meta.json +32 -0
  41. episodes/c5_p013_e010/scene_snapshot.json +1558 -0
  42. episodes/c5_p013_e010/wrist.mp4 +3 -0
  43. episodes/c6_p014_e000/data.npz +3 -0
  44. episodes/c6_p014_e000/device_events.jsonl +37 -0
  45. episodes/c6_p014_e000/env.mp4 +3 -0
  46. episodes/c6_p014_e000/meta.json +32 -0
  47. episodes/c6_p014_e000/scene_snapshot.json +1558 -0
  48. episodes/c6_p014_e000/wrist.mp4 +3 -0
  49. episodes/c6_p014_e001/data.npz +3 -0
  50. episodes/c6_p014_e001/device_events.jsonl +35 -0
episodes/c4_p014_e012/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e6c8b52ba553d42ec3d49e7974708ba7ed5c167af1b0df9bf32743589239677
3
+ size 199807
episodes/c4_p014_e012/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 46, "t": 0.23, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 46, "t": 0.23, "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": 51, "t": 0.255, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 5827, "t": 29.135, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 6440, "t": 32.2, "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": 6440, "t": 32.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4001530614697457}, "cause": "task-1-1"}
7
+ {"env_id": 1, "seq": 7, "step": 6440, "t": 32.2, "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": 6440, "t": 32.2, "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": 6440, "t": 32.2, "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": 6859, "t": 34.295, "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": 6859, "t": 34.295, "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": 6859, "t": 34.295, "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": 6859, "t": 34.295, "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": 6859, "t": 34.295, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
15
+ {"env_id": 1, "seq": 15, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
16
+ {"env_id": 1, "seq": 16, "step": 6859, "t": 34.295, "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": 6859, "t": 34.295, "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": 6859, "t": 34.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4001530614697457}, "cause": "program-1-3"}
19
+ {"env_id": 1, "seq": 19, "step": 7340, "t": 36.7, "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": 7340, "t": 36.7, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4050000000012304}, "cause": "program-1-3"}
21
+ {"env_id": 1, "seq": 21, "step": 7340, "t": 36.7, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4050000000012304}}, "cause": "program-1-3"}
22
+ {"env_id": 1, "seq": 22, "step": 7340, "t": 36.7, "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": 7340, "t": 36.7, "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": 7340, "t": 36.7, "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": 7760, "t": 38.8, "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": 7760, "t": 38.8, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.553628641877026e-09}, "cause": "program-1-4"}
27
+ {"env_id": 1, "seq": 27, "step": 7760, "t": 38.8, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.553628641877026e-09}, "cause": "program-1-4"}
28
+ {"env_id": 1, "seq": 28, "step": 7760, "t": 38.8, "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": 7760, "t": 38.8, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
30
+ {"env_id": 1, "seq": 30, "step": 7760, "t": 38.8, "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": 8339, "t": 41.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
32
+ {"env_id": 1, "seq": 32, "step": 10580, "t": 52.9, "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": 10580, "t": 52.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
34
+ {"env_id": 1, "seq": 34, "step": 10580, "t": 52.9, "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": 10580, "t": 52.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
episodes/c4_p014_e012/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0be36498fb2e491be70b983f49638eb236e0e45f8628114cb90ff6772e72b4a3
3
+ size 1358318
episodes/c4_p014_e012/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p014/magicsim/12",
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/c4_p014_e012/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 12,
3
+ "env_id": 1,
4
+ "run_id": "c4_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": 1,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {
22
+ "rac_cell": [
23
+ {
24
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
25
+ "pose": {
26
+ "pos": [
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "ori": [
32
+ 1.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0
36
+ ],
37
+ "scale": [
38
+ 1.0,
39
+ 1.0,
40
+ 1.0
41
+ ]
42
+ },
43
+ "dr": {
44
+ "visual": {
45
+ "kind": null,
46
+ "value": null,
47
+ "visible": true
48
+ },
49
+ "physics": {
50
+ "type": "geometry",
51
+ "collision": false,
52
+ "physics_material": {
53
+ "static_friction": 0.6,
54
+ "dynamic_friction": 0.5,
55
+ "restitution": 0.0
56
+ },
57
+ "ratio": 1.0
58
+ },
59
+ "primitive_params": null
60
+ },
61
+ "type_specific": {}
62
+ }
63
+ ],
64
+ "robot_mount": [
65
+ {
66
+ "asset": "Cube",
67
+ "pose": {
68
+ "pos": [
69
+ 0.0,
70
+ 0.0,
71
+ 0.9075
72
+ ],
73
+ "ori": [
74
+ 1.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "scale": [
80
+ 1.0,
81
+ 1.0,
82
+ 1.0
83
+ ]
84
+ },
85
+ "dr": {
86
+ "visual": {
87
+ "kind": "color",
88
+ "value": [
89
+ 0.55,
90
+ 0.56,
91
+ 0.58
92
+ ],
93
+ "visible": true
94
+ },
95
+ "physics": {
96
+ "type": "geometry",
97
+ "collision": false,
98
+ "ratio": 1.0
99
+ },
100
+ "primitive_params": {
101
+ "size": [
102
+ 0.2,
103
+ 0.2,
104
+ 0.015
105
+ ]
106
+ }
107
+ },
108
+ "type_specific": {}
109
+ }
110
+ ],
111
+ "plate_rack": [
112
+ {
113
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
114
+ "pose": {
115
+ "pos": [
116
+ -0.6,
117
+ 0.02,
118
+ 0.9
119
+ ],
120
+ "ori": [
121
+ 6.123234262925839e-17,
122
+ 0.0,
123
+ 0.0,
124
+ 1.0
125
+ ],
126
+ "scale": [
127
+ 1.0,
128
+ 1.0,
129
+ 1.0
130
+ ]
131
+ },
132
+ "dr": {
133
+ "visual": {
134
+ "kind": null,
135
+ "value": null,
136
+ "visible": true
137
+ },
138
+ "physics": {
139
+ "type": "geometry",
140
+ "collision": false,
141
+ "physics_material": {
142
+ "static_friction": 0.6,
143
+ "dynamic_friction": 0.5,
144
+ "restitution": 0.0
145
+ },
146
+ "ratio": 1.0
147
+ },
148
+ "primitive_params": null
149
+ },
150
+ "type_specific": {}
151
+ }
152
+ ],
153
+ "hotel_plate": [
154
+ {
155
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
191
+ "pose": {
192
+ "pos": [
193
+ -0.6,
194
+ 0.02,
195
+ 1.0285
196
+ ],
197
+ "ori": [
198
+ 6.123234262925839e-17,
199
+ 0.0,
200
+ 0.0,
201
+ 1.0
202
+ ],
203
+ "scale": [
204
+ 1.0,
205
+ 1.0,
206
+ 1.0
207
+ ]
208
+ },
209
+ "dr": {
210
+ "visual": {
211
+ "kind": null,
212
+ "value": null,
213
+ "visible": true
214
+ },
215
+ "physics": {
216
+ "type": "geometry",
217
+ "collision": false,
218
+ "ratio": 1.0
219
+ },
220
+ "primitive_params": null
221
+ },
222
+ "type_specific": {}
223
+ },
224
+ {
225
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
261
+ "pose": {
262
+ "pos": [
263
+ -0.6,
264
+ 0.02,
265
+ 1.1645
266
+ ],
267
+ "ori": [
268
+ 6.123234262925839e-17,
269
+ 0.0,
270
+ 0.0,
271
+ 1.0
272
+ ],
273
+ "scale": [
274
+ 1.0,
275
+ 1.0,
276
+ 1.0
277
+ ]
278
+ },
279
+ "dr": {
280
+ "visual": {
281
+ "kind": null,
282
+ "value": null,
283
+ "visible": true
284
+ },
285
+ "physics": {
286
+ "type": "geometry",
287
+ "collision": false,
288
+ "ratio": 1.0
289
+ },
290
+ "primitive_params": null
291
+ },
292
+ "type_specific": {}
293
+ },
294
+ {
295
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.47370147705078125,
336
+ 0.12525367736816406,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ 0.724022388458252,
341
+ 0.0,
342
+ 0.0,
343
+ -0.6897764801979065
344
+ ],
345
+ "scale": [
346
+ 1.0,
347
+ 1.0,
348
+ 1.0
349
+ ]
350
+ },
351
+ "dr": {
352
+ "visual": {
353
+ "kind": null,
354
+ "value": null,
355
+ "visible": true
356
+ },
357
+ "physics": {
358
+ "type": "articulation",
359
+ "solver_position_iteration_count": 16.0,
360
+ "solver_velocity_iteration_count": 1.0,
361
+ "enabled_self_collisions": false,
362
+ "ratio": 1.0
363
+ },
364
+ "primitive_params": null
365
+ },
366
+ "type_specific": {
367
+ "joint_position": [
368
+ 2.6913319663146584e-12
369
+ ],
370
+ "joint_velocity": [
371
+ 0.0
372
+ ],
373
+ "linear_velocity": [
374
+ 0.0,
375
+ 0.0,
376
+ 0.0
377
+ ],
378
+ "angular_velocity": [
379
+ 0.0,
380
+ 0.0,
381
+ 0.0
382
+ ]
383
+ }
384
+ }
385
+ ],
386
+ "conveyor": [
387
+ {
388
+ "asset": "Cube",
389
+ "pose": {
390
+ "pos": [
391
+ 0.15,
392
+ 0.45,
393
+ 0.9
394
+ ],
395
+ "ori": [
396
+ 1.0,
397
+ 0.0,
398
+ 0.0,
399
+ 0.0
400
+ ],
401
+ "scale": [
402
+ 1.0,
403
+ 1.0,
404
+ 1.0
405
+ ]
406
+ },
407
+ "dr": {
408
+ "visual": {
409
+ "kind": null,
410
+ "value": null,
411
+ "visible": true
412
+ },
413
+ "physics": {
414
+ "type": "conveyor",
415
+ "physics_material": {
416
+ "static_friction": 0.9,
417
+ "dynamic_friction": 0.9
418
+ },
419
+ "ratio": 1.0
420
+ },
421
+ "primitive_params": {
422
+ "size": [
423
+ 2.4,
424
+ 0.076,
425
+ 0.03
426
+ ]
427
+ },
428
+ "conveyor": {
429
+ "speed": 0.16426073827761759,
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": -0.17353010549586995,
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": 0.16426073827761759,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_4",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ 1.6849422454833984,
493
+ 0.8980007171630859,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 0.5999438762664795,
498
+ 2.443442781441263e-08,
499
+ -2.789090913779546e-08,
500
+ 0.8000421524047852
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ 2.3259740089542902e-07,
529
+ -7.178636565186025e-07,
530
+ -4.872679710388184e-06
531
+ ],
532
+ "angular_velocity": [
533
+ 5.917676753597334e-05,
534
+ 3.443033347139135e-05,
535
+ 4.077439371030778e-06
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 0.046443939208984375,
544
+ 1.1500005722045898,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ -1.0289765668858308e-05,
549
+ 3.018580585489872e-08,
550
+ -3.332747766648936e-08,
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
+ -6.720551892769322e-10,
580
+ 2.2642776542625143e-10,
581
+ 3.725290298461914e-09
582
+ ],
583
+ "angular_velocity": [
584
+ -3.994062325318737e-08,
585
+ -6.644697947422173e-08,
586
+ -7.442539917690283e-09
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ -1.3400564193725586,
595
+ 0.9939413070678711,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -0.47013887763023376,
600
+ 3.87947238777997e-08,
601
+ 2.0168004155607377e-08,
602
+ 0.882592499256134
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 2.4202194026656798e-08,
631
+ -7.302578097778678e-09,
632
+ 2.9802322387695312e-08
633
+ ],
634
+ "angular_velocity": [
635
+ 7.514030926358828e-07,
636
+ 1.5638196373402025e-06,
637
+ -6.102060012835864e-08
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -0.02395915985107422,
646
+ 0.4499940872192383,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ 1.0,
651
+ 3.4400579607130055e-10,
652
+ -3.907390411228562e-09,
653
+ -4.228451507515274e-05
654
+ ],
655
+ "scale": [
656
+ 1.0,
657
+ 1.0,
658
+ 1.0
659
+ ]
660
+ },
661
+ "dr": {
662
+ "visual": {
663
+ "kind": null,
664
+ "value": null,
665
+ "visible": true
666
+ },
667
+ "physics": {
668
+ "type": "rigid",
669
+ "mass": 0.5,
670
+ "physics_material": {
671
+ "static_friction": 0.9,
672
+ "dynamic_friction": 0.9,
673
+ "restitution": 0.0
674
+ },
675
+ "ratio": 1.0
676
+ },
677
+ "primitive_params": null
678
+ },
679
+ "type_specific": {
680
+ "linear_velocity": [
681
+ 4.320295232673743e-10,
682
+ 1.3948069366165328e-09,
683
+ 7.450580596923828e-09
684
+ ],
685
+ "angular_velocity": [
686
+ -1.1653746412321198e-07,
687
+ 1.2660898995875414e-08,
688
+ -7.0512982119907974e-09
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ 1.6950397491455078,
699
+ 0.8886651992797852,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ 0.5297338962554932,
704
+ 1.8905325305240694e-08,
705
+ -2.4822625732667802e-08,
706
+ 0.8481639623641968
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ 7.885307127253327e-07,
738
+ -1.5226538607748807e-06,
739
+ -5.748122930526733e-06
740
+ ],
741
+ "angular_velocity": [
742
+ 5.913439599680714e-05,
743
+ 3.5511093301465735e-05,
744
+ 3.947682216676185e-06
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 0.05724334716796875,
753
+ 1.1446361541748047,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ 0.07678259909152985,
758
+ 3.274864468494343e-08,
759
+ -2.8742903168677003e-08,
760
+ 0.9970479011535645
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
+ 1.2473740262919364e-08,
792
+ -1.3752750049889073e-08,
793
+ -5.1781535148620605e-06
794
+ ],
795
+ "angular_velocity": [
796
+ -4.814652356799343e-07,
797
+ 1.841463245000341e-06,
798
+ 7.121040113133859e-08
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ -1.3355159759521484,
807
+ 0.9878721237182617,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ -0.5492783188819885,
812
+ 4.043239698603429e-08,
813
+ 1.665511994985991e-08,
814
+ 0.835639476776123
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ 4.6781043039345604e-08,
846
+ -9.188005023474943e-09,
847
+ -5.707144737243652e-06
848
+ ],
849
+ "angular_velocity": [
850
+ -2.9291697956068674e-07,
851
+ 1.5945122413540957e-06,
852
+ -9.064083705823123e-09
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -0.03119659423828125,
861
+ 0.4531822204589844,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.9979484677314758,
866
+ 2.015807964994565e-09,
867
+ -5.4252495829132386e-09,
868
+ -0.06402271240949631
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
+ -4.493742977729198e-08,
900
+ -5.005707848226848e-09,
901
+ 1.4156103134155273e-07
902
+ ],
903
+ "angular_velocity": [
904
+ 3.9753848568579997e-07,
905
+ -2.3573961698275525e-06,
906
+ 6.577597844170668e-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": 3.37999999999995,
1105
+ "step": 676,
1106
+ "counter": 0,
1107
+ "devices": {
1108
+ "a4s_sealer_1": {
1109
+ "mode": "auto",
1110
+ "units": {
1111
+ "drawer": {
1112
+ "state": "at_out",
1113
+ "active": null,
1114
+ "target": 0.0,
1115
+ "goal_name": "out",
1116
+ "profile": null,
1117
+ "q_start": null,
1118
+ "reversing": false,
1119
+ "blocked_for": 0.0,
1120
+ "settled_for": 0.0,
1121
+ "last_q": 2.6913319663146584e-12
1122
+ },
1123
+ "heater": {
1124
+ "state": "ready",
1125
+ "active": null,
1126
+ "duration": 0.0,
1127
+ "t_start": null,
1128
+ "elapsed": 0.0
1129
+ }
1130
+ },
1131
+ "queues": {},
1132
+ "program": null,
1133
+ "sensors": {
1134
+ "plate_present": {
1135
+ "occupants": [],
1136
+ "pending": {}
1137
+ }
1138
+ },
1139
+ "interlocks": {}
1140
+ },
1141
+ "conveyor_1": {
1142
+ "mode": "auto",
1143
+ "units": {
1144
+ "belt": {
1145
+ "state": "at_station",
1146
+ "active": null,
1147
+ "controller": {
1148
+ "speed": 0.16426073827761759,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_4",
1152
+ "arrived": true,
1153
+ "settle_count": 629,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ 1.534942239522934,
1160
+ 0.4480007290840149,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ -0.1035560667514801,
1165
+ 0.7000005841255188,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ -1.490056425333023,
1170
+ 0.5439413189888,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -0.1739591658115387,
1175
+ -5.900859832763672e-06,
1176
+ 0.0
1177
+ ]
1178
+ },
1179
+ "command": 0.0
1180
+ },
1181
+ "belt": {
1182
+ "target_speed": 0.0,
1183
+ "command_speed": 0.0
1184
+ },
1185
+ "seen": {
1186
+ "state": "at_station",
1187
+ "station": "pick",
1188
+ "rider": "carrier_4",
1189
+ "arrived": true
1190
+ }
1191
+ }
1192
+ },
1193
+ "queues": {},
1194
+ "program": null,
1195
+ "sensors": {},
1196
+ "interlocks": {}
1197
+ }
1198
+ },
1199
+ "zones": {},
1200
+ "labware": {
1201
+ "plate_1": {
1202
+ "sealed": false
1203
+ },
1204
+ "plate_2": {
1205
+ "sealed": false
1206
+ },
1207
+ "plate_3": {
1208
+ "sealed": false
1209
+ },
1210
+ "plate_4": {
1211
+ "sealed": false
1212
+ }
1213
+ },
1214
+ "rules": {},
1215
+ "records": [],
1216
+ "bus": {
1217
+ "seq": 3,
1218
+ "queue": []
1219
+ }
1220
+ },
1221
+ null,
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ {},
1227
+ null,
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {
1234
+ "ceiling": {
1235
+ "type": "rect",
1236
+ "pose": {
1237
+ "pos": [
1238
+ 0.21500770773820854,
1239
+ 0.5846379688032033,
1240
+ 2.922371608011889
1241
+ ],
1242
+ "ori": [
1243
+ 9.713603673253374,
1244
+ -12.244318172278895,
1245
+ -25.42599197193038
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 3242.5010571381295,
1255
+ "color": [
1256
+ 0.8427575268685366,
1257
+ 0.9189455291228643,
1258
+ 0.9903838186904736
1259
+ ],
1260
+ "intensity": 11713.9451509217,
1261
+ "width": 2.6905066200117522,
1262
+ "height": 1.4488114586072638
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ 0.8958273318683787,
1270
+ 0.6462738272968211,
1271
+ 2.764563662822705
1272
+ ],
1273
+ "ori": [
1274
+ -5.145807943901261,
1275
+ 0.9339948534460802,
1276
+ 37.8976303619439
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 2938.983189148158,
1286
+ "color": [
1287
+ 0.986419005627303,
1288
+ 0.8390927956981424,
1289
+ 0.9526463522369042
1290
+ ],
1291
+ "intensity": 2094.9127810286263,
1292
+ "radius": 0.22546279981987688
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": 1533.7416757877593,
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
+ 1.6545071601867676,
1394
+ -1.4464517831802368,
1395
+ 2.1018123626708984,
1396
+ -2.2253668308258057,
1397
+ -1.570629358291626,
1398
+ 0.08392743766307831,
1399
+ 0.018000038340687752,
1400
+ 0.017999961972236633
1401
+ ],
1402
+ [
1403
+ 0.9141006469726562,
1404
+ -1.7193981409072876,
1405
+ 2.0904994010925293,
1406
+ -1.9419004917144775,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
1411
+ ],
1412
+ [
1413
+ 0.3440673351287842,
1414
+ -2.0096538066864014,
1415
+ 2.3488175868988037,
1416
+ -1.9080363512039185,
1417
+ -1.570894718170166,
1418
+ 5.107486248016357,
1419
+ 0.00847811158746481,
1420
+ 0.00647675059735775
1421
+ ],
1422
+ [
1423
+ 1.11496102809906,
1424
+ -1.463830828666687,
1425
+ 2.19696307182312,
1426
+ -2.3034439086914062,
1427
+ -1.5716511011123657,
1428
+ 2.663924217224121,
1429
+ 0.017999952659010887,
1430
+ 0.018000047653913498
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0001339138252660632,
1436
+ -0.014353543519973755,
1437
+ -0.010689543560147285,
1438
+ 0.023739393800497055,
1439
+ -2.917935034929542e-06,
1440
+ 2.7931730528507615e-06,
1441
+ -7.088853180903243e-06,
1442
+ 7.065319096000167e-06
1443
+ ],
1444
+ [
1445
+ 2.88169630332507e-38,
1446
+ 0.0,
1447
+ -1.2240224376806274e-38,
1448
+ -6.656526437949748e-37,
1449
+ 3.3488706020873577e-37,
1450
+ 2.1489701161716178e-37,
1451
+ -2.502413013699515e-38,
1452
+ -4.496696146575736e-38
1453
+ ],
1454
+ [
1455
+ 0.07016181945800781,
1456
+ 0.03046489879488945,
1457
+ -0.020092390477657318,
1458
+ -0.020228184759616852,
1459
+ 0.00011235821875743568,
1460
+ 0.06874630600214005,
1461
+ -0.006054784171283245,
1462
+ 0.0003108039381913841
1463
+ ],
1464
+ [
1465
+ 0.00010852083505596966,
1466
+ -0.01682448573410511,
1467
+ -0.009825500659644604,
1468
+ 0.025392426177859306,
1469
+ -1.214226085721748e-05,
1470
+ -3.364858639542945e-05,
1471
+ 6.479437161033275e-06,
1472
+ -6.503484200948151e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05132463574409485,
1482
+ 0.0007430663099512458,
1483
+ -0.03168073669075966,
1484
+ -0.26638150215148926,
1485
+ 0.6516917943954468,
1486
+ 0.6526879668235779,
1487
+ -0.27988773584365845
1488
+ ],
1489
+ [
1490
+ 0.04877590015530586,
1491
+ -0.002623270032927394,
1492
+ -0.0315198116004467,
1493
+ -0.282137930393219,
1494
+ 0.6482844948768616,
1495
+ 0.6452319622039795,
1496
+ -0.2894842028617859
1497
+ ],
1498
+ [
1499
+ 0.046789977699518204,
1500
+ -0.0001208914109156467,
1501
+ -0.027793847024440765,
1502
+ -0.28690478205680847,
1503
+ 0.6447495818138123,
1504
+ 0.6575108766555786,
1505
+ -0.2639376223087311
1506
+ ],
1507
+ [
1508
+ 0.04652794823050499,
1509
+ 0.00148412783164531,
1510
+ -0.026941513642668724,
1511
+ -0.27597376704216003,
1512
+ 0.6563217043876648,
1513
+ 0.6404523849487305,
1514
+ -0.2879253625869751
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.04130374640226364,
1520
+ 0.5693290829658508,
1521
+ 1.9603357315063477,
1522
+ 0.048880401998758316,
1523
+ -0.00856758188456297,
1524
+ 0.2762034833431244,
1525
+ 0.959817111492157
1526
+ ],
1527
+ [
1528
+ 0.0687035471200943,
1529
+ 0.5578927397727966,
1530
+ 1.9355624914169312,
1531
+ 0.038223862648010254,
1532
+ 0.011347106657922268,
1533
+ 0.2575281262397766,
1534
+ 0.9654477834701538
1535
+ ],
1536
+ [
1537
+ 0.03534207120537758,
1538
+ 0.5796273350715637,
1539
+ 1.9462859630584717,
1540
+ 0.05340370163321495,
1541
+ -0.009248420596122742,
1542
+ 0.2690057158470154,
1543
+ 0.9616124033927917
1544
+ ],
1545
+ [
1546
+ 0.04341012239456177,
1547
+ 0.5682455897331238,
1548
+ 1.961112380027771,
1549
+ 0.05116018280386925,
1550
+ 0.0268581360578537,
1551
+ 0.2635868191719055,
1552
+ 0.9629035592079163
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p014_e012/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5eec4fa6f7c74ab2fb257075cf5b30e9c09960942ce7112a59dd64a6cfc4531f
3
+ size 6748693
episodes/c4_p014_e013/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb7af8935cc969d3b18c944dedfb56482ede017ddeae75532ac0bab5f223ccb1
3
+ size 187606
episodes/c4_p014_e013/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 44, "t": 0.22, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 44, "t": 0.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
3
+ {"env_id": 3, "seq": 3, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 6538, "t": 32.69, "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": 7152, "t": 35.76, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
6
+ {"env_id": 3, "seq": 6, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.9311654189622023}, "cause": "task-3-1"}
7
+ {"env_id": 3, "seq": 7, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
8
+ {"env_id": 3, "seq": 8, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
9
+ {"env_id": 3, "seq": 9, "step": 7152, "t": 35.76, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
10
+ {"env_id": 3, "seq": 10, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
11
+ {"env_id": 3, "seq": 11, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
12
+ {"env_id": 3, "seq": 12, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
13
+ {"env_id": 3, "seq": 13, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
14
+ {"env_id": 3, "seq": 14, "step": 7571, "t": 37.855, "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": 7571, "t": 37.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"}
16
+ {"env_id": 3, "seq": 16, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
17
+ {"env_id": 3, "seq": 17, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
18
+ {"env_id": 3, "seq": 18, "step": 7571, "t": 37.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.9311654189622023}, "cause": "program-3-3"}
19
+ {"env_id": 3, "seq": 19, "step": 7958, "t": 39.79, "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": 7958, "t": 39.79, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.93500000000099}, "cause": "program-3-3"}
21
+ {"env_id": 3, "seq": 21, "step": 7958, "t": 39.79, "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": 1.93500000000099}}, "cause": "program-3-3"}
22
+ {"env_id": 3, "seq": 22, "step": 7958, "t": 39.79, "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": 7958, "t": 39.79, "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": 7958, "t": 39.79, "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": 8378, "t": 41.89, "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": 8378, "t": 41.89, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.310838879779567e-09}, "cause": "program-3-4"}
27
+ {"env_id": 3, "seq": 27, "step": 8378, "t": 41.89, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.310838879779567e-09}, "cause": "program-3-4"}
28
+ {"env_id": 3, "seq": 28, "step": 8378, "t": 41.89, "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": 8378, "t": 41.89, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
30
+ {"env_id": 3, "seq": 30, "step": 8378, "t": 41.89, "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": 8960, "t": 44.8, "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": 10700, "t": 53.5, "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": 10700, "t": 53.5, "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": 10700, "t": 53.5, "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": 10700, "t": 53.5, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
episodes/c4_p014_e013/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c6bd04bc26b1d3c317a1b5df7391561c0ef05e897ff0f405bef15eca3abc3071
3
+ size 1198960
episodes/c4_p014_e013/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p014/magicsim/13",
3
+ "fps": 25,
4
+ "frames": 1182,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1182,
8
+ "env": 1182
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c4_p014_e013/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 13,
3
+ "env_id": 3,
4
+ "run_id": "c4_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
158
+ "pose": {
159
+ "pos": [
160
+ -0.6,
161
+ 0.02,
162
+ 0.9605
163
+ ],
164
+ "ori": [
165
+ 1.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0
169
+ ],
170
+ "scale": [
171
+ 1.0,
172
+ 1.0,
173
+ 1.0
174
+ ]
175
+ },
176
+ "dr": {
177
+ "visual": {
178
+ "kind": null,
179
+ "value": null,
180
+ "visible": true
181
+ },
182
+ "physics": {
183
+ "type": "geometry",
184
+ "collision": false,
185
+ "ratio": 1.0
186
+ },
187
+ "primitive_params": null
188
+ },
189
+ "type_specific": {}
190
+ },
191
+ {
192
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
193
+ "pose": {
194
+ "pos": [
195
+ -0.6,
196
+ 0.02,
197
+ 1.0285
198
+ ],
199
+ "ori": [
200
+ 6.123234262925839e-17,
201
+ 0.0,
202
+ 0.0,
203
+ 1.0
204
+ ],
205
+ "scale": [
206
+ 1.0,
207
+ 1.0,
208
+ 1.0
209
+ ]
210
+ },
211
+ "dr": {
212
+ "visual": {
213
+ "kind": null,
214
+ "value": null,
215
+ "visible": true
216
+ },
217
+ "physics": {
218
+ "type": "geometry",
219
+ "collision": false,
220
+ "ratio": 1.0
221
+ },
222
+ "primitive_params": null
223
+ },
224
+ "type_specific": {}
225
+ },
226
+ {
227
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
228
+ "pose": {
229
+ "pos": [
230
+ -0.6,
231
+ 0.02,
232
+ 1.0965
233
+ ],
234
+ "ori": [
235
+ 1.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "scale": [
241
+ 1.0,
242
+ 1.0,
243
+ 1.0
244
+ ]
245
+ },
246
+ "dr": {
247
+ "visual": {
248
+ "kind": null,
249
+ "value": null,
250
+ "visible": true
251
+ },
252
+ "physics": {
253
+ "type": "geometry",
254
+ "collision": false,
255
+ "ratio": 1.0
256
+ },
257
+ "primitive_params": null
258
+ },
259
+ "type_specific": {}
260
+ },
261
+ {
262
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
263
+ "pose": {
264
+ "pos": [
265
+ -0.6,
266
+ 0.02,
267
+ 1.1645
268
+ ],
269
+ "ori": [
270
+ 6.123234262925839e-17,
271
+ 0.0,
272
+ 0.0,
273
+ 1.0
274
+ ],
275
+ "scale": [
276
+ 1.0,
277
+ 1.0,
278
+ 1.0
279
+ ]
280
+ },
281
+ "dr": {
282
+ "visual": {
283
+ "kind": null,
284
+ "value": null,
285
+ "visible": true
286
+ },
287
+ "physics": {
288
+ "type": "geometry",
289
+ "collision": false,
290
+ "ratio": 1.0
291
+ },
292
+ "primitive_params": null
293
+ },
294
+ "type_specific": {}
295
+ },
296
+ {
297
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
298
+ "pose": {
299
+ "pos": [
300
+ -0.6,
301
+ 0.02,
302
+ 1.2325
303
+ ],
304
+ "ori": [
305
+ 1.0,
306
+ 0.0,
307
+ 0.0,
308
+ 0.0
309
+ ],
310
+ "scale": [
311
+ 1.0,
312
+ 1.0,
313
+ 1.0
314
+ ]
315
+ },
316
+ "dr": {
317
+ "visual": {
318
+ "kind": null,
319
+ "value": null,
320
+ "visible": true
321
+ },
322
+ "physics": {
323
+ "type": "geometry",
324
+ "collision": false,
325
+ "ratio": 1.0
326
+ },
327
+ "primitive_params": null
328
+ },
329
+ "type_specific": {}
330
+ }
331
+ ],
332
+ "a4s_sealer": [
333
+ {
334
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
335
+ "pose": {
336
+ "pos": [
337
+ 0.4776611328125,
338
+ 0.0931386947631836,
339
+ 0.8999999761581421
340
+ ],
341
+ "ori": [
342
+ 0.734546422958374,
343
+ 0.0,
344
+ 0.0,
345
+ -0.6785584092140198
346
+ ],
347
+ "scale": [
348
+ 1.0,
349
+ 1.0,
350
+ 1.0
351
+ ]
352
+ },
353
+ "dr": {
354
+ "visual": {
355
+ "kind": null,
356
+ "value": null,
357
+ "visible": true
358
+ },
359
+ "physics": {
360
+ "type": "articulation",
361
+ "solver_position_iteration_count": 16.0,
362
+ "solver_velocity_iteration_count": 1.0,
363
+ "enabled_self_collisions": false,
364
+ "ratio": 1.0
365
+ },
366
+ "primitive_params": null
367
+ },
368
+ "type_specific": {
369
+ "joint_position": [
370
+ 1.6820830752578564e-12
371
+ ],
372
+ "joint_velocity": [
373
+ 0.0
374
+ ],
375
+ "linear_velocity": [
376
+ 0.0,
377
+ 0.0,
378
+ 0.0
379
+ ],
380
+ "angular_velocity": [
381
+ 0.0,
382
+ 0.0,
383
+ 0.0
384
+ ]
385
+ }
386
+ }
387
+ ],
388
+ "conveyor": [
389
+ {
390
+ "asset": "Cube",
391
+ "pose": {
392
+ "pos": [
393
+ 0.15,
394
+ 0.45,
395
+ 0.9
396
+ ],
397
+ "ori": [
398
+ 1.0,
399
+ 0.0,
400
+ 0.0,
401
+ 0.0
402
+ ],
403
+ "scale": [
404
+ 1.0,
405
+ 1.0,
406
+ 1.0
407
+ ]
408
+ },
409
+ "dr": {
410
+ "visual": {
411
+ "kind": null,
412
+ "value": null,
413
+ "visible": true
414
+ },
415
+ "physics": {
416
+ "type": "conveyor",
417
+ "physics_material": {
418
+ "static_friction": 0.9,
419
+ "dynamic_friction": 0.9
420
+ },
421
+ "ratio": 1.0
422
+ },
423
+ "primitive_params": {
424
+ "size": [
425
+ 2.4,
426
+ 0.076,
427
+ 0.03
428
+ ]
429
+ },
430
+ "conveyor": {
431
+ "speed": 0.2745477508820851,
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": -0.23403949914876304,
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": 0.2745477508820851,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
492
+ "pose": {
493
+ "pos": [
494
+ -1.1109247207641602,
495
+ 1.1414422988891602,
496
+ 0.8999999761581421
497
+ ],
498
+ "ori": [
499
+ -0.07567884027957916,
500
+ 1.2065780374825863e-08,
501
+ 1.0475782019625512e-08,
502
+ 0.9971322417259216
503
+ ],
504
+ "scale": [
505
+ 1.0,
506
+ 1.0,
507
+ 1.0
508
+ ]
509
+ },
510
+ "dr": {
511
+ "visual": {
512
+ "kind": null,
513
+ "value": null,
514
+ "visible": true
515
+ },
516
+ "physics": {
517
+ "type": "rigid",
518
+ "mass": 0.5,
519
+ "physics_material": {
520
+ "static_friction": 0.9,
521
+ "dynamic_friction": 0.9,
522
+ "restitution": 0.0
523
+ },
524
+ "ratio": 1.0
525
+ },
526
+ "primitive_params": null
527
+ },
528
+ "type_specific": {
529
+ "linear_velocity": [
530
+ 2.1594519505896415e-09,
531
+ -7.851751249177141e-09,
532
+ 2.9802322387695312e-08
533
+ ],
534
+ "angular_velocity": [
535
+ 2.0837234160353546e-07,
536
+ 2.76280019306796e-07,
537
+ 1.5667190211843263e-08
538
+ ]
539
+ }
540
+ },
541
+ {
542
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
543
+ "pose": {
544
+ "pos": [
545
+ 1.6309356689453125,
546
+ 0.5931606292724609,
547
+ 0.8999999761581421
548
+ ],
549
+ "ori": [
550
+ 0.8932539820671082,
551
+ 5.8647945166967475e-08,
552
+ 1.3097940154693788e-07,
553
+ 0.449552446603775
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
+ -5.4858933395962595e-08,
582
+ 1.7956747200287282e-08,
583
+ -3.725290298461914e-09
584
+ ],
585
+ "angular_velocity": [
586
+ -1.5095315575308632e-06,
587
+ -2.1697546799259726e-06,
588
+ 5.921058345847996e-07
589
+ ]
590
+ }
591
+ },
592
+ {
593
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
594
+ "pose": {
595
+ "pos": [
596
+ -0.0835723876953125,
597
+ 0.4499998092651367,
598
+ 0.8999999761581421
599
+ ],
600
+ "ori": [
601
+ 1.0,
602
+ -3.2789198023408517e-09,
603
+ -4.380776852386248e-10,
604
+ -4.995913968741661e-06
605
+ ],
606
+ "scale": [
607
+ 1.0,
608
+ 1.0,
609
+ 1.0
610
+ ]
611
+ },
612
+ "dr": {
613
+ "visual": {
614
+ "kind": null,
615
+ "value": null,
616
+ "visible": true
617
+ },
618
+ "physics": {
619
+ "type": "rigid",
620
+ "mass": 0.5,
621
+ "physics_material": {
622
+ "static_friction": 0.9,
623
+ "dynamic_friction": 0.9,
624
+ "restitution": 0.0
625
+ },
626
+ "ratio": 1.0
627
+ },
628
+ "primitive_params": null
629
+ },
630
+ "type_specific": {
631
+ "linear_velocity": [
632
+ -5.916676037998059e-10,
633
+ 1.2436306429108868e-09,
634
+ 3.725290298461914e-09
635
+ ],
636
+ "angular_velocity": [
637
+ -4.4705657842314395e-08,
638
+ -5.444817929856072e-08,
639
+ 3.675789006507557e-09
640
+ ]
641
+ }
642
+ },
643
+ {
644
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
645
+ "pose": {
646
+ "pos": [
647
+ 0.2429952621459961,
648
+ 1.1500024795532227,
649
+ 0.8999999761581421
650
+ ],
651
+ "ori": [
652
+ -3.097339003943489e-06,
653
+ 7.621406616920012e-09,
654
+ -3.230887113403469e-09,
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
+ 5.342894127124964e-09,
684
+ 1.9562882869195164e-08,
685
+ 4.842877388000488e-08
686
+ ],
687
+ "angular_velocity": [
688
+ -6.31752982371836e-07,
689
+ 4.6478314175146807e-07,
690
+ -7.908498389497254e-08
691
+ ]
692
+ }
693
+ }
694
+ ],
695
+ "plate": [
696
+ {
697
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
698
+ "pose": {
699
+ "pos": [
700
+ -1.1091842651367188,
701
+ 1.1353788375854492,
702
+ 0.9179999828338623
703
+ ],
704
+ "ori": [
705
+ -0.009405254386365414,
706
+ 1.598053245288611e-08,
707
+ 2.3692388495533123e-08,
708
+ 0.9999557733535767
709
+ ],
710
+ "scale": [
711
+ 1.0,
712
+ 1.0,
713
+ 1.0
714
+ ]
715
+ },
716
+ "dr": {
717
+ "visual": {
718
+ "kind": null,
719
+ "value": null,
720
+ "visible": true
721
+ },
722
+ "physics": {
723
+ "type": "rigid",
724
+ "collision": true,
725
+ "mass": "asset",
726
+ "max_depenetration_velocity": 1.0,
727
+ "physics_material": {
728
+ "static_friction": 0.5,
729
+ "dynamic_friction": 0.45,
730
+ "restitution": 0.0,
731
+ "friction_combine_mode": "average"
732
+ },
733
+ "ratio": 1.0
734
+ },
735
+ "primitive_params": null
736
+ },
737
+ "type_specific": {
738
+ "linear_velocity": [
739
+ 6.107051575554578e-08,
740
+ -1.875114463700811e-08,
741
+ 2.0489096641540527e-07
742
+ ],
743
+ "angular_velocity": [
744
+ -2.79104597211699e-07,
745
+ 3.159943844366353e-06,
746
+ 2.5720888174873835e-07
747
+ ]
748
+ }
749
+ },
750
+ {
751
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
752
+ "pose": {
753
+ "pos": [
754
+ 1.618321418762207,
755
+ 0.5942287445068359,
756
+ 0.9180000424385071
757
+ ],
758
+ "ori": [
759
+ 0.9197853207588196,
760
+ 3.1815898182685487e-07,
761
+ 3.338567466926179e-07,
762
+ 0.3924219608306885
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
+ -8.453126611129846e-06,
794
+ -5.979006800771458e-07,
795
+ -7.379800081253052e-06
796
+ ],
797
+ "angular_velocity": [
798
+ -0.00011724342039087787,
799
+ -0.0001871166459750384,
800
+ 5.1237708248663694e-05
801
+ ]
802
+ }
803
+ },
804
+ {
805
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
806
+ "pose": {
807
+ "pos": [
808
+ -0.07631397247314453,
809
+ 0.43913745880126953,
810
+ 0.9180000424385071
811
+ ],
812
+ "ori": [
813
+ 0.9988626837730408,
814
+ -3.294868378134197e-09,
815
+ -1.8514856314766348e-10,
816
+ 0.04768050089478493
817
+ ],
818
+ "scale": [
819
+ 1.0,
820
+ 1.0,
821
+ 1.0
822
+ ]
823
+ },
824
+ "dr": {
825
+ "visual": {
826
+ "kind": null,
827
+ "value": null,
828
+ "visible": true
829
+ },
830
+ "physics": {
831
+ "type": "rigid",
832
+ "collision": true,
833
+ "mass": "asset",
834
+ "max_depenetration_velocity": 1.0,
835
+ "physics_material": {
836
+ "static_friction": 0.5,
837
+ "dynamic_friction": 0.45,
838
+ "restitution": 0.0,
839
+ "friction_combine_mode": "average"
840
+ },
841
+ "ratio": 1.0
842
+ },
843
+ "primitive_params": null
844
+ },
845
+ "type_specific": {
846
+ "linear_velocity": [
847
+ -2.3561764095347826e-08,
848
+ 2.6965913946241926e-08,
849
+ -5.129724740982056e-06
850
+ ],
851
+ "angular_velocity": [
852
+ -3.3220203476957977e-07,
853
+ -1.4368207530424115e-06,
854
+ 1.9532910755515331e-07
855
+ ]
856
+ }
857
+ },
858
+ {
859
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
860
+ "pose": {
861
+ "pos": [
862
+ 0.24995899200439453,
863
+ 1.150670051574707,
864
+ 0.9179999828338623
865
+ ],
866
+ "ori": [
867
+ 0.07781818509101868,
868
+ 8.901031023356154e-09,
869
+ -5.64836677430236e-10,
870
+ 0.9969676733016968
871
+ ],
872
+ "scale": [
873
+ 1.0,
874
+ 1.0,
875
+ 1.0
876
+ ]
877
+ },
878
+ "dr": {
879
+ "visual": {
880
+ "kind": null,
881
+ "value": null,
882
+ "visible": true
883
+ },
884
+ "physics": {
885
+ "type": "rigid",
886
+ "collision": true,
887
+ "mass": "asset",
888
+ "max_depenetration_velocity": 1.0,
889
+ "physics_material": {
890
+ "static_friction": 0.5,
891
+ "dynamic_friction": 0.45,
892
+ "restitution": 0.0,
893
+ "friction_combine_mode": "average"
894
+ },
895
+ "ratio": 1.0
896
+ },
897
+ "primitive_params": null
898
+ },
899
+ "type_specific": {
900
+ "linear_velocity": [
901
+ 1.2106599456274125e-07,
902
+ 8.712221699624934e-08,
903
+ -2.726912498474121e-06
904
+ ],
905
+ "angular_velocity": [
906
+ -1.5614502899552463e-06,
907
+ 4.2401684368087444e-06,
908
+ -2.4073727900031372e-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": 6.399999999999886,
1107
+ "step": 1280,
1108
+ "counter": 0,
1109
+ "devices": {
1110
+ "a4s_sealer_1": {
1111
+ "mode": "auto",
1112
+ "units": {
1113
+ "drawer": {
1114
+ "state": "at_out",
1115
+ "active": null,
1116
+ "target": 0.0,
1117
+ "goal_name": "out",
1118
+ "profile": null,
1119
+ "q_start": null,
1120
+ "reversing": false,
1121
+ "blocked_for": 0.0,
1122
+ "settled_for": 0.0,
1123
+ "last_q": 1.6820830752578564e-12
1124
+ },
1125
+ "heater": {
1126
+ "state": "ready",
1127
+ "active": null,
1128
+ "duration": 0.0,
1129
+ "t_start": null,
1130
+ "elapsed": 0.0
1131
+ }
1132
+ },
1133
+ "queues": {},
1134
+ "program": null,
1135
+ "sensors": {
1136
+ "plate_present": {
1137
+ "occupants": [],
1138
+ "pending": {}
1139
+ }
1140
+ },
1141
+ "interlocks": {}
1142
+ },
1143
+ "conveyor_1": {
1144
+ "mode": "auto",
1145
+ "units": {
1146
+ "belt": {
1147
+ "state": "at_station",
1148
+ "active": null,
1149
+ "controller": {
1150
+ "speed": 0.2745477508820851,
1151
+ "holds": [],
1152
+ "station": "pick",
1153
+ "rider": "carrier_3",
1154
+ "arrived": true,
1155
+ "settle_count": 1235,
1156
+ "released": {
1157
+ "pick": []
1158
+ },
1159
+ "last_pos": {
1160
+ "carrier_1": [
1161
+ -1.2609247267246246,
1162
+ 0.6914423108100891,
1163
+ 0.0
1164
+ ],
1165
+ "carrier_2": [
1166
+ 1.480935662984848,
1167
+ 0.1431606411933899,
1168
+ 0.0
1169
+ ],
1170
+ "carrier_3": [
1171
+ -0.23357239365577698,
1172
+ -1.7881393432617188e-07,
1173
+ 0.0
1174
+ ],
1175
+ "carrier_4": [
1176
+ 0.09299525618553162,
1177
+ 0.7000024914741516,
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
+ -0.32733108473075445,
1241
+ 0.030514998920019853,
1242
+ 3.059710224252668
1243
+ ],
1244
+ "ori": [
1245
+ 5.01934338909243,
1246
+ 14.070816914512584,
1247
+ -29.163363539429504
1248
+ ],
1249
+ "scale": [
1250
+ 1.0,
1251
+ 1.0,
1252
+ 1.0
1253
+ ]
1254
+ },
1255
+ "dr": {
1256
+ "color_temperature": 6512.343554062031,
1257
+ "color": [
1258
+ 0.8520398996395091,
1259
+ 0.8308149400332961,
1260
+ 0.8805477972663864
1261
+ ],
1262
+ "intensity": 7155.946469595139,
1263
+ "width": 2.6817227358250597,
1264
+ "height": 0.83513380592918
1265
+ }
1266
+ },
1267
+ "key": {
1268
+ "type": "sphere",
1269
+ "pose": {
1270
+ "pos": [
1271
+ -0.83454249385012,
1272
+ -0.5525141088208311,
1273
+ 2.740246335109089
1274
+ ],
1275
+ "ori": [
1276
+ 32.12368048035512,
1277
+ 5.064175860305497,
1278
+ 12.443391944914737
1279
+ ],
1280
+ "scale": [
1281
+ 1.0,
1282
+ 1.0,
1283
+ 1.0
1284
+ ]
1285
+ },
1286
+ "dr": {
1287
+ "color_temperature": 5298.646474112686,
1288
+ "color": [
1289
+ 0.7821037697504407,
1290
+ 0.7622225443498875,
1291
+ 0.9992752171556177
1292
+ ],
1293
+ "intensity": 9443.308585103143,
1294
+ "radius": 0.18126147041976098
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": 1412.1534079467265,
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
+ 0.9141020178794861,
1394
+ -1.719398021697998,
1395
+ 2.090498924255371,
1396
+ -1.9419004917144775,
1397
+ -1.5707999467849731,
1398
+ 2.4849002361297607,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 1.8932809829711914,
1404
+ -2.1439521312713623,
1405
+ 2.1256775856018066,
1406
+ -1.5530470609664917,
1407
+ -1.5710173845291138,
1408
+ 3.506706714630127,
1409
+ 0.007852890528738499,
1410
+ 0.0071729738265275955
1411
+ ],
1412
+ [
1413
+ 0.9140999913215637,
1414
+ -1.7194000482559204,
1415
+ 2.0905001163482666,
1416
+ -1.9419000148773193,
1417
+ -1.5707999467849731,
1418
+ 2.4848999977111816,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 0.91410231590271,
1424
+ -1.719398021697998,
1425
+ 2.09049916267395,
1426
+ -1.9419001340866089,
1427
+ -1.5707999467849731,
1428
+ 2.484900712966919,
1429
+ 0.01799999736249447,
1430
+ 0.018000001087784767
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ -2.895796728992492e-38,
1437
+ -2.779400394390587e-38,
1438
+ -4.29138394919223e-37,
1439
+ 7.230228342801026e-37,
1440
+ 8.554042400904572e-37,
1441
+ -1.998146232482672e-38,
1442
+ 7.310482163203311e-38
1443
+ ],
1444
+ [
1445
+ 0.07366255670785904,
1446
+ -0.0513392873108387,
1447
+ -0.003981422167271376,
1448
+ 0.05000167340040207,
1449
+ -0.00027391946059651673,
1450
+ 0.06748124212026596,
1451
+ -0.007862385362386703,
1452
+ 0.0023210470099002123
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
+ 3.405963752811658e-06,
1466
+ -1.678742431523994e-12,
1467
+ -1.7467609390170447e-12,
1468
+ 3.405977395232185e-06,
1469
+ -3.4059787594742374e-06,
1470
+ 9.935132144062164e-13,
1471
+ 2.5990408047960045e-08,
1472
+ -2.5990322782831754e-08
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04977688565850258,
1482
+ -0.0006247994024306536,
1483
+ -0.03196847066283226,
1484
+ -0.27398690581321716,
1485
+ 0.6569156050682068,
1486
+ 0.6433843970298767,
1487
+ -0.28186801075935364
1488
+ ],
1489
+ [
1490
+ 0.0488671138882637,
1491
+ -0.0020298571325838566,
1492
+ -0.027993928641080856,
1493
+ -0.2816214859485626,
1494
+ 0.6476240158081055,
1495
+ 0.6457971930503845,
1496
+ -0.2902041971683502
1497
+ ],
1498
+ [
1499
+ 0.04889162629842758,
1500
+ 0.002281347755342722,
1501
+ -0.030730457976460457,
1502
+ -0.2863451838493347,
1503
+ 0.65147864818573,
1504
+ 0.6443232893943787,
1505
+ -0.2800527811050415
1506
+ ],
1507
+ [
1508
+ 0.04897455498576164,
1509
+ -0.0014848452992737293,
1510
+ -0.030637430027127266,
1511
+ -0.2718013525009155,
1512
+ 0.6619044542312622,
1513
+ 0.642988383769989,
1514
+ -0.27307960391044617
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.07358648627996445,
1520
+ 0.5785784125328064,
1521
+ 1.938197374343872,
1522
+ 0.05400703102350235,
1523
+ -0.006011690944433212,
1524
+ 0.2784079313278198,
1525
+ 0.9589244723320007
1526
+ ],
1527
+ [
1528
+ 0.0687035471200943,
1529
+ 0.5578927397727966,
1530
+ 1.9355624914169312,
1531
+ 0.038223862648010254,
1532
+ 0.011347106657922268,
1533
+ 0.2575281262397766,
1534
+ 0.9654477834701538
1535
+ ],
1536
+ [
1537
+ 0.042240552604198456,
1538
+ 0.5975274443626404,
1539
+ 1.9273866415023804,
1540
+ 0.034445155411958694,
1541
+ 0.018926436081528664,
1542
+ 0.28167417645454407,
1543
+ 0.9587048292160034
1544
+ ],
1545
+ [
1546
+ 0.0315542072057724,
1547
+ 0.5734568238258362,
1548
+ 1.9669867753982544,
1549
+ 0.042827144265174866,
1550
+ 0.020127948373556137,
1551
+ 0.2704426646232605,
1552
+ 0.9615724086761475
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p014_e013/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83896a05e6768f0e935b486a75cc558cf951fa50ca46599f202c71ea47d7bb83
3
+ size 6722536
episodes/c4_p014_e014/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e71672854424cd2ebdb2999e956af67b86a46d1fb4ee6918f409cfceae287d5
3
+ size 187376
episodes/c4_p014_e014/device_events.jsonl ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 46, "t": 0.23, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 46, "t": 0.23, "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": 51, "t": 0.255, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 898, "t": 4.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 912, "t": 4.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
6
+ {"env_id": 2, "seq": 6, "step": 5906, "t": 29.53, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
7
+ {"env_id": 2, "seq": 7, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
8
+ {"env_id": 2, "seq": 8, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.431851388766071}, "cause": "task-2-1"}
9
+ {"env_id": 2, "seq": 9, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
10
+ {"env_id": 2, "seq": 10, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
11
+ {"env_id": 2, "seq": 11, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
12
+ {"env_id": 2, "seq": 12, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
13
+ {"env_id": 2, "seq": 13, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
14
+ {"env_id": 2, "seq": 14, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
15
+ {"env_id": 2, "seq": 15, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
16
+ {"env_id": 2, "seq": 16, "step": 6939, "t": 34.695, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
17
+ {"env_id": 2, "seq": 17, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"}
18
+ {"env_id": 2, "seq": 18, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
19
+ {"env_id": 2, "seq": 19, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
20
+ {"env_id": 2, "seq": 20, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.431851388766071}, "cause": "program-2-3"}
21
+ {"env_id": 2, "seq": 21, "step": 7626, "t": 38.13, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
22
+ {"env_id": 2, "seq": 22, "step": 7626, "t": 38.13, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4350000000017573}, "cause": "program-2-3"}
23
+ {"env_id": 2, "seq": 23, "step": 7626, "t": 38.13, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.4350000000017573}}, "cause": "program-2-3"}
24
+ {"env_id": 2, "seq": 24, "step": 7626, "t": 38.13, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
25
+ {"env_id": 2, "seq": 25, "step": 7626, "t": 38.13, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
26
+ {"env_id": 2, "seq": 26, "step": 7626, "t": 38.13, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
27
+ {"env_id": 2, "seq": 27, "step": 8046, "t": 40.23, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
28
+ {"env_id": 2, "seq": 28, "step": 8046, "t": 40.23, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2258289494582186e-08}, "cause": "program-2-4"}
29
+ {"env_id": 2, "seq": 29, "step": 8046, "t": 40.23, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2258289494582186e-08}, "cause": "program-2-4"}
30
+ {"env_id": 2, "seq": 30, "step": 8046, "t": 40.23, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
31
+ {"env_id": 2, "seq": 31, "step": 8046, "t": 40.23, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
32
+ {"env_id": 2, "seq": 32, "step": 8046, "t": 40.23, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
33
+ {"env_id": 2, "seq": 33, "step": 8621, "t": 43.105, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
34
+ {"env_id": 2, "seq": 34, "step": 10284, "t": 51.42, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
35
+ {"env_id": 2, "seq": 35, "step": 10284, "t": 51.42, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"}
36
+ {"env_id": 2, "seq": 36, "step": 10284, "t": 51.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
37
+ {"env_id": 2, "seq": 37, "step": 10284, "t": 51.42, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
episodes/c4_p014_e014/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1b065d04f7187545f50d7bf7c3f256fdb6ae2790356f33512a3e37bb8bede20a
3
+ size 1237240
episodes/c4_p014_e014/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p014/magicsim/14",
3
+ "fps": 25,
4
+ "frames": 1232,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1232,
8
+ "env": 1232
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c4_p014_e014/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 14,
3
+ "env_id": 2,
4
+ "run_id": "c4_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": 2,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {
23
+ "rac_cell": [
24
+ {
25
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
26
+ "pose": {
27
+ "pos": [
28
+ 0.0,
29
+ 0.0,
30
+ 0.0
31
+ ],
32
+ "ori": [
33
+ 1.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0
37
+ ],
38
+ "scale": [
39
+ 1.0,
40
+ 1.0,
41
+ 1.0
42
+ ]
43
+ },
44
+ "dr": {
45
+ "visual": {
46
+ "kind": null,
47
+ "value": null,
48
+ "visible": true
49
+ },
50
+ "physics": {
51
+ "type": "geometry",
52
+ "collision": false,
53
+ "physics_material": {
54
+ "static_friction": 0.6,
55
+ "dynamic_friction": 0.5,
56
+ "restitution": 0.0
57
+ },
58
+ "ratio": 1.0
59
+ },
60
+ "primitive_params": null
61
+ },
62
+ "type_specific": {}
63
+ }
64
+ ],
65
+ "robot_mount": [
66
+ {
67
+ "asset": "Cube",
68
+ "pose": {
69
+ "pos": [
70
+ 0.0,
71
+ 0.0,
72
+ 0.9075
73
+ ],
74
+ "ori": [
75
+ 1.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0
79
+ ],
80
+ "scale": [
81
+ 1.0,
82
+ 1.0,
83
+ 1.0
84
+ ]
85
+ },
86
+ "dr": {
87
+ "visual": {
88
+ "kind": "color",
89
+ "value": [
90
+ 0.55,
91
+ 0.56,
92
+ 0.58
93
+ ],
94
+ "visible": true
95
+ },
96
+ "physics": {
97
+ "type": "geometry",
98
+ "collision": false,
99
+ "ratio": 1.0
100
+ },
101
+ "primitive_params": {
102
+ "size": [
103
+ 0.2,
104
+ 0.2,
105
+ 0.015
106
+ ]
107
+ }
108
+ },
109
+ "type_specific": {}
110
+ }
111
+ ],
112
+ "plate_rack": [
113
+ {
114
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
115
+ "pose": {
116
+ "pos": [
117
+ -0.6,
118
+ 0.02,
119
+ 0.9
120
+ ],
121
+ "ori": [
122
+ 6.123234262925839e-17,
123
+ 0.0,
124
+ 0.0,
125
+ 1.0
126
+ ],
127
+ "scale": [
128
+ 1.0,
129
+ 1.0,
130
+ 1.0
131
+ ]
132
+ },
133
+ "dr": {
134
+ "visual": {
135
+ "kind": null,
136
+ "value": null,
137
+ "visible": true
138
+ },
139
+ "physics": {
140
+ "type": "geometry",
141
+ "collision": false,
142
+ "physics_material": {
143
+ "static_friction": 0.6,
144
+ "dynamic_friction": 0.5,
145
+ "restitution": 0.0
146
+ },
147
+ "ratio": 1.0
148
+ },
149
+ "primitive_params": null
150
+ },
151
+ "type_specific": {}
152
+ }
153
+ ],
154
+ "hotel_plate": [
155
+ {
156
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
192
+ "pose": {
193
+ "pos": [
194
+ -0.6,
195
+ 0.02,
196
+ 1.0285
197
+ ],
198
+ "ori": [
199
+ 6.123234262925839e-17,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ],
204
+ "scale": [
205
+ 1.0,
206
+ 1.0,
207
+ 1.0
208
+ ]
209
+ },
210
+ "dr": {
211
+ "visual": {
212
+ "kind": null,
213
+ "value": null,
214
+ "visible": true
215
+ },
216
+ "physics": {
217
+ "type": "geometry",
218
+ "collision": false,
219
+ "ratio": 1.0
220
+ },
221
+ "primitive_params": null
222
+ },
223
+ "type_specific": {}
224
+ },
225
+ {
226
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
262
+ "pose": {
263
+ "pos": [
264
+ -0.6,
265
+ 0.02,
266
+ 1.1645
267
+ ],
268
+ "ori": [
269
+ 6.123234262925839e-17,
270
+ 0.0,
271
+ 0.0,
272
+ 1.0
273
+ ],
274
+ "scale": [
275
+ 1.0,
276
+ 1.0,
277
+ 1.0
278
+ ]
279
+ },
280
+ "dr": {
281
+ "visual": {
282
+ "kind": null,
283
+ "value": null,
284
+ "visible": true
285
+ },
286
+ "physics": {
287
+ "type": "geometry",
288
+ "collision": false,
289
+ "ratio": 1.0
290
+ },
291
+ "primitive_params": null
292
+ },
293
+ "type_specific": {}
294
+ },
295
+ {
296
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.4817361831665039,
337
+ 0.11155509948730469,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ 0.7353622317314148,
342
+ 0.0,
343
+ 0.0,
344
+ -0.6776742339134216
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
+ 4.037000768397636e-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": 0.28182589517622336,
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": -0.025375714391102644,
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": 0.28182589517622336,
479
+ "holds": [],
480
+ "station": "pick",
481
+ "rider": "carrier_2",
482
+ "arrived": true,
483
+ "applied_speed": 0.0
484
+ }
485
+ }
486
+ }
487
+ ],
488
+ "carrier": [
489
+ {
490
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 0.5456829071044922,
494
+ 1.1500005722045898,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ 5.897654318687273e-06,
499
+ 2.873317417328991e-10,
500
+ 2.4029858103347124e-09,
501
+ 1.0
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ -8.127687411985107e-11,
530
+ -2.2348412009876029e-10,
531
+ 0.0
532
+ ],
533
+ "angular_velocity": [
534
+ -1.9316104271638324e-09,
535
+ 2.257934283989016e-09,
536
+ -1.531639703955534e-09
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ 0.12460041046142578,
545
+ 0.4499988555908203,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ 1.0,
550
+ -5.901519273265876e-10,
551
+ 9.697974867606263e-09,
552
+ -5.706274168915115e-05
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
+ 6.733522628366018e-10,
581
+ 1.1655154619205632e-09,
582
+ 7.450580596923828e-09
583
+ ],
584
+ "angular_velocity": [
585
+ -1.3596441306162887e-07,
586
+ 7.954806591214947e-08,
587
+ 8.383958416402493e-09
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ -1.396697998046875,
596
+ 0.8327674865722656,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ -0.6684406399726868,
601
+ 2.485035963672999e-07,
602
+ 1.4080401911087392e-07,
603
+ 0.7437655329704285
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ -2.96271309707663e-07,
632
+ -1.0673943506844807e-07,
633
+ -1.30385160446167e-06
634
+ ],
635
+ "angular_velocity": [
636
+ 1.218714805872878e-05,
637
+ -2.1556947103817947e-05,
638
+ -4.6059335545578506e-07
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ 1.6880970001220703,
647
+ 0.7143106460571289,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ 0.7904868125915527,
652
+ -3.3770959362300346e-08,
653
+ 3.528953840259419e-08,
654
+ 0.612479031085968
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
+ -3.5506744211488694e-09,
683
+ 1.454967257785711e-10,
684
+ 0.0
685
+ ],
686
+ "angular_velocity": [
687
+ -3.785379831811042e-08,
688
+ -1.3265957932162564e-07,
689
+ -2.9613261176564265e-08
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 0.5444860458374023,
700
+ 1.1500921249389648,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ -0.07075431197881699,
705
+ -1.1055468762677378e-09,
706
+ 3.600073572584961e-09,
707
+ 0.9974938631057739
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ 3.209031262940698e-08,
739
+ 5.797846647226379e-09,
740
+ 8.568167686462402e-08
741
+ ],
742
+ "angular_velocity": [
743
+ -3.824758607606782e-07,
744
+ 1.5532943962170975e-06,
745
+ 1.4753162247416185e-07
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ 0.11820220947265625,
754
+ 0.4619579315185547,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.9998586177825928,
759
+ -5.312933426537825e-10,
760
+ 1.0094234781377054e-08,
761
+ -0.01681995391845703
762
+ ],
763
+ "scale": [
764
+ 1.0,
765
+ 1.0,
766
+ 1.0
767
+ ]
768
+ },
769
+ "dr": {
770
+ "visual": {
771
+ "kind": null,
772
+ "value": null,
773
+ "visible": true
774
+ },
775
+ "physics": {
776
+ "type": "rigid",
777
+ "collision": true,
778
+ "mass": "asset",
779
+ "max_depenetration_velocity": 1.0,
780
+ "physics_material": {
781
+ "static_friction": 0.5,
782
+ "dynamic_friction": 0.45,
783
+ "restitution": 0.0,
784
+ "friction_combine_mode": "average"
785
+ },
786
+ "ratio": 1.0
787
+ },
788
+ "primitive_params": null
789
+ },
790
+ "type_specific": {
791
+ "linear_velocity": [
792
+ -4.7489394638944304e-09,
793
+ -8.267432960451515e-09,
794
+ -5.144625902175903e-06
795
+ ],
796
+ "angular_velocity": [
797
+ 1.5601765426254133e-06,
798
+ -1.935305590450298e-06,
799
+ -7.067549745443102e-08
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ -1.3990325927734375,
808
+ 0.8280477523803711,
809
+ 0.9179999828338623
810
+ ],
811
+ "ori": [
812
+ -0.6499544382095337,
813
+ 3.3403676980015007e-07,
814
+ 4.120489904835267e-08,
815
+ 0.7599732279777527
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ -2.1306151154476538e-07,
847
+ -4.0411330815004476e-07,
848
+ -1.3746321201324463e-06
849
+ ],
850
+ "angular_velocity": [
851
+ 1.2332991900620982e-05,
852
+ -1.8328697478864342e-05,
853
+ 1.4815368558629416e-06
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ 1.6926584243774414,
862
+ 0.7159481048583984,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ 0.8454397916793823,
867
+ -5.5950096111700987e-08,
868
+ 1.977444412659679e-07,
869
+ 0.5340707302093506
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
+ -1.428989435225958e-06,
901
+ -1.9449273622740293e-06,
902
+ -3.3602118492126465e-06
903
+ ],
904
+ "angular_velocity": [
905
+ 6.792186468373984e-05,
906
+ -1.1829586583189666e-05,
907
+ 8.299713044834789e-06
908
+ ]
909
+ }
910
+ }
911
+ ],
912
+ "deco_hub_west": [
913
+ {
914
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
915
+ "pose": {
916
+ "pos": [
917
+ -3.36,
918
+ 0.0,
919
+ 0.0
920
+ ],
921
+ "ori": [
922
+ 1.0,
923
+ 0.0,
924
+ 0.0,
925
+ 0.0
926
+ ],
927
+ "scale": [
928
+ 1.0,
929
+ 1.0,
930
+ 1.0
931
+ ]
932
+ },
933
+ "dr": {
934
+ "visual": {
935
+ "kind": null,
936
+ "value": null,
937
+ "visible": true
938
+ },
939
+ "physics": {
940
+ "type": "geometry",
941
+ "collision": false,
942
+ "ratio": 1.0
943
+ },
944
+ "primitive_params": null
945
+ },
946
+ "type_specific": {}
947
+ }
948
+ ],
949
+ "deco_hub_east": [
950
+ {
951
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
952
+ "pose": {
953
+ "pos": [
954
+ 3.36,
955
+ 0.0,
956
+ 0.0
957
+ ],
958
+ "ori": [
959
+ 1.0,
960
+ 0.0,
961
+ 0.0,
962
+ 0.0
963
+ ],
964
+ "scale": [
965
+ 1.0,
966
+ 1.0,
967
+ 1.0
968
+ ]
969
+ },
970
+ "dr": {
971
+ "visual": {
972
+ "kind": null,
973
+ "value": null,
974
+ "visible": true
975
+ },
976
+ "physics": {
977
+ "type": "geometry",
978
+ "collision": false,
979
+ "ratio": 1.0
980
+ },
981
+ "primitive_params": null
982
+ },
983
+ "type_specific": {}
984
+ }
985
+ ],
986
+ "deco_hub_back": [
987
+ {
988
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
989
+ "pose": {
990
+ "pos": [
991
+ -3.0,
992
+ -2.1,
993
+ 0.0
994
+ ],
995
+ "ori": [
996
+ 1.0,
997
+ 0.0,
998
+ 0.0,
999
+ 0.0
1000
+ ],
1001
+ "scale": [
1002
+ 1.0,
1003
+ 1.0,
1004
+ 1.0
1005
+ ]
1006
+ },
1007
+ "dr": {
1008
+ "visual": {
1009
+ "kind": null,
1010
+ "value": null,
1011
+ "visible": true
1012
+ },
1013
+ "physics": {
1014
+ "type": "geometry",
1015
+ "collision": false,
1016
+ "ratio": 1.0
1017
+ },
1018
+ "primitive_params": null
1019
+ },
1020
+ "type_specific": {}
1021
+ }
1022
+ ],
1023
+ "deco_bench_east": [
1024
+ {
1025
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1026
+ "pose": {
1027
+ "pos": [
1028
+ 2.6,
1029
+ -2.5,
1030
+ 0.0
1031
+ ],
1032
+ "ori": [
1033
+ 6.123234262925839e-17,
1034
+ 0.0,
1035
+ 0.0,
1036
+ 1.0
1037
+ ],
1038
+ "scale": [
1039
+ 1.0,
1040
+ 1.0,
1041
+ 1.0
1042
+ ]
1043
+ },
1044
+ "dr": {
1045
+ "visual": {
1046
+ "kind": null,
1047
+ "value": null,
1048
+ "visible": true
1049
+ },
1050
+ "physics": {
1051
+ "type": "geometry",
1052
+ "collision": false,
1053
+ "ratio": 1.0
1054
+ },
1055
+ "primitive_params": null
1056
+ },
1057
+ "type_specific": {}
1058
+ }
1059
+ ],
1060
+ "deco_bench_gap": [
1061
+ {
1062
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1063
+ "pose": {
1064
+ "pos": [
1065
+ -0.1,
1066
+ -2.9,
1067
+ 0.0
1068
+ ],
1069
+ "ori": [
1070
+ 1.0,
1071
+ 0.0,
1072
+ 0.0,
1073
+ 0.0
1074
+ ],
1075
+ "scale": [
1076
+ 1.0,
1077
+ 1.0,
1078
+ 1.0
1079
+ ]
1080
+ },
1081
+ "dr": {
1082
+ "visual": {
1083
+ "kind": null,
1084
+ "value": null,
1085
+ "visible": true
1086
+ },
1087
+ "physics": {
1088
+ "type": "geometry",
1089
+ "collision": false,
1090
+ "ratio": 1.0
1091
+ },
1092
+ "primitive_params": null
1093
+ },
1094
+ "type_specific": {}
1095
+ }
1096
+ ]
1097
+ },
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ null,
1104
+ {
1105
+ "t": 2.299999999999973,
1106
+ "step": 460,
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": 4.037000768397636e-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": 0.28182589517622336,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_2",
1153
+ "arrived": true,
1154
+ "settle_count": 413,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ 0.3956829011440277,
1161
+ 0.7000005841255188,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ -0.025399595499038696,
1166
+ -1.1324882507324219e-06,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ -1.5466980040073395,
1171
+ 0.3827674984931946,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ 1.5380969941616058,
1176
+ 0.26431065797805786,
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_2",
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
+ -0.4329246681232122,
1240
+ -0.34527690652054804,
1241
+ 2.608461767439499
1242
+ ],
1243
+ "ori": [
1244
+ 1.537594168435895,
1245
+ -1.9203897212414702,
1246
+ 8.411424134247106
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 4411.155994495269,
1256
+ "color": [
1257
+ 0.9987553950022265,
1258
+ 0.9792005485455976,
1259
+ 0.8866066381615745
1260
+ ],
1261
+ "intensity": 13146.34470168005,
1262
+ "width": 1.909361824344492,
1263
+ "height": 1.8316732189228002
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "sphere",
1268
+ "pose": {
1269
+ "pos": [
1270
+ 1.0335480292912842,
1271
+ -0.6862906739223554,
1272
+ 1.6518160378331297
1273
+ ],
1274
+ "ori": [
1275
+ 11.357807635069214,
1276
+ 5.127256717589049,
1277
+ 32.32591544237509
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 3308.6676463948097,
1287
+ "color": [
1288
+ 0.788195730084017,
1289
+ 0.8348572021059035,
1290
+ 0.8382213528227715
1291
+ ],
1292
+ "intensity": 7748.14002188342,
1293
+ "radius": 0.10818664775879441
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": 1412.1534079467265,
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
+ 0.9141020178794861,
1394
+ -1.719398021697998,
1395
+ 2.090498924255371,
1396
+ -1.9419004917144775,
1397
+ -1.5707999467849731,
1398
+ 2.4849002361297607,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 2.014030694961548,
1404
+ -2.2250192165374756,
1405
+ 2.121056318283081,
1406
+ -1.4674445390701294,
1407
+ -1.5710521936416626,
1408
+ 3.6155688762664795,
1409
+ 0.007741966284811497,
1410
+ 0.007283410523086786
1411
+ ],
1412
+ [
1413
+ 0.9140999913215637,
1414
+ -1.7194000482559204,
1415
+ 2.0905001163482666,
1416
+ -1.9419000148773193,
1417
+ -1.5707999467849731,
1418
+ 2.4848999977111816,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 0.9240706562995911,
1424
+ -1.711355447769165,
1425
+ 2.092632532119751,
1426
+ -1.9520597457885742,
1427
+ -1.570799708366394,
1428
+ 2.490584373474121,
1429
+ 0.01800055056810379,
1430
+ 0.017999451607465744
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ -2.895796728992492e-38,
1437
+ -2.779400394390587e-38,
1438
+ -4.29138394919223e-37,
1439
+ 7.230228342801026e-37,
1440
+ 8.554042400904572e-37,
1441
+ -1.998146232482672e-38,
1442
+ 7.310482163203311e-38
1443
+ ],
1444
+ [
1445
+ 0.06528162956237793,
1446
+ -0.0455281101167202,
1447
+ -0.003572075627744198,
1448
+ 0.04429222643375397,
1449
+ -0.0004856784362345934,
1450
+ 0.06052650883793831,
1451
+ -0.006207660306245089,
1452
+ 0.0005915719084441662
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
+ 0.011243007145822048,
1466
+ 0.009298767894506454,
1467
+ 0.0025603976100683212,
1468
+ -0.011285494081676006,
1469
+ 1.9746987163671292e-05,
1470
+ 0.0063295974396169186,
1471
+ 2.0180932551738806e-05,
1472
+ -2.0214603864587843e-05
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05021680146455765,
1482
+ -0.0009369876934215426,
1483
+ -0.03142661973834038,
1484
+ -0.27516692876815796,
1485
+ 0.6558877825737,
1486
+ 0.6424393653869629,
1487
+ -0.2852473855018616
1488
+ ],
1489
+ [
1490
+ 0.048185281455516815,
1491
+ -0.003779637860134244,
1492
+ -0.032579511404037476,
1493
+ -0.2821395695209503,
1494
+ 0.6437145471572876,
1495
+ 0.6477817893028259,
1496
+ -0.29395169019699097
1497
+ ],
1498
+ [
1499
+ 0.049118950963020325,
1500
+ 0.003373385639861226,
1501
+ -0.031105859205126762,
1502
+ -0.2898005247116089,
1503
+ 0.6496449708938599,
1504
+ 0.6453880667686462,
1505
+ -0.27830082178115845
1506
+ ],
1507
+ [
1508
+ 0.04774114862084389,
1509
+ -0.0024147729855030775,
1510
+ -0.03086562268435955,
1511
+ -0.28073155879974365,
1512
+ 0.6563601493835449,
1513
+ 0.6444488763809204,
1514
+ -0.2739831805229187
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.07358648627996445,
1520
+ 0.5785784125328064,
1521
+ 1.938197374343872,
1522
+ 0.05400703102350235,
1523
+ -0.006011690944433212,
1524
+ 0.2784079313278198,
1525
+ 0.9589244723320007
1526
+ ],
1527
+ [
1528
+ 0.0687035471200943,
1529
+ 0.5578927397727966,
1530
+ 1.9355624914169312,
1531
+ 0.038223862648010254,
1532
+ 0.011347106657922268,
1533
+ 0.2575281262397766,
1534
+ 0.9654477834701538
1535
+ ],
1536
+ [
1537
+ 0.042240552604198456,
1538
+ 0.5975274443626404,
1539
+ 1.9273866415023804,
1540
+ 0.034445155411958694,
1541
+ 0.018926436081528664,
1542
+ 0.28167417645454407,
1543
+ 0.9587048292160034
1544
+ ],
1545
+ [
1546
+ 0.0315542072057724,
1547
+ 0.5734568238258362,
1548
+ 1.9669867753982544,
1549
+ 0.042827144265174866,
1550
+ 0.020127948373556137,
1551
+ 0.2704426646232605,
1552
+ 0.9615724086761475
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p014_e014/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98e5c79d1079543300f99a4f02e610ed651d0cbf470df4e42f59dd1dc1540ace
3
+ size 6979753
episodes/c4_p014_e015/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6149aa72d18bbe5b6b4fcb48cc785359a6998b6b7a1b9708dce2cb2cccf6fe47
3
+ size 190979
episodes/c4_p014_e015/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 153, "t": 0.765, "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": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 6946, "t": 34.73, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 7556, "t": 37.78, "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": 7556, "t": 37.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.073593779937847}, "cause": "task-0-1"}
7
+ {"env_id": 0, "seq": 7, "step": 7556, "t": 37.78, "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": 7556, "t": 37.78, "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": 7556, "t": 37.78, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
15
+ {"env_id": 0, "seq": 15, "step": 7975, "t": 39.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"}
16
+ {"env_id": 0, "seq": 16, "step": 7975, "t": 39.875, "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": 7975, "t": 39.875, "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": 7975, "t": 39.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.073593779937847}, "cause": "program-0-3"}
19
+ {"env_id": 0, "seq": 19, "step": 8590, "t": 42.95, "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": 8590, "t": 42.95, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.075000000001573}, "cause": "program-0-3"}
21
+ {"env_id": 0, "seq": 21, "step": 8590, "t": 42.95, "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": 3.075000000001573}}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 8590, "t": 42.95, "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": 8590, "t": 42.95, "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": 8590, "t": 42.95, "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": 9010, "t": 45.05, "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": 9010, "t": 45.05, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.784011326501968e-08}, "cause": "program-0-4"}
27
+ {"env_id": 0, "seq": 27, "step": 9010, "t": 45.05, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.784011326501968e-08}, "cause": "program-0-4"}
28
+ {"env_id": 0, "seq": 28, "step": 9010, "t": 45.05, "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": 9010, "t": 45.05, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
30
+ {"env_id": 0, "seq": 30, "step": 9010, "t": 45.05, "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": 9591, "t": 47.955, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
32
+ {"env_id": 0, "seq": 32, "step": 11356, "t": 56.78, "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": 11356, "t": 56.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"}
34
+ {"env_id": 0, "seq": 34, "step": 11356, "t": 56.78, "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": 11356, "t": 56.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
episodes/c4_p014_e015/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4c7e1a630df06efeb9ad9724332c64cabb50d0d7bd67be44f8b698e0f7c2b69d
3
+ size 1260068
episodes/c4_p014_e015/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c4_p014/magicsim/15",
3
+ "fps": 25,
4
+ "frames": 1204,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1204,
8
+ "env": 1204
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c4_p014_e015/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 15,
3
+ "env_id": 0,
4
+ "run_id": "c4_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": 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/deep_well_24_10ml/deep_well_24_10ml.usd",
190
+ "pose": {
191
+ "pos": [
192
+ -0.6,
193
+ 0.02,
194
+ 1.0285
195
+ ],
196
+ "ori": [
197
+ 6.123234262925839e-17,
198
+ 0.0,
199
+ 0.0,
200
+ 1.0
201
+ ],
202
+ "scale": [
203
+ 1.0,
204
+ 1.0,
205
+ 1.0
206
+ ]
207
+ },
208
+ "dr": {
209
+ "visual": {
210
+ "kind": null,
211
+ "value": null,
212
+ "visible": true
213
+ },
214
+ "physics": {
215
+ "type": "geometry",
216
+ "collision": false,
217
+ "ratio": 1.0
218
+ },
219
+ "primitive_params": null
220
+ },
221
+ "type_specific": {}
222
+ },
223
+ {
224
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
260
+ "pose": {
261
+ "pos": [
262
+ -0.6,
263
+ 0.02,
264
+ 1.1645
265
+ ],
266
+ "ori": [
267
+ 6.123234262925839e-17,
268
+ 0.0,
269
+ 0.0,
270
+ 1.0
271
+ ],
272
+ "scale": [
273
+ 1.0,
274
+ 1.0,
275
+ 1.0
276
+ ]
277
+ },
278
+ "dr": {
279
+ "visual": {
280
+ "kind": null,
281
+ "value": null,
282
+ "visible": true
283
+ },
284
+ "physics": {
285
+ "type": "geometry",
286
+ "collision": false,
287
+ "ratio": 1.0
288
+ },
289
+ "primitive_params": null
290
+ },
291
+ "type_specific": {}
292
+ },
293
+ {
294
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.4986705780029297,
335
+ 0.0822305679321289,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ -0.7055243253707886,
340
+ 0.0,
341
+ 0.0,
342
+ 0.7086856961250305
343
+ ],
344
+ "scale": [
345
+ 1.0,
346
+ 1.0,
347
+ 1.0
348
+ ]
349
+ },
350
+ "dr": {
351
+ "visual": {
352
+ "kind": null,
353
+ "value": null,
354
+ "visible": true
355
+ },
356
+ "physics": {
357
+ "type": "articulation",
358
+ "solver_position_iteration_count": 16.0,
359
+ "solver_velocity_iteration_count": 1.0,
360
+ "enabled_self_collisions": false,
361
+ "ratio": 1.0
362
+ },
363
+ "primitive_params": null
364
+ },
365
+ "type_specific": {
366
+ "joint_position": [
367
+ 2.691331315793355e-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": 0.25982824801909477,
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": -0.23630433256063088,
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": 0.25982824801909477,
477
+ "holds": [],
478
+ "station": "pick",
479
+ "rider": "carrier_4",
480
+ "arrived": true,
481
+ "applied_speed": 0.0
482
+ }
483
+ }
484
+ }
485
+ ],
486
+ "carrier": [
487
+ {
488
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ 0.11785697937011719,
492
+ 1.15283203125,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ -0.008930711075663567,
497
+ 1.8935123691221634e-08,
498
+ 7.1067818296910445e-09,
499
+ 0.99996018409729
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ -2.16728990309889e-09,
528
+ -1.758052481370953e-09,
529
+ 1.4901161193847656e-08
530
+ ],
531
+ "angular_velocity": [
532
+ 1.2010463024125784e-07,
533
+ -2.0703677705569135e-07,
534
+ -1.4066737108464622e-08
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ 1.6950702667236328,
543
+ 0.8417367935180664,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ 0.66920006275177,
548
+ -6.799125173984066e-08,
549
+ 6.590427403807553e-08,
550
+ 0.7430822849273682
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
+ -6.445900169183005e-08,
579
+ 1.1610419505814207e-06,
580
+ -4.3138861656188965e-06
581
+ ],
582
+ "angular_velocity": [
583
+ -0.00010106484114658087,
584
+ -8.158211130648851e-06,
585
+ -5.806065246360959e-07
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ -1.3669853210449219,
594
+ 0.9424734115600586,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ -0.5361411571502686,
599
+ 1.1976250391398935e-07,
600
+ 5.851858020378131e-08,
601
+ 0.8441283702850342
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ -7.268636248447535e-10,
630
+ 6.890055193053968e-11,
631
+ 0.0
632
+ ],
633
+ "angular_velocity": [
634
+ 2.8400357621194416e-09,
635
+ -8.960452646533668e-08,
636
+ -5.751711107393476e-09
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ -0.08567523956298828,
645
+ 0.4473104476928711,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ 0.9999504089355469,
650
+ -2.858181780140967e-08,
651
+ 5.647378742423825e-08,
652
+ 0.009965628385543823
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
+ -6.898606130789631e-10,
681
+ -7.334072460452035e-09,
682
+ 2.9802322387695312e-08
683
+ ],
684
+ "angular_velocity": [
685
+ 4.3693688667190145e-07,
686
+ 1.2891514700186235e-07,
687
+ -1.8050602790253834e-08
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ 0.10520076751708984,
698
+ 1.1554288864135742,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ -0.030119694769382477,
703
+ 1.6651252821020535e-08,
704
+ 5.899704280665219e-09,
705
+ 0.9995463490486145
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 1.7866440771285852e-08,
737
+ -5.688659321378964e-09,
738
+ 1.5273690223693848e-07
739
+ ],
740
+ "angular_velocity": [
741
+ -2.3614518340764334e-07,
742
+ 1.8187325849794433e-06,
743
+ 7.724385575613724e-09
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ 1.6899480819702148,
752
+ 0.835601806640625,
753
+ 0.9179999828338623
754
+ ],
755
+ "ori": [
756
+ 0.7265315651893616,
757
+ -6.965699128613778e-08,
758
+ 5.53979191408871e-08,
759
+ 0.6871331930160522
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
+ -1.7118122741521802e-07,
791
+ 2.3718998818367254e-06,
792
+ -3.688037395477295e-06
793
+ ],
794
+ "angular_velocity": [
795
+ -0.0001001463460852392,
796
+ -7.88073430157965e-06,
797
+ -5.343501925381133e-07
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ -1.3697490692138672,
806
+ 0.9392814636230469,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ -0.5960724949836731,
811
+ 1.2621312350802327e-07,
812
+ 4.931655794848666e-08,
813
+ 0.8029307723045349
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ 2.867301596154448e-08,
845
+ 6.663766427550399e-09,
846
+ -5.848705768585205e-06
847
+ ],
848
+ "angular_velocity": [
849
+ -9.290999969380209e-07,
850
+ 5.380695142775949e-07,
851
+ 2.0032454983720527e-07
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ -0.07937049865722656,
860
+ 0.43889808654785156,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.9998257756233215,
865
+ -3.088532807282718e-08,
866
+ 5.580910666935779e-08,
867
+ -0.018664713948965073
868
+ ],
869
+ "scale": [
870
+ 1.0,
871
+ 1.0,
872
+ 1.0
873
+ ]
874
+ },
875
+ "dr": {
876
+ "visual": {
877
+ "kind": null,
878
+ "value": null,
879
+ "visible": true
880
+ },
881
+ "physics": {
882
+ "type": "rigid",
883
+ "collision": true,
884
+ "mass": "asset",
885
+ "max_depenetration_velocity": 1.0,
886
+ "physics_material": {
887
+ "static_friction": 0.5,
888
+ "dynamic_friction": 0.45,
889
+ "restitution": 0.0,
890
+ "friction_combine_mode": "average"
891
+ },
892
+ "ratio": 1.0
893
+ },
894
+ "primitive_params": null
895
+ },
896
+ "type_specific": {
897
+ "linear_velocity": [
898
+ -5.734806052259955e-08,
899
+ -6.288136944476719e-08,
900
+ -1.4081597328186035e-06
901
+ ],
902
+ "angular_velocity": [
903
+ 1.5295858020181186e-06,
904
+ -2.4883702280931175e-06,
905
+ -1.2607284816112951e-07
906
+ ]
907
+ }
908
+ }
909
+ ],
910
+ "deco_hub_west": [
911
+ {
912
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
913
+ "pose": {
914
+ "pos": [
915
+ -3.36,
916
+ 0.0,
917
+ 0.0
918
+ ],
919
+ "ori": [
920
+ 1.0,
921
+ 0.0,
922
+ 0.0,
923
+ 0.0
924
+ ],
925
+ "scale": [
926
+ 1.0,
927
+ 1.0,
928
+ 1.0
929
+ ]
930
+ },
931
+ "dr": {
932
+ "visual": {
933
+ "kind": null,
934
+ "value": null,
935
+ "visible": true
936
+ },
937
+ "physics": {
938
+ "type": "geometry",
939
+ "collision": false,
940
+ "ratio": 1.0
941
+ },
942
+ "primitive_params": null
943
+ },
944
+ "type_specific": {}
945
+ }
946
+ ],
947
+ "deco_hub_east": [
948
+ {
949
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
950
+ "pose": {
951
+ "pos": [
952
+ 3.36,
953
+ 0.0,
954
+ 0.0
955
+ ],
956
+ "ori": [
957
+ 1.0,
958
+ 0.0,
959
+ 0.0,
960
+ 0.0
961
+ ],
962
+ "scale": [
963
+ 1.0,
964
+ 1.0,
965
+ 1.0
966
+ ]
967
+ },
968
+ "dr": {
969
+ "visual": {
970
+ "kind": null,
971
+ "value": null,
972
+ "visible": true
973
+ },
974
+ "physics": {
975
+ "type": "geometry",
976
+ "collision": false,
977
+ "ratio": 1.0
978
+ },
979
+ "primitive_params": null
980
+ },
981
+ "type_specific": {}
982
+ }
983
+ ],
984
+ "deco_hub_back": [
985
+ {
986
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
987
+ "pose": {
988
+ "pos": [
989
+ -3.0,
990
+ -2.1,
991
+ 0.0
992
+ ],
993
+ "ori": [
994
+ 1.0,
995
+ 0.0,
996
+ 0.0,
997
+ 0.0
998
+ ],
999
+ "scale": [
1000
+ 1.0,
1001
+ 1.0,
1002
+ 1.0
1003
+ ]
1004
+ },
1005
+ "dr": {
1006
+ "visual": {
1007
+ "kind": null,
1008
+ "value": null,
1009
+ "visible": true
1010
+ },
1011
+ "physics": {
1012
+ "type": "geometry",
1013
+ "collision": false,
1014
+ "ratio": 1.0
1015
+ },
1016
+ "primitive_params": null
1017
+ },
1018
+ "type_specific": {}
1019
+ }
1020
+ ],
1021
+ "deco_bench_east": [
1022
+ {
1023
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1024
+ "pose": {
1025
+ "pos": [
1026
+ 2.6,
1027
+ -2.5,
1028
+ 0.0
1029
+ ],
1030
+ "ori": [
1031
+ 6.123234262925839e-17,
1032
+ 0.0,
1033
+ 0.0,
1034
+ 1.0
1035
+ ],
1036
+ "scale": [
1037
+ 1.0,
1038
+ 1.0,
1039
+ 1.0
1040
+ ]
1041
+ },
1042
+ "dr": {
1043
+ "visual": {
1044
+ "kind": null,
1045
+ "value": null,
1046
+ "visible": true
1047
+ },
1048
+ "physics": {
1049
+ "type": "geometry",
1050
+ "collision": false,
1051
+ "ratio": 1.0
1052
+ },
1053
+ "primitive_params": null
1054
+ },
1055
+ "type_specific": {}
1056
+ }
1057
+ ],
1058
+ "deco_bench_gap": [
1059
+ {
1060
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1061
+ "pose": {
1062
+ "pos": [
1063
+ -0.1,
1064
+ -2.9,
1065
+ 0.0
1066
+ ],
1067
+ "ori": [
1068
+ 1.0,
1069
+ 0.0,
1070
+ 0.0,
1071
+ 0.0
1072
+ ],
1073
+ "scale": [
1074
+ 1.0,
1075
+ 1.0,
1076
+ 1.0
1077
+ ]
1078
+ },
1079
+ "dr": {
1080
+ "visual": {
1081
+ "kind": null,
1082
+ "value": null,
1083
+ "visible": true
1084
+ },
1085
+ "physics": {
1086
+ "type": "geometry",
1087
+ "collision": false,
1088
+ "ratio": 1.0
1089
+ },
1090
+ "primitive_params": null
1091
+ },
1092
+ "type_specific": {}
1093
+ }
1094
+ ]
1095
+ },
1096
+ {},
1097
+ {},
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ {
1103
+ "t": 8.779999999999973,
1104
+ "step": 1756,
1105
+ "counter": 0,
1106
+ "devices": {
1107
+ "a4s_sealer_1": {
1108
+ "mode": "auto",
1109
+ "units": {
1110
+ "drawer": {
1111
+ "state": "at_out",
1112
+ "active": null,
1113
+ "target": 0.0,
1114
+ "goal_name": "out",
1115
+ "profile": null,
1116
+ "q_start": null,
1117
+ "reversing": false,
1118
+ "blocked_for": 0.0,
1119
+ "settled_for": 0.0,
1120
+ "last_q": 2.691331315793355e-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": 0.25982824801909477,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_4",
1151
+ "arrived": true,
1152
+ "settle_count": 1602,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -0.03214302659034729,
1159
+ 0.702832043170929,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ 1.5450702607631683,
1164
+ 0.39173680543899536,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ -1.5169853270053864,
1169
+ 0.49247342348098755,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ -0.23567524552345276,
1174
+ -0.002689540386199951,
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
+ 0.820935121191218,
1238
+ 0.39188980617781455,
1239
+ 2.851950584631643
1240
+ ],
1241
+ "ori": [
1242
+ -7.148904911949368,
1243
+ -6.630097835532691,
1244
+ 8.909852176419768
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 5577.247224338043,
1254
+ "color": [
1255
+ 0.8969737152306063,
1256
+ 0.9050694787258766,
1257
+ 0.840524186321959
1258
+ ],
1259
+ "intensity": 5034.856662933677,
1260
+ "width": 2.28206590292069,
1261
+ "height": 1.8135250255164552
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "disk",
1266
+ "pose": {
1267
+ "pos": [
1268
+ 0.6600848876219247,
1269
+ 0.5409942925827431,
1270
+ 2.7982021586433996
1271
+ ],
1272
+ "ori": [
1273
+ 35.73645474061283,
1274
+ -9.674472208449735,
1275
+ -2.0446258681024005
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 5590.227170337044,
1285
+ "color": [
1286
+ 0.8676453577198191,
1287
+ 0.7730641384992916,
1288
+ 0.7570663231294423
1289
+ ],
1290
+ "intensity": 7404.695722803067,
1291
+ "radius": 0.2679389304871247
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": 1412.1534079467265,
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
+ 0.9141020178794861,
1394
+ -1.719398021697998,
1395
+ 2.090498924255371,
1396
+ -1.9419004917144775,
1397
+ -1.5707999467849731,
1398
+ 2.4849002361297607,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 2.6918013095855713,
1404
+ -1.979914903640747,
1405
+ 1.9502873420715332,
1406
+ -1.5423998832702637,
1407
+ -1.5718330144882202,
1408
+ 4.263367652893066,
1409
+ 0.007784137036651373,
1410
+ 0.007233500946313143
1411
+ ],
1412
+ [
1413
+ 0.8002257347106934,
1414
+ -1.1933214664459229,
1415
+ 2.0672707557678223,
1416
+ -2.444707155227661,
1417
+ -1.5707963705062866,
1418
+ 2.404658794403076,
1419
+ 0.01800004579126835,
1420
+ 0.017999954521656036
1421
+ ],
1422
+ [
1423
+ 1.1362652778625488,
1424
+ -1.2919827699661255,
1425
+ 2.266348361968994,
1426
+ -2.5450832843780518,
1427
+ -1.5708621740341187,
1428
+ 2.61134672164917,
1429
+ 0.007625732570886612,
1430
+ 0.006996678654104471
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ -2.895796728992492e-38,
1437
+ -2.779400394390587e-38,
1438
+ -4.29138394919223e-37,
1439
+ 7.230228342801026e-37,
1440
+ 8.554042400904572e-37,
1441
+ -1.998146232482672e-38,
1442
+ 7.310482163203311e-38
1443
+ ],
1444
+ [
1445
+ 0.010642064735293388,
1446
+ 0.02316148579120636,
1447
+ -0.013284615240991116,
1448
+ -0.010023732669651508,
1449
+ -0.0011145684402436018,
1450
+ 0.013885200023651123,
1451
+ -0.006749830208718777,
1452
+ 0.0002827262505888939
1453
+ ],
1454
+ [
1455
+ -0.00014709762763231993,
1456
+ 0.01565537415444851,
1457
+ 0.00512112258002162,
1458
+ -0.019529912620782852,
1459
+ -1.0372051292506512e-05,
1460
+ -2.094577757816296e-05,
1461
+ -7.710178579145577e-06,
1462
+ 7.685554010095075e-06
1463
+ ],
1464
+ [
1465
+ -0.0003081518516410142,
1466
+ 1.9971494111814536e-05,
1467
+ -0.00022093270672485232,
1468
+ -0.002804090268909931,
1469
+ 0.002398446900770068,
1470
+ 0.010390412993729115,
1471
+ -0.008663047105073929,
1472
+ 0.0003139238979201764
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04739508777856827,
1482
+ -0.001215883414261043,
1483
+ -0.031088540330529213,
1484
+ -0.27359437942504883,
1485
+ 0.6598724722862244,
1486
+ 0.6418137550354004,
1487
+ -0.27890777587890625
1488
+ ],
1489
+ [
1490
+ 0.04633651301264763,
1491
+ -0.001876962836831808,
1492
+ -0.03130032867193222,
1493
+ -0.2796342074871063,
1494
+ 0.6481418013572693,
1495
+ 0.6465193033218384,
1496
+ -0.28936079144477844
1497
+ ],
1498
+ [
1499
+ 0.050661832094192505,
1500
+ 0.0031001856550574303,
1501
+ -0.03110402636229992,
1502
+ -0.28901299834251404,
1503
+ 0.6487494111061096,
1504
+ 0.6453204154968262,
1505
+ -0.2813490033149719
1506
+ ],
1507
+ [
1508
+ 0.04731530323624611,
1509
+ 0.0001749193761497736,
1510
+ -0.029205048456788063,
1511
+ -0.2695208787918091,
1512
+ 0.6600008606910706,
1513
+ 0.643393874168396,
1514
+ -0.27892959117889404
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.07358648627996445,
1520
+ 0.5785784125328064,
1521
+ 1.938197374343872,
1522
+ 0.05400703102350235,
1523
+ -0.006011690944433212,
1524
+ 0.2784079313278198,
1525
+ 0.9589244723320007
1526
+ ],
1527
+ [
1528
+ 0.0687035471200943,
1529
+ 0.5578927397727966,
1530
+ 1.9355624914169312,
1531
+ 0.038223862648010254,
1532
+ 0.011347106657922268,
1533
+ 0.2575281262397766,
1534
+ 0.9654477834701538
1535
+ ],
1536
+ [
1537
+ 0.042240552604198456,
1538
+ 0.5975274443626404,
1539
+ 1.9273866415023804,
1540
+ 0.034445155411958694,
1541
+ 0.018926436081528664,
1542
+ 0.28167417645454407,
1543
+ 0.9587048292160034
1544
+ ],
1545
+ [
1546
+ 0.0315542072057724,
1547
+ 0.5734568238258362,
1548
+ 1.9669867753982544,
1549
+ 0.042827144265174866,
1550
+ 0.020127948373556137,
1551
+ 0.2704426646232605,
1552
+ 0.9615724086761475
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c4_p014_e015/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d7b32e165b351135db0defc1749ddab4c2a60c8356275661cbfac5568dbc81a
3
+ size 6230317
episodes/c5_p013_e008/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c962d57c3a656d0a1892def0bd3fc35f1b46bf70fbea20dc4f11920b28b7b350
3
+ size 192831
episodes/c5_p013_e008/device_events.jsonl ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 72, "t": 0.36, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 72, "t": 0.36, "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": 77, "t": 0.385, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 1480, "t": 7.4, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 1585, "t": 7.925, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
6
+ {"env_id": 1, "seq": 6, "step": 6023, "t": 30.115, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
7
+ {"env_id": 1, "seq": 7, "step": 6636, "t": 33.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
8
+ {"env_id": 1, "seq": 8, "step": 6636, "t": 33.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.7823928912676354}, "cause": "task-1-1"}
9
+ {"env_id": 1, "seq": 9, "step": 6636, "t": 33.18, "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"}
10
+ {"env_id": 1, "seq": 10, "step": 6636, "t": 33.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
11
+ {"env_id": 1, "seq": 11, "step": 6636, "t": 33.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
12
+ {"env_id": 1, "seq": 12, "step": 7055, "t": 35.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
13
+ {"env_id": 1, "seq": 13, "step": 7055, "t": 35.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
14
+ {"env_id": 1, "seq": 14, "step": 7055, "t": 35.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
15
+ {"env_id": 1, "seq": 15, "step": 7055, "t": 35.275, "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"}
16
+ {"env_id": 1, "seq": 16, "step": 7055, "t": 35.275, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
17
+ {"env_id": 1, "seq": 17, "step": 7055, "t": 35.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
18
+ {"env_id": 1, "seq": 18, "step": 7055, "t": 35.275, "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"}
19
+ {"env_id": 1, "seq": 19, "step": 7055, "t": 35.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
20
+ {"env_id": 1, "seq": 20, "step": 7055, "t": 35.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.7823928912676354}, "cause": "program-1-3"}
21
+ {"env_id": 1, "seq": 21, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
22
+ {"env_id": 1, "seq": 22, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.785000000002448}, "cause": "program-1-3"}
23
+ {"env_id": 1, "seq": 23, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.785000000002448}}, "cause": "program-1-3"}
24
+ {"env_id": 1, "seq": 24, "step": 8012, "t": 40.06, "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"}
25
+ {"env_id": 1, "seq": 25, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
26
+ {"env_id": 1, "seq": 26, "step": 8012, "t": 40.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
27
+ {"env_id": 1, "seq": 27, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
28
+ {"env_id": 1, "seq": 28, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.684316768863937e-09}, "cause": "program-1-4"}
29
+ {"env_id": 1, "seq": 29, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.684316768863937e-09}, "cause": "program-1-4"}
30
+ {"env_id": 1, "seq": 30, "step": 8432, "t": 42.16, "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"}
31
+ {"env_id": 1, "seq": 31, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
32
+ {"env_id": 1, "seq": 32, "step": 8432, "t": 42.16, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
33
+ {"env_id": 1, "seq": 33, "step": 9010, "t": 45.05, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
34
+ {"env_id": 1, "seq": 34, "step": 10744, "t": 53.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
35
+ {"env_id": 1, "seq": 35, "step": 10744, "t": 53.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
36
+ {"env_id": 1, "seq": 36, "step": 10744, "t": 53.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
37
+ {"env_id": 1, "seq": 37, "step": 10744, "t": 53.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
episodes/c5_p013_e008/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:300451eb7cd6751af7739540798d08f79f69f766d418cb5a6966d1f442a622e7
3
+ size 1267759
episodes/c5_p013_e008/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c5_p013/magicsim/8",
3
+ "fps": 25,
4
+ "frames": 1227,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1227,
8
+ "env": 1227
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c5_p013_e008/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 8,
3
+ "env_id": 1,
4
+ "run_id": "c5_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": 1,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {
22
+ "rac_cell": [
23
+ {
24
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
25
+ "pose": {
26
+ "pos": [
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "ori": [
32
+ 1.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0
36
+ ],
37
+ "scale": [
38
+ 1.0,
39
+ 1.0,
40
+ 1.0
41
+ ]
42
+ },
43
+ "dr": {
44
+ "visual": {
45
+ "kind": null,
46
+ "value": null,
47
+ "visible": true
48
+ },
49
+ "physics": {
50
+ "type": "geometry",
51
+ "collision": false,
52
+ "physics_material": {
53
+ "static_friction": 0.6,
54
+ "dynamic_friction": 0.5,
55
+ "restitution": 0.0
56
+ },
57
+ "ratio": 1.0
58
+ },
59
+ "primitive_params": null
60
+ },
61
+ "type_specific": {}
62
+ }
63
+ ],
64
+ "robot_mount": [
65
+ {
66
+ "asset": "Cube",
67
+ "pose": {
68
+ "pos": [
69
+ 0.0,
70
+ 0.0,
71
+ 0.9075
72
+ ],
73
+ "ori": [
74
+ 1.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "scale": [
80
+ 1.0,
81
+ 1.0,
82
+ 1.0
83
+ ]
84
+ },
85
+ "dr": {
86
+ "visual": {
87
+ "kind": "color",
88
+ "value": [
89
+ 0.55,
90
+ 0.56,
91
+ 0.58
92
+ ],
93
+ "visible": true
94
+ },
95
+ "physics": {
96
+ "type": "geometry",
97
+ "collision": false,
98
+ "ratio": 1.0
99
+ },
100
+ "primitive_params": {
101
+ "size": [
102
+ 0.2,
103
+ 0.2,
104
+ 0.015
105
+ ]
106
+ }
107
+ },
108
+ "type_specific": {}
109
+ }
110
+ ],
111
+ "plate_rack": [
112
+ {
113
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
114
+ "pose": {
115
+ "pos": [
116
+ -0.6,
117
+ 0.02,
118
+ 0.9
119
+ ],
120
+ "ori": [
121
+ 6.123234262925839e-17,
122
+ 0.0,
123
+ 0.0,
124
+ 1.0
125
+ ],
126
+ "scale": [
127
+ 1.0,
128
+ 1.0,
129
+ 1.0
130
+ ]
131
+ },
132
+ "dr": {
133
+ "visual": {
134
+ "kind": null,
135
+ "value": null,
136
+ "visible": true
137
+ },
138
+ "physics": {
139
+ "type": "geometry",
140
+ "collision": false,
141
+ "physics_material": {
142
+ "static_friction": 0.6,
143
+ "dynamic_friction": 0.5,
144
+ "restitution": 0.0
145
+ },
146
+ "ratio": 1.0
147
+ },
148
+ "primitive_params": null
149
+ },
150
+ "type_specific": {}
151
+ }
152
+ ],
153
+ "hotel_plate": [
154
+ {
155
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
191
+ "pose": {
192
+ "pos": [
193
+ -0.6,
194
+ 0.02,
195
+ 1.0285
196
+ ],
197
+ "ori": [
198
+ 6.123234262925839e-17,
199
+ 0.0,
200
+ 0.0,
201
+ 1.0
202
+ ],
203
+ "scale": [
204
+ 1.0,
205
+ 1.0,
206
+ 1.0
207
+ ]
208
+ },
209
+ "dr": {
210
+ "visual": {
211
+ "kind": null,
212
+ "value": null,
213
+ "visible": true
214
+ },
215
+ "physics": {
216
+ "type": "geometry",
217
+ "collision": false,
218
+ "ratio": 1.0
219
+ },
220
+ "primitive_params": null
221
+ },
222
+ "type_specific": {}
223
+ },
224
+ {
225
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
261
+ "pose": {
262
+ "pos": [
263
+ -0.6,
264
+ 0.02,
265
+ 1.1645
266
+ ],
267
+ "ori": [
268
+ 6.123234262925839e-17,
269
+ 0.0,
270
+ 0.0,
271
+ 1.0
272
+ ],
273
+ "scale": [
274
+ 1.0,
275
+ 1.0,
276
+ 1.0
277
+ ]
278
+ },
279
+ "dr": {
280
+ "visual": {
281
+ "kind": null,
282
+ "value": null,
283
+ "visible": true
284
+ },
285
+ "physics": {
286
+ "type": "geometry",
287
+ "collision": false,
288
+ "ratio": 1.0
289
+ },
290
+ "primitive_params": null
291
+ },
292
+ "type_specific": {}
293
+ },
294
+ {
295
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.5151042938232422,
336
+ 0.09217453002929688,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ 0.7238184213638306,
341
+ 0.0,
342
+ 0.0,
343
+ -0.6899905204772949
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
+ 6.728334252595336e-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": 0.20045154782275054,
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": -0.2802625895425753,
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": 0.20045154782275054,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_1",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ -0.12971210479736328,
493
+ 0.4499979019165039,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 1.0,
498
+ 1.7527417295326586e-09,
499
+ -4.090560778990948e-09,
500
+ -1.4494772813122836e-06
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ -2.948701283145283e-10,
529
+ 2.0391042188094843e-09,
530
+ 3.725290298461914e-09
531
+ ],
532
+ "angular_velocity": [
533
+ -2.0043837878347404e-07,
534
+ -3.740609599844902e-08,
535
+ -8.848951793538617e-09
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 1.6523113250732422,
544
+ 0.6301231384277344,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 0.8677317500114441,
549
+ -1.0499829983245945e-07,
550
+ -6.574915722978858e-09,
551
+ 0.4970329701900482
552
+ ],
553
+ "scale": [
554
+ 1.0,
555
+ 1.0,
556
+ 1.0
557
+ ]
558
+ },
559
+ "dr": {
560
+ "visual": {
561
+ "kind": null,
562
+ "value": null,
563
+ "visible": true
564
+ },
565
+ "physics": {
566
+ "type": "rigid",
567
+ "mass": 0.5,
568
+ "physics_material": {
569
+ "static_friction": 0.9,
570
+ "dynamic_friction": 0.9,
571
+ "restitution": 0.0
572
+ },
573
+ "ratio": 1.0
574
+ },
575
+ "primitive_params": null
576
+ },
577
+ "type_specific": {
578
+ "linear_velocity": [
579
+ 2.6479233028453564e-08,
580
+ -1.564687579502788e-08,
581
+ -5.960464477539063e-08
582
+ ],
583
+ "angular_velocity": [
584
+ 1.1886468200827949e-06,
585
+ -9.822113042901037e-07,
586
+ 6.41902488496271e-07
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ -1.0124711990356445,
595
+ 1.1498775482177734,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -0.002079880330711603,
600
+ -2.175858604402947e-08,
601
+ -9.543696499747512e-09,
602
+ 0.9999978542327881
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ -4.0225958675144113e-10,
631
+ -1.402224447666356e-09,
632
+ 3.725290298461914e-09
633
+ ],
634
+ "angular_velocity": [
635
+ -2.853276726000331e-09,
636
+ -4.7377941569948234e-08,
637
+ -1.4203720866134972e-08
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ 0.4321165084838867,
646
+ 1.1500005722045898,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ 5.489219256560318e-05,
651
+ -2.09983114229928e-10,
652
+ 3.1995956994990138e-09,
653
+ 1.0
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
+ -1.9770567405430484e-09,
682
+ -2.8923824446636104e-10,
683
+ 1.4901161193847656e-08
684
+ ],
685
+ "angular_velocity": [
686
+ -2.7588070494743988e-08,
687
+ -1.9019033459244383e-07,
688
+ -2.0381905940780598e-08
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ -0.1400165557861328,
699
+ 0.4459199905395508,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ 0.9984163045883179,
704
+ 8.519385752414621e-10,
705
+ -6.052253365140814e-09,
706
+ -0.056258101016283035
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ -2.409260346780684e-08,
738
+ 1.8474521468192506e-08,
739
+ 9.685754776000977e-08
740
+ ],
741
+ "angular_velocity": [
742
+ -3.697312536132813e-07,
743
+ -1.588066652402631e-06,
744
+ 1.1168295088737068e-07
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 1.6462574005126953,
753
+ 0.6302242279052734,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ 0.8695917129516602,
758
+ -1.0651189796817562e-07,
759
+ -6.782343575650884e-09,
760
+ 0.4937714636325836
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
+ 4.2315189574537726e-08,
792
+ -5.1274525958433514e-08,
793
+ -6.0051679611206055e-06
794
+ ],
795
+ "angular_velocity": [
796
+ 3.4485533433326054e-06,
797
+ -8.075867867773923e-07,
798
+ 4.569643294871639e-07
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ -1.010239601135254,
807
+ 1.1514320373535156,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ 0.020696567371487617,
812
+ -2.129565324082705e-08,
813
+ -9.285684221538304e-09,
814
+ 0.9997859001159668
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ 1.5075290349386705e-08,
846
+ -3.18457864523225e-08,
847
+ -6.020069122314453e-06
848
+ ],
849
+ "angular_velocity": [
850
+ 1.0968100241370848e-06,
851
+ 1.3217054402048234e-06,
852
+ 1.379984695404346e-07
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ 0.4324455261230469,
861
+ 1.1436452865600586,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.009047835133969784,
866
+ 8.75290617763369e-10,
867
+ 1.2482498590316027e-08,
868
+ 0.9999591708183289
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
+ 2.5281087445705452e-08,
900
+ 3.0094529535062975e-08,
901
+ 2.0116567611694336e-07
902
+ ],
903
+ "angular_velocity": [
904
+ -1.8065902622765861e-06,
905
+ 2.1650539565598592e-06,
906
+ -6.937587215816166e-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": 4.859999999999919,
1105
+ "step": 972,
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": 6.728334252595336e-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": 0.20045154782275054,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_1",
1152
+ "arrived": true,
1153
+ "settle_count": 899,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ -0.27971211075782776,
1160
+ -2.086162567138672e-06,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ 1.5023113191127777,
1165
+ 0.18012315034866333,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ -1.162471204996109,
1170
+ 0.6998775601387024,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ 0.28211650252342224,
1175
+ 0.7000005841255188,
1176
+ 0.0
1177
+ ]
1178
+ },
1179
+ "command": 0.0
1180
+ },
1181
+ "belt": {
1182
+ "target_speed": 0.0,
1183
+ "command_speed": 0.0
1184
+ },
1185
+ "seen": {
1186
+ "state": "at_station",
1187
+ "station": "pick",
1188
+ "rider": "carrier_1",
1189
+ "arrived": true
1190
+ }
1191
+ }
1192
+ },
1193
+ "queues": {},
1194
+ "program": null,
1195
+ "sensors": {},
1196
+ "interlocks": {}
1197
+ }
1198
+ },
1199
+ "zones": {},
1200
+ "labware": {
1201
+ "plate_1": {
1202
+ "sealed": false
1203
+ },
1204
+ "plate_2": {
1205
+ "sealed": false
1206
+ },
1207
+ "plate_3": {
1208
+ "sealed": false
1209
+ },
1210
+ "plate_4": {
1211
+ "sealed": false
1212
+ }
1213
+ },
1214
+ "rules": {},
1215
+ "records": [],
1216
+ "bus": {
1217
+ "seq": 3,
1218
+ "queue": []
1219
+ }
1220
+ },
1221
+ null,
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ {},
1227
+ null,
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {
1234
+ "ceiling": {
1235
+ "type": "rect",
1236
+ "pose": {
1237
+ "pos": [
1238
+ 0.4856937682984587,
1239
+ 0.44727878183535064,
1240
+ 2.7444777267414904
1241
+ ],
1242
+ "ori": [
1243
+ 4.2091461809411115,
1244
+ -4.326273370690391,
1245
+ -13.753245439205816
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 5123.115658257909,
1255
+ "color": [
1256
+ 0.9764446719465548,
1257
+ 0.8583326273043026,
1258
+ 0.8942459374841938
1259
+ ],
1260
+ "intensity": 8734.349515170143,
1261
+ "width": 2.0940726159264225,
1262
+ "height": 0.9087467400051251
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "disk",
1267
+ "pose": {
1268
+ "pos": [
1269
+ -0.6658581911996543,
1270
+ 1.0469049174570595,
1271
+ 1.858920480470975
1272
+ ],
1273
+ "ori": [
1274
+ -29.984534311339104,
1275
+ 31.26302624060456,
1276
+ -4.004559021838929
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 4372.061305645843,
1286
+ "color": [
1287
+ 0.8644027040149925,
1288
+ 0.9945226731896403,
1289
+ 0.8801316405253508
1290
+ ],
1291
+ "intensity": 9264.212088033031,
1292
+ "radius": 0.2881275931791325
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": 1333.371962262925,
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
+ 1.1447420120239258,
1394
+ -1.5907992124557495,
1395
+ 2.1084036827087402,
1396
+ -2.088200569152832,
1397
+ -1.5714788436889648,
1398
+ 2.70131254196167,
1399
+ 0.017999950796365738,
1400
+ 0.018000047653913498
1401
+ ],
1402
+ [
1403
+ 0.9141145348548889,
1404
+ -1.719393253326416,
1405
+ 2.090496301651001,
1406
+ -1.9419004917144775,
1407
+ -1.5707999467849731,
1408
+ 2.484907627105713,
1409
+ 0.01799999549984932,
1410
+ 0.018000002950429916
1411
+ ],
1412
+ [
1413
+ 0.9141008257865906,
1414
+ -1.7193976640701294,
1415
+ 2.0904996395111084,
1416
+ -1.9419010877609253,
1417
+ -1.5707999467849731,
1418
+ 2.4849002361297607,
1419
+ 0.01799999736249447,
1420
+ 0.018000001087784767
1421
+ ],
1422
+ [
1423
+ 1.2651640176773071,
1424
+ -1.3119792938232422,
1425
+ 2.281604290008545,
1426
+ -2.539567232131958,
1427
+ -1.570554494857788,
1428
+ 5.9787373542785645,
1429
+ 0.017999986186623573,
1430
+ 0.017999986186623573
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 8.317132596857846e-05,
1436
+ -0.008531736209988594,
1437
+ -0.009078494273126125,
1438
+ 0.016758836805820465,
1439
+ 9.103260708798189e-06,
1440
+ 2.0575507733155973e-05,
1441
+ 2.7724267965822946e-06,
1442
+ -2.771479557850398e-06
1443
+ ],
1444
+ [
1445
+ -2.7303459798290466e-38,
1446
+ 2.895497972159898e-38,
1447
+ 0.0,
1448
+ 6.056073857518387e-37,
1449
+ -7.816770177325096e-37,
1450
+ 2.49332789128785e-37,
1451
+ 5.19807805687833e-08,
1452
+ -5.1980773463355945e-08
1453
+ ],
1454
+ [
1455
+ 2.826497475257158e-38,
1456
+ -1.6420051067357482e-38,
1457
+ 1.5538511019032311e-38,
1458
+ -5.007201284347999e-37,
1459
+ 4.235020361840771e-37,
1460
+ -2.905056060829242e-37,
1461
+ 2.5990388508034812e-08,
1462
+ -2.5990388508034812e-08
1463
+ ],
1464
+ [
1465
+ -6.811927505623316e-06,
1466
+ 3.4059194149449468e-06,
1467
+ 6.811933417338878e-06,
1468
+ -4.694851278574941e-12,
1469
+ -1.1622757064514572e-13,
1470
+ 1.362391503789695e-05,
1471
+ 1.8192643835845956e-07,
1472
+ 1.819261825630747e-07
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05139164999127388,
1482
+ -0.0044540357775986195,
1483
+ -0.02673233300447464,
1484
+ -0.28429481387138367,
1485
+ 0.6474034786224365,
1486
+ 0.6544651389122009,
1487
+ -0.26780688762664795
1488
+ ],
1489
+ [
1490
+ 0.05281440168619156,
1491
+ -0.003945299424231052,
1492
+ -0.030152659863233566,
1493
+ -0.29505717754364014,
1494
+ 0.6440812349319458,
1495
+ 0.648159384727478,
1496
+ -0.2792670428752899
1497
+ ],
1498
+ [
1499
+ 0.050636228173971176,
1500
+ 0.0014744563959538937,
1501
+ -0.029265768826007843,
1502
+ -0.26953667402267456,
1503
+ 0.6493842005729675,
1504
+ 0.6566621661186218,
1505
+ -0.2728460431098938
1506
+ ],
1507
+ [
1508
+ 0.05341837927699089,
1509
+ 0.0016096471808850765,
1510
+ -0.03216132894158363,
1511
+ -0.26225483417510986,
1512
+ 0.6587482690811157,
1513
+ 0.6457559466362,
1514
+ -0.2833237946033478
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.06938135623931885,
1520
+ 0.5769213438034058,
1521
+ 1.9376554489135742,
1522
+ 0.048871446400880814,
1523
+ 0.018689313903450966,
1524
+ 0.26705408096313477,
1525
+ 0.9622600674629211
1526
+ ],
1527
+ [
1528
+ 0.032606836408376694,
1529
+ 0.5592656135559082,
1530
+ 1.9386916160583496,
1531
+ 0.03885241225361824,
1532
+ 0.024896787479519844,
1533
+ 0.2791820764541626,
1534
+ 0.9591287970542908
1535
+ ],
1536
+ [
1537
+ 0.048451103270053864,
1538
+ 0.5872842669487,
1539
+ 1.9429785013198853,
1540
+ 0.05674121901392937,
1541
+ 0.011739912442862988,
1542
+ 0.28119418025016785,
1543
+ 0.9578999876976013
1544
+ ],
1545
+ [
1546
+ 0.06899116188287735,
1547
+ 0.5945180058479309,
1548
+ 1.9263229370117188,
1549
+ 0.043045736849308014,
1550
+ 0.020900379866361618,
1551
+ 0.2742480933666229,
1552
+ 0.9604676961898804
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c5_p013_e008/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62acfe7a263c76ad481f2b1cc44cb56f09cae27d2d2202f12de498204bd7f8de
3
+ size 6842287
episodes/c5_p013_e009/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6610555177be743092a8e3854ceadbec1e0f09ad6eff6f54f74536c718f530d4
3
+ size 205447
episodes/c5_p013_e009/device_events.jsonl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 5, "t": 0.025, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 5, "t": 0.025, "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": 10, "t": 0.05, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 1470, "t": 7.35, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 1562, "t": 7.81, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
6
+ {"env_id": 2, "seq": 6, "step": 1577, "t": 7.885, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
7
+ {"env_id": 2, "seq": 7, "step": 6443, "t": 32.215, "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": 7056, "t": 35.28, "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": 7056, "t": 35.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7345376884924733}, "cause": "task-2-1"}
10
+ {"env_id": 2, "seq": 10, "step": 7056, "t": 35.28, "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": 7056, "t": 35.28, "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": 7056, "t": 35.28, "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": 7475, "t": 37.375, "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": 7475, "t": 37.375, "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": 7475, "t": 37.375, "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": 7475, "t": 37.375, "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": 7475, "t": 37.375, "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": 7475, "t": 37.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"}
19
+ {"env_id": 2, "seq": 19, "step": 7475, "t": 37.375, "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": 7475, "t": 37.375, "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": 7475, "t": 37.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7345376884924733}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 8022, "t": 40.11, "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": 8022, "t": 40.11, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.735000000001399}, "cause": "program-2-3"}
24
+ {"env_id": 2, "seq": 24, "step": 8022, "t": 40.11, "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": 2.735000000001399}}, "cause": "program-2-3"}
25
+ {"env_id": 2, "seq": 25, "step": 8022, "t": 40.11, "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": 8022, "t": 40.11, "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": 8022, "t": 40.11, "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": 8442, "t": 42.21, "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": 8442, "t": 42.21, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2171075258748942e-10}, "cause": "program-2-4"}
30
+ {"env_id": 2, "seq": 30, "step": 8442, "t": 42.21, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2171075258748942e-10}, "cause": "program-2-4"}
31
+ {"env_id": 2, "seq": 31, "step": 8442, "t": 42.21, "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": 8442, "t": 42.21, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
33
+ {"env_id": 2, "seq": 33, "step": 8442, "t": 42.21, "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": 9023, "t": 45.115, "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": 11256, "t": 56.28, "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": 11256, "t": 56.28, "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": 11256, "t": 56.28, "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": 11256, "t": 56.28, "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/c5_p013_e009/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:972764f1d6000fd24bafdf12763b29026300c7b3bb29f522c724e00d0fbcb9b7
3
+ size 1352135
episodes/c5_p013_e009/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c5_p013/magicsim/9",
3
+ "fps": 25,
4
+ "frames": 1283,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1283,
8
+ "env": 1283
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c5_p013_e009/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 9,
3
+ "env_id": 2,
4
+ "run_id": "c5_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": 2,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {
23
+ "rac_cell": [
24
+ {
25
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
26
+ "pose": {
27
+ "pos": [
28
+ 0.0,
29
+ 0.0,
30
+ 0.0
31
+ ],
32
+ "ori": [
33
+ 1.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0
37
+ ],
38
+ "scale": [
39
+ 1.0,
40
+ 1.0,
41
+ 1.0
42
+ ]
43
+ },
44
+ "dr": {
45
+ "visual": {
46
+ "kind": null,
47
+ "value": null,
48
+ "visible": true
49
+ },
50
+ "physics": {
51
+ "type": "geometry",
52
+ "collision": false,
53
+ "physics_material": {
54
+ "static_friction": 0.6,
55
+ "dynamic_friction": 0.5,
56
+ "restitution": 0.0
57
+ },
58
+ "ratio": 1.0
59
+ },
60
+ "primitive_params": null
61
+ },
62
+ "type_specific": {}
63
+ }
64
+ ],
65
+ "robot_mount": [
66
+ {
67
+ "asset": "Cube",
68
+ "pose": {
69
+ "pos": [
70
+ 0.0,
71
+ 0.0,
72
+ 0.9075
73
+ ],
74
+ "ori": [
75
+ 1.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0
79
+ ],
80
+ "scale": [
81
+ 1.0,
82
+ 1.0,
83
+ 1.0
84
+ ]
85
+ },
86
+ "dr": {
87
+ "visual": {
88
+ "kind": "color",
89
+ "value": [
90
+ 0.55,
91
+ 0.56,
92
+ 0.58
93
+ ],
94
+ "visible": true
95
+ },
96
+ "physics": {
97
+ "type": "geometry",
98
+ "collision": false,
99
+ "ratio": 1.0
100
+ },
101
+ "primitive_params": {
102
+ "size": [
103
+ 0.2,
104
+ 0.2,
105
+ 0.015
106
+ ]
107
+ }
108
+ },
109
+ "type_specific": {}
110
+ }
111
+ ],
112
+ "plate_rack": [
113
+ {
114
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
115
+ "pose": {
116
+ "pos": [
117
+ -0.6,
118
+ 0.02,
119
+ 0.9
120
+ ],
121
+ "ori": [
122
+ 6.123234262925839e-17,
123
+ 0.0,
124
+ 0.0,
125
+ 1.0
126
+ ],
127
+ "scale": [
128
+ 1.0,
129
+ 1.0,
130
+ 1.0
131
+ ]
132
+ },
133
+ "dr": {
134
+ "visual": {
135
+ "kind": null,
136
+ "value": null,
137
+ "visible": true
138
+ },
139
+ "physics": {
140
+ "type": "geometry",
141
+ "collision": false,
142
+ "physics_material": {
143
+ "static_friction": 0.6,
144
+ "dynamic_friction": 0.5,
145
+ "restitution": 0.0
146
+ },
147
+ "ratio": 1.0
148
+ },
149
+ "primitive_params": null
150
+ },
151
+ "type_specific": {}
152
+ }
153
+ ],
154
+ "hotel_plate": [
155
+ {
156
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
262
+ "pose": {
263
+ "pos": [
264
+ -0.6,
265
+ 0.02,
266
+ 1.1645
267
+ ],
268
+ "ori": [
269
+ 6.123234262925839e-17,
270
+ 0.0,
271
+ 0.0,
272
+ 1.0
273
+ ],
274
+ "scale": [
275
+ 1.0,
276
+ 1.0,
277
+ 1.0
278
+ ]
279
+ },
280
+ "dr": {
281
+ "visual": {
282
+ "kind": null,
283
+ "value": null,
284
+ "visible": true
285
+ },
286
+ "physics": {
287
+ "type": "geometry",
288
+ "collision": false,
289
+ "ratio": 1.0
290
+ },
291
+ "primitive_params": null
292
+ },
293
+ "type_specific": {}
294
+ },
295
+ {
296
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.47850608825683594,
337
+ 0.09352397918701172,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ 0.7172849774360657,
342
+ 0.0,
343
+ 0.0,
344
+ -0.6967799067497253
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
+ 2.3549161752567382e-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": 0.20217526945297323,
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": -0.20920468346071475,
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": 0.20217526945297323,
479
+ "holds": [],
480
+ "station": "pick",
481
+ "rider": "carrier_3",
482
+ "arrived": true,
483
+ "applied_speed": 0.0
484
+ }
485
+ }
486
+ }
487
+ ],
488
+ "carrier": [
489
+ {
490
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 1.6723041534423828,
494
+ 0.9335784912109375,
495
+ 0.9000000357627869
496
+ ],
497
+ "ori": [
498
+ 0.5584297776222229,
499
+ 3.08691625150459e-07,
500
+ -8.40188363326888e-08,
501
+ 0.8295518755912781
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ -3.50741502508356e-09,
530
+ -4.699886702042022e-09,
531
+ 3.3527612686157227e-08
532
+ ],
533
+ "angular_velocity": [
534
+ 5.090655577077996e-07,
535
+ -7.809080670995172e-08,
536
+ 4.4786041542010935e-08
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ -1.3606233596801758,
545
+ 0.6406116485595703,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ 0.8532477617263794,
550
+ -8.151172892212344e-08,
551
+ -1.265422895357915e-07,
552
+ -0.5215058922767639
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
+ -7.300678817045991e-08,
581
+ -3.991556241089711e-08,
582
+ 9.685754776000977e-08
583
+ ],
584
+ "angular_velocity": [
585
+ 1.8882632275563083e-06,
586
+ -1.36114749693661e-06,
587
+ 9.178203868032142e-07
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ -0.05890655517578125,
596
+ 0.4499998092651367,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ 1.0,
601
+ -2.4286121558247942e-08,
602
+ 4.007274867490196e-08,
603
+ -3.1392391974804923e-06
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ -1.1004881450560333e-09,
632
+ -1.2499249635311571e-08,
633
+ 0.0
634
+ ],
635
+ "angular_velocity": [
636
+ 3.5264855569039355e-07,
637
+ -5.756479382057478e-08,
638
+ 4.46776873275212e-08
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ -0.4085807800292969,
647
+ 1.149998664855957,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ 6.085844688641373e-06,
652
+ 3.908267320884562e-10,
653
+ 1.5597246827425693e-09,
654
+ 1.0
655
+ ],
656
+ "scale": [
657
+ 1.0,
658
+ 1.0,
659
+ 1.0
660
+ ]
661
+ },
662
+ "dr": {
663
+ "visual": {
664
+ "kind": null,
665
+ "value": null,
666
+ "visible": true
667
+ },
668
+ "physics": {
669
+ "type": "rigid",
670
+ "mass": 0.5,
671
+ "physics_material": {
672
+ "static_friction": 0.9,
673
+ "dynamic_friction": 0.9,
674
+ "restitution": 0.0
675
+ },
676
+ "ratio": 1.0
677
+ },
678
+ "primitive_params": null
679
+ },
680
+ "type_specific": {
681
+ "linear_velocity": [
682
+ -3.84353970872553e-09,
683
+ -1.5790945218085994e-09,
684
+ 3.3527612686157227e-08
685
+ ],
686
+ "angular_velocity": [
687
+ 8.157037711953308e-08,
688
+ -3.7663443208657554e-07,
689
+ -2.2426288381893755e-08
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 1.677769660949707,
700
+ 0.9325952529907227,
701
+ 0.9180000424385071
702
+ ],
703
+ "ori": [
704
+ 0.48312997817993164,
705
+ 4.1841380493679026e-07,
706
+ 7.131885126909765e-08,
707
+ 0.8755487203598022
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ -1.6926274781781103e-07,
739
+ -5.486993472914037e-07,
740
+ -4.76837158203125e-07
741
+ ],
742
+ "angular_velocity": [
743
+ 1.3102129742037505e-05,
744
+ -1.1765525414375588e-05,
745
+ 2.7685325676429784e-06
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ -1.3611249923706055,
754
+ 0.6385583877563477,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.7991530299186707,
759
+ -3.6606408571060456e-07,
760
+ -6.116258077781822e-08,
761
+ -0.6011276841163635
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
+ -3.4402933124511037e-06,
793
+ -3.2624816412862856e-06,
794
+ -4.511326551437378e-06
795
+ ],
796
+ "angular_velocity": [
797
+ -3.639414717326872e-05,
798
+ 3.525344072841108e-05,
799
+ -5.0426173402229324e-05
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ -0.06476020812988281,
808
+ 0.45334720611572266,
809
+ 0.9180000424385071
810
+ ],
811
+ "ori": [
812
+ 0.9996298551559448,
813
+ -2.7616534836738538e-08,
814
+ 3.9464161716296076e-08,
815
+ -0.027209501713514328
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ -1.3837987644649274e-08,
847
+ -1.0770325786779722e-07,
848
+ -5.766749382019043e-06
849
+ ],
850
+ "angular_velocity": [
851
+ 2.0689612938440405e-06,
852
+ -1.7111003671743674e-06,
853
+ -1.0427269359070124e-07
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ -0.4152517318725586,
862
+ 1.1466331481933594,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ -0.038706839084625244,
867
+ 1.174456643049382e-09,
868
+ 7.054218320590167e-10,
869
+ 0.9992507100105286
870
+ ],
871
+ "scale": [
872
+ 1.0,
873
+ 1.0,
874
+ 1.0
875
+ ]
876
+ },
877
+ "dr": {
878
+ "visual": {
879
+ "kind": null,
880
+ "value": null,
881
+ "visible": true
882
+ },
883
+ "physics": {
884
+ "type": "rigid",
885
+ "collision": true,
886
+ "mass": "asset",
887
+ "max_depenetration_velocity": 1.0,
888
+ "physics_material": {
889
+ "static_friction": 0.5,
890
+ "dynamic_friction": 0.45,
891
+ "restitution": 0.0,
892
+ "friction_combine_mode": "average"
893
+ },
894
+ "ratio": 1.0
895
+ },
896
+ "primitive_params": null
897
+ },
898
+ "type_specific": {
899
+ "linear_velocity": [
900
+ 3.922871627537461e-08,
901
+ 2.3382362712709437e-08,
902
+ -9.424984455108643e-07
903
+ ],
904
+ "angular_velocity": [
905
+ -1.763853219927114e-06,
906
+ 2.5111496597673977e-06,
907
+ -5.874209207945569e-08
908
+ ]
909
+ }
910
+ }
911
+ ],
912
+ "deco_hub_west": [
913
+ {
914
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
915
+ "pose": {
916
+ "pos": [
917
+ -3.36,
918
+ 0.0,
919
+ 0.0
920
+ ],
921
+ "ori": [
922
+ 1.0,
923
+ 0.0,
924
+ 0.0,
925
+ 0.0
926
+ ],
927
+ "scale": [
928
+ 1.0,
929
+ 1.0,
930
+ 1.0
931
+ ]
932
+ },
933
+ "dr": {
934
+ "visual": {
935
+ "kind": null,
936
+ "value": null,
937
+ "visible": true
938
+ },
939
+ "physics": {
940
+ "type": "geometry",
941
+ "collision": false,
942
+ "ratio": 1.0
943
+ },
944
+ "primitive_params": null
945
+ },
946
+ "type_specific": {}
947
+ }
948
+ ],
949
+ "deco_hub_east": [
950
+ {
951
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
952
+ "pose": {
953
+ "pos": [
954
+ 3.36,
955
+ 0.0,
956
+ 0.0
957
+ ],
958
+ "ori": [
959
+ 1.0,
960
+ 0.0,
961
+ 0.0,
962
+ 0.0
963
+ ],
964
+ "scale": [
965
+ 1.0,
966
+ 1.0,
967
+ 1.0
968
+ ]
969
+ },
970
+ "dr": {
971
+ "visual": {
972
+ "kind": null,
973
+ "value": null,
974
+ "visible": true
975
+ },
976
+ "physics": {
977
+ "type": "geometry",
978
+ "collision": false,
979
+ "ratio": 1.0
980
+ },
981
+ "primitive_params": null
982
+ },
983
+ "type_specific": {}
984
+ }
985
+ ],
986
+ "deco_hub_back": [
987
+ {
988
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
989
+ "pose": {
990
+ "pos": [
991
+ -3.0,
992
+ -2.1,
993
+ 0.0
994
+ ],
995
+ "ori": [
996
+ 1.0,
997
+ 0.0,
998
+ 0.0,
999
+ 0.0
1000
+ ],
1001
+ "scale": [
1002
+ 1.0,
1003
+ 1.0,
1004
+ 1.0
1005
+ ]
1006
+ },
1007
+ "dr": {
1008
+ "visual": {
1009
+ "kind": null,
1010
+ "value": null,
1011
+ "visible": true
1012
+ },
1013
+ "physics": {
1014
+ "type": "geometry",
1015
+ "collision": false,
1016
+ "ratio": 1.0
1017
+ },
1018
+ "primitive_params": null
1019
+ },
1020
+ "type_specific": {}
1021
+ }
1022
+ ],
1023
+ "deco_bench_east": [
1024
+ {
1025
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1026
+ "pose": {
1027
+ "pos": [
1028
+ 2.6,
1029
+ -2.5,
1030
+ 0.0
1031
+ ],
1032
+ "ori": [
1033
+ 6.123234262925839e-17,
1034
+ 0.0,
1035
+ 0.0,
1036
+ 1.0
1037
+ ],
1038
+ "scale": [
1039
+ 1.0,
1040
+ 1.0,
1041
+ 1.0
1042
+ ]
1043
+ },
1044
+ "dr": {
1045
+ "visual": {
1046
+ "kind": null,
1047
+ "value": null,
1048
+ "visible": true
1049
+ },
1050
+ "physics": {
1051
+ "type": "geometry",
1052
+ "collision": false,
1053
+ "ratio": 1.0
1054
+ },
1055
+ "primitive_params": null
1056
+ },
1057
+ "type_specific": {}
1058
+ }
1059
+ ],
1060
+ "deco_bench_gap": [
1061
+ {
1062
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1063
+ "pose": {
1064
+ "pos": [
1065
+ -0.1,
1066
+ -2.9,
1067
+ 0.0
1068
+ ],
1069
+ "ori": [
1070
+ 1.0,
1071
+ 0.0,
1072
+ 0.0,
1073
+ 0.0
1074
+ ],
1075
+ "scale": [
1076
+ 1.0,
1077
+ 1.0,
1078
+ 1.0
1079
+ ]
1080
+ },
1081
+ "dr": {
1082
+ "visual": {
1083
+ "kind": null,
1084
+ "value": null,
1085
+ "visible": true
1086
+ },
1087
+ "physics": {
1088
+ "type": "geometry",
1089
+ "collision": false,
1090
+ "ratio": 1.0
1091
+ },
1092
+ "primitive_params": null
1093
+ },
1094
+ "type_specific": {}
1095
+ }
1096
+ ]
1097
+ },
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ null,
1104
+ {
1105
+ "t": 5.179999999999912,
1106
+ "step": 1036,
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": 2.3549161752567382e-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": 0.20217526945297323,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_3",
1153
+ "arrived": true,
1154
+ "settle_count": 1030,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ 1.5223041474819183,
1161
+ 0.48357850313186646,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ -1.5106233656406403,
1166
+ 0.19061166048049927,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ -0.20890656113624573,
1171
+ -1.7881393432617188e-07,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ -0.5585807859897614,
1176
+ 0.699998676776886,
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
+ -0.06781422964461081,
1240
+ 0.07516471840574035,
1241
+ 2.7544946490382554
1242
+ ],
1243
+ "ori": [
1244
+ 4.098173376503993,
1245
+ -14.101692179952018,
1246
+ -7.867191876449141
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 7114.282329387486,
1256
+ "color": [
1257
+ 0.8555785260500672,
1258
+ 0.9556892851374746,
1259
+ 0.983729319073062
1260
+ ],
1261
+ "intensity": 10535.298702455844,
1262
+ "width": 2.0231906571283713,
1263
+ "height": 0.9750885932370488
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "sphere",
1268
+ "pose": {
1269
+ "pos": [
1270
+ -1.5529943930434924,
1271
+ 0.32619606662311895,
1272
+ 2.567512779808489
1273
+ ],
1274
+ "ori": [
1275
+ -17.69527934325838,
1276
+ 17.789205837881205,
1277
+ 8.773814068889614
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 7307.770363966356,
1287
+ "color": [
1288
+ 0.7535869188578426,
1289
+ 0.9962145571688193,
1290
+ 0.8243695024648253
1291
+ ],
1292
+ "intensity": 1543.4484158332973,
1293
+ "radius": 0.07263863926001893
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": 1061.8788303880817,
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
+ 0.9141027331352234,
1394
+ -1.7193983793258667,
1395
+ 2.0904998779296875,
1396
+ -1.9419007301330566,
1397
+ -1.5707999467849731,
1398
+ 2.484900951385498,
1399
+ 0.01799999549984932,
1400
+ 0.018000002950429916
1401
+ ],
1402
+ [
1403
+ 1.2578462362289429,
1404
+ -1.3407491445541382,
1405
+ 2.3392140865325928,
1406
+ -2.569275379180908,
1407
+ -1.5707927942276,
1408
+ 2.9412107467651367,
1409
+ 0.007636008318513632,
1410
+ 0.007099541835486889
1411
+ ],
1412
+ [
1413
+ 0.9141008257865906,
1414
+ -1.7193976640701294,
1415
+ 2.0904996395111084,
1416
+ -1.9419010877609253,
1417
+ -1.5707999467849731,
1418
+ 2.4849002361297607,
1419
+ 0.01799999736249447,
1420
+ 0.018000001087784767
1421
+ ],
1422
+ [
1423
+ 0.9140999913215637,
1424
+ -1.7194000482559204,
1425
+ 2.0905001163482666,
1426
+ -1.9419000148773193,
1427
+ -1.5707999467849731,
1428
+ 2.4848999977111816,
1429
+ 0.017999999225139618,
1430
+ 0.017999999225139618
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -2.7150070865788543e-38,
1436
+ 1.8943938139243696e-38,
1437
+ -1.9463934775982278e-38,
1438
+ 3.5444001667355968e-37,
1439
+ -3.376262063429208e-37,
1440
+ 2.2685670613075916e-36,
1441
+ 5.1980777016069624e-08,
1442
+ -5.1980777016069624e-08
1443
+ ],
1444
+ [
1445
+ -0.00018515442206989974,
1446
+ -3.3634816645644605e-05,
1447
+ -0.00010005760850617662,
1448
+ -0.000586163077969104,
1449
+ 8.119360427372158e-05,
1450
+ 0.00207027536816895,
1451
+ -0.006838763132691383,
1452
+ 0.00024728913558647037
1453
+ ],
1454
+ [
1455
+ 2.826497475257158e-38,
1456
+ -1.6420051067357482e-38,
1457
+ 1.5538511019032311e-38,
1458
+ -5.007201284347999e-37,
1459
+ 4.235020361840771e-37,
1460
+ -2.905056060829242e-37,
1461
+ 2.5990388508034812e-08,
1462
+ -2.5990388508034812e-08
1463
+ ],
1464
+ [
1465
+ 0.0,
1466
+ 0.0,
1467
+ 0.0,
1468
+ 0.0,
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.052832216024398804,
1482
+ -0.0003900293668266386,
1483
+ -0.029227128252387047,
1484
+ -0.2797580659389496,
1485
+ 0.6566062569618225,
1486
+ 0.6384561657905579,
1487
+ -0.28805792331695557
1488
+ ],
1489
+ [
1490
+ 0.05156930536031723,
1491
+ -0.002494865795597434,
1492
+ -0.028282327577471733,
1493
+ -0.2899244725704193,
1494
+ 0.6412383913993835,
1495
+ 0.652184784412384,
1496
+ -0.28180161118507385
1497
+ ],
1498
+ [
1499
+ 0.05110667273402214,
1500
+ 0.0030661197379231453,
1501
+ -0.029766295105218887,
1502
+ -0.27791836857795715,
1503
+ 0.6475213170051575,
1504
+ 0.655747652053833,
1505
+ -0.27105817198753357
1506
+ ],
1507
+ [
1508
+ 0.04912956804037094,
1509
+ -0.002054054057225585,
1510
+ -0.026935363188385963,
1511
+ -0.2943062484264374,
1512
+ 0.6379218697547913,
1513
+ 0.6573701500892639,
1514
+ -0.27258771657943726
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.06720799952745438,
1520
+ 0.5894935131072998,
1521
+ 1.9345388412475586,
1522
+ 0.057540781795978546,
1523
+ 0.01800011843442917,
1524
+ 0.26083627343177795,
1525
+ 0.963498592376709
1526
+ ],
1527
+ [
1528
+ 0.032606836408376694,
1529
+ 0.5592656135559082,
1530
+ 1.9386916160583496,
1531
+ 0.03885241225361824,
1532
+ 0.024896787479519844,
1533
+ 0.2791820764541626,
1534
+ 0.9591287970542908
1535
+ ],
1536
+ [
1537
+ 0.048451103270053864,
1538
+ 0.5872842669487,
1539
+ 1.9429785013198853,
1540
+ 0.05674121901392937,
1541
+ 0.011739912442862988,
1542
+ 0.28119418025016785,
1543
+ 0.9578999876976013
1544
+ ],
1545
+ [
1546
+ 0.06807010620832443,
1547
+ 0.5871213674545288,
1548
+ 1.929824709892273,
1549
+ 0.05597394332289696,
1550
+ -0.0009979974711313844,
1551
+ 0.2766317129135132,
1552
+ 0.9593439698219299
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c5_p013_e009/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03bd38c189bb71aa23ea22ff2ad70b5ab53e5134000faa85c86ac9552bcaf606
3
+ size 6660823
episodes/c5_p013_e010/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1b54612e534c23b1b85d5506d98a0e2cb5128991be6a68dcaf701787a2fb9f87
3
+ size 201803
episodes/c5_p013_e010/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 58, "t": 0.29, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 58, "t": 0.29, "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": 63, "t": 0.315, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 1391, "t": 6.955, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 6203, "t": 31.015, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
6
+ {"env_id": 0, "seq": 6, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
7
+ {"env_id": 0, "seq": 7, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.217147626026225}, "cause": "task-0-1"}
8
+ {"env_id": 0, "seq": 8, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
9
+ {"env_id": 0, "seq": 9, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 0, "seq": 10, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
11
+ {"env_id": 0, "seq": 11, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 0, "seq": 12, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
13
+ {"env_id": 0, "seq": 13, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
14
+ {"env_id": 0, "seq": 14, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
15
+ {"env_id": 0, "seq": 15, "step": 7235, "t": 36.175, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
16
+ {"env_id": 0, "seq": 16, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
17
+ {"env_id": 0, "seq": 17, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
18
+ {"env_id": 0, "seq": 18, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 0, "seq": 19, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.217147626026225}, "cause": "program-0-3"}
20
+ {"env_id": 0, "seq": 20, "step": 7679, "t": 38.395, "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": 7679, "t": 38.395, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.2200000000011357}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 7679, "t": 38.395, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.2200000000011357}}, "cause": "program-0-3"}
23
+ {"env_id": 0, "seq": 23, "step": 7679, "t": 38.395, "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": 7679, "t": 38.395, "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": 7679, "t": 38.395, "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": 8099, "t": 40.495, "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": 8099, "t": 40.495, "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": 8099, "t": 40.495, "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": 8099, "t": 40.495, "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": 8099, "t": 40.495, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
31
+ {"env_id": 0, "seq": 31, "step": 8099, "t": 40.495, "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": 8678, "t": 43.39, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
33
+ {"env_id": 0, "seq": 33, "step": 10880, "t": 54.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
34
+ {"env_id": 0, "seq": 34, "step": 10880, "t": 54.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"}
35
+ {"env_id": 0, "seq": 35, "step": 10880, "t": 54.4, "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": 10880, "t": 54.4, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
episodes/c5_p013_e010/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7db159d8f182b5839386ee11d4f8febd7d50bf5ea14ce00454f35496896892ad
3
+ size 1305423
episodes/c5_p013_e010/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c5_p013/magicsim/10",
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/c5_p013_e010/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 10,
3
+ "env_id": 0,
4
+ "run_id": "c5_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
190
+ "pose": {
191
+ "pos": [
192
+ -0.6,
193
+ 0.02,
194
+ 1.0285
195
+ ],
196
+ "ori": [
197
+ 6.123234262925839e-17,
198
+ 0.0,
199
+ 0.0,
200
+ 1.0
201
+ ],
202
+ "scale": [
203
+ 1.0,
204
+ 1.0,
205
+ 1.0
206
+ ]
207
+ },
208
+ "dr": {
209
+ "visual": {
210
+ "kind": null,
211
+ "value": null,
212
+ "visible": true
213
+ },
214
+ "physics": {
215
+ "type": "geometry",
216
+ "collision": false,
217
+ "ratio": 1.0
218
+ },
219
+ "primitive_params": null
220
+ },
221
+ "type_specific": {}
222
+ },
223
+ {
224
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
260
+ "pose": {
261
+ "pos": [
262
+ -0.6,
263
+ 0.02,
264
+ 1.1645
265
+ ],
266
+ "ori": [
267
+ 6.123234262925839e-17,
268
+ 0.0,
269
+ 0.0,
270
+ 1.0
271
+ ],
272
+ "scale": [
273
+ 1.0,
274
+ 1.0,
275
+ 1.0
276
+ ]
277
+ },
278
+ "dr": {
279
+ "visual": {
280
+ "kind": null,
281
+ "value": null,
282
+ "visible": true
283
+ },
284
+ "physics": {
285
+ "type": "geometry",
286
+ "collision": false,
287
+ "ratio": 1.0
288
+ },
289
+ "primitive_params": null
290
+ },
291
+ "type_specific": {}
292
+ },
293
+ {
294
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.5245914459228516,
335
+ 0.1290273666381836,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ -0.6843908429145813,
340
+ 0.0,
341
+ 0.0,
342
+ 0.7291153073310852
343
+ ],
344
+ "scale": [
345
+ 1.0,
346
+ 1.0,
347
+ 1.0
348
+ ]
349
+ },
350
+ "dr": {
351
+ "visual": {
352
+ "kind": null,
353
+ "value": null,
354
+ "visible": true
355
+ },
356
+ "physics": {
357
+ "type": "articulation",
358
+ "solver_position_iteration_count": 16.0,
359
+ "solver_velocity_iteration_count": 1.0,
360
+ "enabled_self_collisions": false,
361
+ "ratio": 1.0
362
+ },
363
+ "primitive_params": null
364
+ },
365
+ "type_specific": {
366
+ "joint_position": [
367
+ 1.6820836173589426e-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": 0.19035792159274828,
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": -0.18710718231625248,
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": 0.19035792159274828,
477
+ "holds": [],
478
+ "station": "pick",
479
+ "rider": "carrier_3",
480
+ "arrived": true,
481
+ "applied_speed": 0.0
482
+ }
483
+ }
484
+ }
485
+ ],
486
+ "carrier": [
487
+ {
488
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ -0.9847927093505859,
492
+ 1.150003433227539,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ 8.050526230363175e-05,
497
+ -1.8989975814065474e-08,
498
+ -8.69155414306988e-09,
499
+ 1.0
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ 2.155607359277667e-10,
528
+ -1.0583650622564278e-09,
529
+ 3.725290298461914e-09
530
+ ],
531
+ "angular_velocity": [
532
+ 6.420037834686809e-08,
533
+ 3.6602592956569424e-08,
534
+ -4.600920533448516e-09
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ 0.16227054595947266,
543
+ 1.1499967575073242,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ 2.0819321434828453e-05,
548
+ 2.1332876798396683e-08,
549
+ 4.830321920223923e-09,
550
+ 1.0
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
+ -1.4786237789721213e-09,
579
+ -3.1639821318485417e-10,
580
+ 7.450580596923828e-09
581
+ ],
582
+ "angular_velocity": [
583
+ -5.238288025566362e-09,
584
+ -1.346477773722654e-07,
585
+ -1.2070726640445173e-08
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ -0.037461280822753906,
594
+ 0.45000171661376953,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ 1.0,
599
+ -2.4415367505525865e-09,
600
+ 1.5846670642361005e-09,
601
+ -1.7829363059718162e-05
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ -2.67124633523963e-09,
630
+ -1.4650344937194859e-08,
631
+ -3.725290298461914e-09
632
+ ],
633
+ "angular_velocity": [
634
+ 1.8075542129736277e-06,
635
+ -1.2348239408765949e-07,
636
+ 2.006180181979289e-07
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ 1.6754035949707031,
645
+ 0.9263572692871094,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ 0.5659304857254028,
650
+ -7.954168523838234e-08,
651
+ -2.0090378249904006e-09,
652
+ 0.8244529366493225
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
+ 1.307376162884566e-08,
681
+ 9.359317765245123e-10,
682
+ -1.862645149230957e-08
683
+ ],
684
+ "angular_velocity": [
685
+ -3.32865965901874e-07,
686
+ -1.4676942328151199e-08,
687
+ -1.773966005202965e-07
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ -0.9724693298339844,
698
+ 1.1381397247314453,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ 0.07514546066522598,
703
+ -1.8878083096751652e-08,
704
+ -1.0608649070320553e-08,
705
+ 0.9971725940704346
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 1.4633952716280874e-08,
737
+ 1.404888294587181e-08,
738
+ 1.4528632164001465e-07
739
+ ],
740
+ "angular_velocity": [
741
+ -1.2697956890406203e-06,
742
+ 1.9636649994936306e-06,
743
+ -2.0753260443484578e-08
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ 0.16108322143554688,
752
+ 1.1431026458740234,
753
+ 0.9180000424385071
754
+ ],
755
+ "ori": [
756
+ 0.023792972788214684,
757
+ 2.102449947471996e-08,
758
+ 4.667374042810479e-09,
759
+ 0.9997169971466064
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
+ 6.855398471117269e-09,
791
+ -3.329207798330458e-09,
792
+ -5.189329385757446e-06
793
+ ],
794
+ "angular_velocity": [
795
+ -6.792241720177117e-07,
796
+ 1.6040798982430715e-06,
797
+ -2.5439499395929488e-08
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ -0.036014556884765625,
806
+ 0.4499063491821289,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ 0.9993902444839478,
811
+ -1.5276461340363312e-07,
812
+ 2.015715594438916e-08,
813
+ -0.03491605073213577
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ 8.623901521787047e-07,
845
+ -4.271565558155999e-06,
846
+ -6.712973117828369e-06
847
+ ],
848
+ "angular_velocity": [
849
+ -1.560316377435811e-05,
850
+ 1.4480567188002169e-05,
851
+ -2.8288315661484376e-05
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ 1.6757488250732422,
860
+ 0.9171743392944336,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ 0.5430976748466492,
865
+ -7.87450602501849e-08,
866
+ 7.936383772388922e-10,
867
+ 0.8396695256233215
868
+ ],
869
+ "scale": [
870
+ 1.0,
871
+ 1.0,
872
+ 1.0
873
+ ]
874
+ },
875
+ "dr": {
876
+ "visual": {
877
+ "kind": null,
878
+ "value": null,
879
+ "visible": true
880
+ },
881
+ "physics": {
882
+ "type": "rigid",
883
+ "collision": true,
884
+ "mass": "asset",
885
+ "max_depenetration_velocity": 1.0,
886
+ "physics_material": {
887
+ "static_friction": 0.5,
888
+ "dynamic_friction": 0.45,
889
+ "restitution": 0.0,
890
+ "friction_combine_mode": "average"
891
+ },
892
+ "ratio": 1.0
893
+ },
894
+ "primitive_params": null
895
+ },
896
+ "type_specific": {
897
+ "linear_velocity": [
898
+ 9.161664138446213e-08,
899
+ -1.0857637455785607e-08,
900
+ -1.2889504432678223e-06
901
+ ],
902
+ "angular_velocity": [
903
+ 1.0433171837576083e-06,
904
+ 3.5002747154067038e-06,
905
+ -2.1585420029168745e-07
906
+ ]
907
+ }
908
+ }
909
+ ],
910
+ "deco_hub_west": [
911
+ {
912
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
913
+ "pose": {
914
+ "pos": [
915
+ -3.36,
916
+ 0.0,
917
+ 0.0
918
+ ],
919
+ "ori": [
920
+ 1.0,
921
+ 0.0,
922
+ 0.0,
923
+ 0.0
924
+ ],
925
+ "scale": [
926
+ 1.0,
927
+ 1.0,
928
+ 1.0
929
+ ]
930
+ },
931
+ "dr": {
932
+ "visual": {
933
+ "kind": null,
934
+ "value": null,
935
+ "visible": true
936
+ },
937
+ "physics": {
938
+ "type": "geometry",
939
+ "collision": false,
940
+ "ratio": 1.0
941
+ },
942
+ "primitive_params": null
943
+ },
944
+ "type_specific": {}
945
+ }
946
+ ],
947
+ "deco_hub_east": [
948
+ {
949
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
950
+ "pose": {
951
+ "pos": [
952
+ 3.36,
953
+ 0.0,
954
+ 0.0
955
+ ],
956
+ "ori": [
957
+ 1.0,
958
+ 0.0,
959
+ 0.0,
960
+ 0.0
961
+ ],
962
+ "scale": [
963
+ 1.0,
964
+ 1.0,
965
+ 1.0
966
+ ]
967
+ },
968
+ "dr": {
969
+ "visual": {
970
+ "kind": null,
971
+ "value": null,
972
+ "visible": true
973
+ },
974
+ "physics": {
975
+ "type": "geometry",
976
+ "collision": false,
977
+ "ratio": 1.0
978
+ },
979
+ "primitive_params": null
980
+ },
981
+ "type_specific": {}
982
+ }
983
+ ],
984
+ "deco_hub_back": [
985
+ {
986
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
987
+ "pose": {
988
+ "pos": [
989
+ -3.0,
990
+ -2.1,
991
+ 0.0
992
+ ],
993
+ "ori": [
994
+ 1.0,
995
+ 0.0,
996
+ 0.0,
997
+ 0.0
998
+ ],
999
+ "scale": [
1000
+ 1.0,
1001
+ 1.0,
1002
+ 1.0
1003
+ ]
1004
+ },
1005
+ "dr": {
1006
+ "visual": {
1007
+ "kind": null,
1008
+ "value": null,
1009
+ "visible": true
1010
+ },
1011
+ "physics": {
1012
+ "type": "geometry",
1013
+ "collision": false,
1014
+ "ratio": 1.0
1015
+ },
1016
+ "primitive_params": null
1017
+ },
1018
+ "type_specific": {}
1019
+ }
1020
+ ],
1021
+ "deco_bench_east": [
1022
+ {
1023
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1024
+ "pose": {
1025
+ "pos": [
1026
+ 2.6,
1027
+ -2.5,
1028
+ 0.0
1029
+ ],
1030
+ "ori": [
1031
+ 6.123234262925839e-17,
1032
+ 0.0,
1033
+ 0.0,
1034
+ 1.0
1035
+ ],
1036
+ "scale": [
1037
+ 1.0,
1038
+ 1.0,
1039
+ 1.0
1040
+ ]
1041
+ },
1042
+ "dr": {
1043
+ "visual": {
1044
+ "kind": null,
1045
+ "value": null,
1046
+ "visible": true
1047
+ },
1048
+ "physics": {
1049
+ "type": "geometry",
1050
+ "collision": false,
1051
+ "ratio": 1.0
1052
+ },
1053
+ "primitive_params": null
1054
+ },
1055
+ "type_specific": {}
1056
+ }
1057
+ ],
1058
+ "deco_bench_gap": [
1059
+ {
1060
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1061
+ "pose": {
1062
+ "pos": [
1063
+ -0.1,
1064
+ -2.9,
1065
+ 0.0
1066
+ ],
1067
+ "ori": [
1068
+ 1.0,
1069
+ 0.0,
1070
+ 0.0,
1071
+ 0.0
1072
+ ],
1073
+ "scale": [
1074
+ 1.0,
1075
+ 1.0,
1076
+ 1.0
1077
+ ]
1078
+ },
1079
+ "dr": {
1080
+ "visual": {
1081
+ "kind": null,
1082
+ "value": null,
1083
+ "visible": true
1084
+ },
1085
+ "physics": {
1086
+ "type": "geometry",
1087
+ "collision": false,
1088
+ "ratio": 1.0
1089
+ },
1090
+ "primitive_params": null
1091
+ },
1092
+ "type_specific": {}
1093
+ }
1094
+ ]
1095
+ },
1096
+ {},
1097
+ {},
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ {
1103
+ "t": 4.6799999999999224,
1104
+ "step": 936,
1105
+ "counter": 0,
1106
+ "devices": {
1107
+ "a4s_sealer_1": {
1108
+ "mode": "auto",
1109
+ "units": {
1110
+ "drawer": {
1111
+ "state": "at_out",
1112
+ "active": null,
1113
+ "target": 0.0,
1114
+ "goal_name": "out",
1115
+ "profile": null,
1116
+ "q_start": null,
1117
+ "reversing": false,
1118
+ "blocked_for": 0.0,
1119
+ "settled_for": 0.0,
1120
+ "last_q": 1.6820836173589426e-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": 0.19035792159274828,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_3",
1151
+ "arrived": true,
1152
+ "settle_count": 877,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -1.1347927153110504,
1159
+ 0.700003445148468,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ 0.012270539999008179,
1164
+ 0.6999967694282532,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ -0.18746128678321838,
1169
+ 1.7285346984863281e-06,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ 1.5254035890102386,
1174
+ 0.47635728120803833,
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
+ -0.4749071700077263,
1238
+ 0.23715221088415162,
1239
+ 2.798234820555235
1240
+ ],
1241
+ "ori": [
1242
+ -0.9312909248139096,
1243
+ -5.194929063724594,
1244
+ 5.724155512482824
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 6036.928278967214,
1254
+ "color": [
1255
+ 0.9315939889631953,
1256
+ 0.8986919278269345,
1257
+ 0.953569908635937
1258
+ ],
1259
+ "intensity": 7157.983229897274,
1260
+ "width": 1.7929984465910436,
1261
+ "height": 1.0369334408652477
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "sphere",
1266
+ "pose": {
1267
+ "pos": [
1268
+ -0.2128890456120831,
1269
+ 1.130461497976501,
1270
+ 2.301065412687149
1271
+ ],
1272
+ "ori": [
1273
+ 33.828047812985616,
1274
+ -33.422002600245264,
1275
+ -39.504426554890244
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 5719.34582721357,
1285
+ "color": [
1286
+ 0.8036297661151602,
1287
+ 0.9160219961298537,
1288
+ 0.8697269602778829
1289
+ ],
1290
+ "intensity": 3201.67324169858,
1291
+ "radius": 0.2023795991193576
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": 1061.8788303880817,
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
+ 0.9141027331352234,
1394
+ -1.7193983793258667,
1395
+ 2.0904998779296875,
1396
+ -1.9419007301330566,
1397
+ -1.5707999467849731,
1398
+ 2.484900951385498,
1399
+ 0.01799999549984932,
1400
+ 0.018000002950429916
1401
+ ],
1402
+ [
1403
+ 1.2575101852416992,
1404
+ -1.605942726135254,
1405
+ 2.2033679485321045,
1406
+ -2.1684601306915283,
1407
+ -1.5708796977996826,
1408
+ 2.9416110515594482,
1409
+ 0.00782542210072279,
1410
+ 0.007012713700532913
1411
+ ],
1412
+ [
1413
+ 1.104567289352417,
1414
+ -1.337203860282898,
1415
+ 2.2681331634521484,
1416
+ -2.5016846656799316,
1417
+ -1.5707955360412598,
1418
+ 2.7297675609588623,
1419
+ 0.018000053241848946,
1420
+ 0.01799994707107544
1421
+ ],
1422
+ [
1423
+ 0.9140999913215637,
1424
+ -1.7194000482559204,
1425
+ 2.0905001163482666,
1426
+ -1.9419000148773193,
1427
+ -1.5707999467849731,
1428
+ 2.4848999977111816,
1429
+ 0.017999999225139618,
1430
+ 0.017999999225139618
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -2.7150070865788543e-38,
1436
+ 1.8943938139243696e-38,
1437
+ -1.9463934775982278e-38,
1438
+ 3.5444001667355968e-37,
1439
+ -3.376262063429208e-37,
1440
+ 2.2685670613075916e-36,
1441
+ 5.1980777016069624e-08,
1442
+ -5.1980777016069624e-08
1443
+ ],
1444
+ [
1445
+ 0.002789482707157731,
1446
+ 0.0006488701328635216,
1447
+ -0.0007312907255254686,
1448
+ 0.0031051363330334425,
1449
+ -0.0011988789774477482,
1450
+ -0.008865500800311565,
1451
+ -0.005288978107273579,
1452
+ 9.264951950171962e-05
1453
+ ],
1454
+ [
1455
+ -0.00010841227049240842,
1456
+ 0.02027416042983532,
1457
+ 0.006472461856901646,
1458
+ -0.025523245334625244,
1459
+ -8.536661880498286e-06,
1460
+ 6.075201235944405e-05,
1461
+ -8.605180482845753e-06,
1462
+ 8.58101702760905e-06
1463
+ ],
1464
+ [
1465
+ 0.0,
1466
+ 0.0,
1467
+ 0.0,
1468
+ 0.0,
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04991632327437401,
1482
+ -0.0013589180307462811,
1483
+ -0.02564430795609951,
1484
+ -0.2764795124530792,
1485
+ 0.6524257063865662,
1486
+ 0.6448742747306824,
1487
+ -0.2864208519458771
1488
+ ],
1489
+ [
1490
+ 0.05110737681388855,
1491
+ -0.0014999323757365346,
1492
+ -0.028976866975426674,
1493
+ -0.29621222615242004,
1494
+ 0.6453653573989868,
1495
+ 0.6455744504928589,
1496
+ -0.28106141090393066
1497
+ ],
1498
+ [
1499
+ 0.05029916763305664,
1500
+ 0.0024688676930963993,
1501
+ -0.029434606432914734,
1502
+ -0.27895277738571167,
1503
+ 0.650589108467102,
1504
+ 0.6504681706428528,
1505
+ -0.27533674240112305
1506
+ ],
1507
+ [
1508
+ 0.04837670549750328,
1509
+ 0.0008812719606794417,
1510
+ -0.028156112879514694,
1511
+ -0.2922503650188446,
1512
+ 0.638905942440033,
1513
+ 0.6581535935401917,
1514
+ -0.27059701085090637
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.06720799952745438,
1520
+ 0.5894935131072998,
1521
+ 1.9345388412475586,
1522
+ 0.057540781795978546,
1523
+ 0.01800011843442917,
1524
+ 0.26083627343177795,
1525
+ 0.963498592376709
1526
+ ],
1527
+ [
1528
+ 0.032606836408376694,
1529
+ 0.5592656135559082,
1530
+ 1.9386916160583496,
1531
+ 0.03885241225361824,
1532
+ 0.024896787479519844,
1533
+ 0.2791820764541626,
1534
+ 0.9591287970542908
1535
+ ],
1536
+ [
1537
+ 0.048451103270053864,
1538
+ 0.5872842669487,
1539
+ 1.9429785013198853,
1540
+ 0.05674121901392937,
1541
+ 0.011739912442862988,
1542
+ 0.28119418025016785,
1543
+ 0.9578999876976013
1544
+ ],
1545
+ [
1546
+ 0.06807010620832443,
1547
+ 0.5871213674545288,
1548
+ 1.929824709892273,
1549
+ 0.05597394332289696,
1550
+ -0.0009979974711313844,
1551
+ 0.2766317129135132,
1552
+ 0.9593439698219299
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c5_p013_e010/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:06a69a48608f1c0739765c7ef762c886dd0be33cc184e292d12ab54aeea5fa49
3
+ size 8596630
episodes/c6_p014_e000/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:21f4d2f7cb3f47691af2a2044b038f7794a0a6aac377e260a72b8623592b8dba
3
+ size 186509
episodes/c6_p014_e000/device_events.jsonl ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 81, "t": 0.405, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 81, "t": 0.405, "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": 86, "t": 0.43, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 756, "t": 3.78, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 959, "t": 4.795, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
6
+ {"env_id": 1, "seq": 6, "step": 5483, "t": 27.415, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
7
+ {"env_id": 1, "seq": 7, "step": 6096, "t": 30.48, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
8
+ {"env_id": 1, "seq": 8, "step": 6096, "t": 30.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.097974818246475}, "cause": "task-1-1"}
9
+ {"env_id": 1, "seq": 9, "step": 6096, "t": 30.48, "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"}
10
+ {"env_id": 1, "seq": 10, "step": 6096, "t": 30.48, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
11
+ {"env_id": 1, "seq": 11, "step": 6096, "t": 30.48, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
12
+ {"env_id": 1, "seq": 12, "step": 6515, "t": 32.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
13
+ {"env_id": 1, "seq": 13, "step": 6515, "t": 32.575, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
14
+ {"env_id": 1, "seq": 14, "step": 6515, "t": 32.575, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
15
+ {"env_id": 1, "seq": 15, "step": 6515, "t": 32.575, "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"}
16
+ {"env_id": 1, "seq": 16, "step": 6515, "t": 32.575, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
17
+ {"env_id": 1, "seq": 17, "step": 6515, "t": 32.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
18
+ {"env_id": 1, "seq": 18, "step": 6515, "t": 32.575, "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"}
19
+ {"env_id": 1, "seq": 19, "step": 6515, "t": 32.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
20
+ {"env_id": 1, "seq": 20, "step": 6515, "t": 32.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.097974818246475}, "cause": "program-1-3"}
21
+ {"env_id": 1, "seq": 21, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
22
+ {"env_id": 1, "seq": 22, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.100000000001586}, "cause": "program-1-3"}
23
+ {"env_id": 1, "seq": 23, "step": 7135, "t": 35.675, "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": 3.100000000001586}}, "cause": "program-1-3"}
24
+ {"env_id": 1, "seq": 24, "step": 7135, "t": 35.675, "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"}
25
+ {"env_id": 1, "seq": 25, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
26
+ {"env_id": 1, "seq": 26, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
27
+ {"env_id": 1, "seq": 27, "step": 7555, "t": 37.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
28
+ {"env_id": 1, "seq": 28, "step": 7555, "t": 37.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
29
+ {"env_id": 1, "seq": 29, "step": 7555, "t": 37.775, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
30
+ {"env_id": 1, "seq": 30, "step": 7555, "t": 37.775, "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"}
31
+ {"env_id": 1, "seq": 31, "step": 7555, "t": 37.775, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
32
+ {"env_id": 1, "seq": 32, "step": 7555, "t": 37.775, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
33
+ {"env_id": 1, "seq": 33, "step": 8135, "t": 40.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
34
+ {"env_id": 1, "seq": 34, "step": 9868, "t": 49.34, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
35
+ {"env_id": 1, "seq": 35, "step": 9868, "t": 49.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
36
+ {"env_id": 1, "seq": 36, "step": 9868, "t": 49.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
37
+ {"env_id": 1, "seq": 37, "step": 9868, "t": 49.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
episodes/c6_p014_e000/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4622e6d0305865ba68a00f3fbd0c50ea289bc63fdcaec0b375456410986e7a7a
3
+ size 1185817
episodes/c6_p014_e000/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c6_p014/magicsim/0",
3
+ "fps": 25,
4
+ "frames": 1204,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1204,
8
+ "env": 1204
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_p014_e000/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 0,
3
+ "env_id": 1,
4
+ "run_id": "c6_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": 1,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {
22
+ "rac_cell": [
23
+ {
24
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
25
+ "pose": {
26
+ "pos": [
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "ori": [
32
+ 1.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0
36
+ ],
37
+ "scale": [
38
+ 1.0,
39
+ 1.0,
40
+ 1.0
41
+ ]
42
+ },
43
+ "dr": {
44
+ "visual": {
45
+ "kind": null,
46
+ "value": null,
47
+ "visible": true
48
+ },
49
+ "physics": {
50
+ "type": "geometry",
51
+ "collision": false,
52
+ "physics_material": {
53
+ "static_friction": 0.6,
54
+ "dynamic_friction": 0.5,
55
+ "restitution": 0.0
56
+ },
57
+ "ratio": 1.0
58
+ },
59
+ "primitive_params": null
60
+ },
61
+ "type_specific": {}
62
+ }
63
+ ],
64
+ "robot_mount": [
65
+ {
66
+ "asset": "Cube",
67
+ "pose": {
68
+ "pos": [
69
+ 0.0,
70
+ 0.0,
71
+ 0.9075
72
+ ],
73
+ "ori": [
74
+ 1.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "scale": [
80
+ 1.0,
81
+ 1.0,
82
+ 1.0
83
+ ]
84
+ },
85
+ "dr": {
86
+ "visual": {
87
+ "kind": "color",
88
+ "value": [
89
+ 0.55,
90
+ 0.56,
91
+ 0.58
92
+ ],
93
+ "visible": true
94
+ },
95
+ "physics": {
96
+ "type": "geometry",
97
+ "collision": false,
98
+ "ratio": 1.0
99
+ },
100
+ "primitive_params": {
101
+ "size": [
102
+ 0.2,
103
+ 0.2,
104
+ 0.015
105
+ ]
106
+ }
107
+ },
108
+ "type_specific": {}
109
+ }
110
+ ],
111
+ "plate_rack": [
112
+ {
113
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
114
+ "pose": {
115
+ "pos": [
116
+ -0.6,
117
+ 0.02,
118
+ 0.9
119
+ ],
120
+ "ori": [
121
+ 6.123234262925839e-17,
122
+ 0.0,
123
+ 0.0,
124
+ 1.0
125
+ ],
126
+ "scale": [
127
+ 1.0,
128
+ 1.0,
129
+ 1.0
130
+ ]
131
+ },
132
+ "dr": {
133
+ "visual": {
134
+ "kind": null,
135
+ "value": null,
136
+ "visible": true
137
+ },
138
+ "physics": {
139
+ "type": "geometry",
140
+ "collision": false,
141
+ "physics_material": {
142
+ "static_friction": 0.6,
143
+ "dynamic_friction": 0.5,
144
+ "restitution": 0.0
145
+ },
146
+ "ratio": 1.0
147
+ },
148
+ "primitive_params": null
149
+ },
150
+ "type_specific": {}
151
+ }
152
+ ],
153
+ "hotel_plate": [
154
+ {
155
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
191
+ "pose": {
192
+ "pos": [
193
+ -0.6,
194
+ 0.02,
195
+ 1.0285
196
+ ],
197
+ "ori": [
198
+ 6.123234262925839e-17,
199
+ 0.0,
200
+ 0.0,
201
+ 1.0
202
+ ],
203
+ "scale": [
204
+ 1.0,
205
+ 1.0,
206
+ 1.0
207
+ ]
208
+ },
209
+ "dr": {
210
+ "visual": {
211
+ "kind": null,
212
+ "value": null,
213
+ "visible": true
214
+ },
215
+ "physics": {
216
+ "type": "geometry",
217
+ "collision": false,
218
+ "ratio": 1.0
219
+ },
220
+ "primitive_params": null
221
+ },
222
+ "type_specific": {}
223
+ },
224
+ {
225
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
261
+ "pose": {
262
+ "pos": [
263
+ -0.6,
264
+ 0.02,
265
+ 1.1645
266
+ ],
267
+ "ori": [
268
+ 6.123234262925839e-17,
269
+ 0.0,
270
+ 0.0,
271
+ 1.0
272
+ ],
273
+ "scale": [
274
+ 1.0,
275
+ 1.0,
276
+ 1.0
277
+ ]
278
+ },
279
+ "dr": {
280
+ "visual": {
281
+ "kind": null,
282
+ "value": null,
283
+ "visible": true
284
+ },
285
+ "physics": {
286
+ "type": "geometry",
287
+ "collision": false,
288
+ "ratio": 1.0
289
+ },
290
+ "primitive_params": null
291
+ },
292
+ "type_specific": {}
293
+ },
294
+ {
295
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.478240966796875,
336
+ 0.061928749084472656,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.6794556975364685,
341
+ 0.0,
342
+ 0.0,
343
+ 0.7337165474891663
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
+ 0.0
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": 0.19429558354648874,
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": -0.26083305703858456,
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": 0.19429558354648874,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_4",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ -0.9949932098388672,
493
+ 1.1500053405761719,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 0.00018508336506783962,
498
+ 1.1433591851073288e-08,
499
+ 1.0763454127982186e-08,
500
+ 1.0
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ 9.085203700465172e-10,
529
+ -4.175170875697631e-09,
530
+ 1.4901161193847656e-08
531
+ ],
532
+ "angular_velocity": [
533
+ 1.5013195309165894e-07,
534
+ 1.4554304073044477e-07,
535
+ 1.598441201622336e-08
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 0.2119293212890625,
544
+ 1.1500015258789062,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ -8.990348760562483e-06,
549
+ 1.287892814616498e-08,
550
+ 4.93864682482581e-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
+ -9.292171476715794e-10,
580
+ -3.0574984211106937e-10,
581
+ 1.1175870895385742e-08
582
+ ],
583
+ "angular_velocity": [
584
+ 1.557964424137026e-08,
585
+ -8.960515174294414e-08,
586
+ -4.761162131217134e-09
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ 1.524550437927246,
595
+ 0.5003995895385742,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ 0.9669554829597473,
600
+ 2.110011720901639e-08,
601
+ -1.2656624903684133e-07,
602
+ 0.25494545698165894
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ -1.0483947043837816e-11,
631
+ 8.353806535410513e-11,
632
+ 0.0
633
+ ],
634
+ "angular_velocity": [
635
+ -7.844150218261348e-09,
636
+ -1.3782859298316907e-09,
637
+ -1.0099832081778004e-10
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ -0.11116313934326172,
646
+ 0.4499988555908203,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ 1.0,
651
+ 4.292711075493116e-09,
652
+ -3.9369546511736075e-10,
653
+ 8.778807568887714e-06
654
+ ],
655
+ "scale": [
656
+ 1.0,
657
+ 1.0,
658
+ 1.0
659
+ ]
660
+ },
661
+ "dr": {
662
+ "visual": {
663
+ "kind": null,
664
+ "value": null,
665
+ "visible": true
666
+ },
667
+ "physics": {
668
+ "type": "rigid",
669
+ "mass": 0.5,
670
+ "physics_material": {
671
+ "static_friction": 0.9,
672
+ "dynamic_friction": 0.9,
673
+ "restitution": 0.0
674
+ },
675
+ "ratio": 1.0
676
+ },
677
+ "primitive_params": null
678
+ },
679
+ "type_specific": {
680
+ "linear_velocity": [
681
+ 2.8392608264482533e-09,
682
+ 1.865227527986235e-09,
683
+ 1.4901161193847656e-08
684
+ ],
685
+ "angular_velocity": [
686
+ -1.2843707963838824e-07,
687
+ 2.7533721436157066e-07,
688
+ -1.3452025271476487e-08
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ -0.9912633895874023,
699
+ 1.1600761413574219,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ -0.05687757581472397,
704
+ 1.3573290047474984e-08,
705
+ 1.208243372019524e-08,
706
+ 0.9983811378479004
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ 6.111383044071772e-08,
738
+ -1.2574941976595255e-08,
739
+ 2.0116567611694336e-07
740
+ ],
741
+ "angular_velocity": [
742
+ 1.1065953486877333e-07,
743
+ 3.0708124540979043e-06,
744
+ 2.2514109332405496e-07
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 0.21733665466308594,
753
+ 1.1546754837036133,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ -0.025067714974284172,
758
+ 1.3751344063450688e-08,
759
+ 3.6013900750475614e-09,
760
+ 0.9996857643127441
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
+ 4.8308752553793965e-09,
792
+ -1.1969622626395449e-08,
793
+ -5.282461643218994e-06
794
+ ],
795
+ "angular_velocity": [
796
+ -4.2991831605831976e-07,
797
+ 1.5868960190346115e-06,
798
+ -4.076774473560363e-08
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ 1.5296564102172852,
807
+ 0.5111732482910156,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ 0.9700977802276611,
812
+ 2.27845937672555e-08,
813
+ -1.2598488297044241e-07,
814
+ 0.24271471798419952
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ -7.58809193257548e-09,
846
+ -1.1964335300262974e-08,
847
+ -5.278736352920532e-06
848
+ ],
849
+ "angular_velocity": [
850
+ 5.688991677743616e-07,
851
+ -4.155581336817704e-07,
852
+ 2.7728471962973344e-08
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ -0.11365413665771484,
861
+ 0.45337772369384766,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.9956985712051392,
866
+ 1.1964891299953706e-08,
867
+ -1.2495355861119606e-09,
868
+ -0.09265218675136566
869
+ ],
870
+ "scale": [
871
+ 1.0,
872
+ 1.0,
873
+ 1.0
874
+ ]
875
+ },
876
+ "dr": {
877
+ "visual": {
878
+ "kind": null,
879
+ "value": null,
880
+ "visible": true
881
+ },
882
+ "physics": {
883
+ "type": "rigid",
884
+ "collision": true,
885
+ "mass": "asset",
886
+ "max_depenetration_velocity": 1.0,
887
+ "physics_material": {
888
+ "static_friction": 0.5,
889
+ "dynamic_friction": 0.45,
890
+ "restitution": 0.0,
891
+ "friction_combine_mode": "average"
892
+ },
893
+ "ratio": 1.0
894
+ },
895
+ "primitive_params": null
896
+ },
897
+ "type_specific": {
898
+ "linear_velocity": [
899
+ -3.3979059566036085e-08,
900
+ -6.187585555039732e-09,
901
+ 2.1606683731079102e-07
902
+ ],
903
+ "angular_velocity": [
904
+ 5.933088687015697e-07,
905
+ -2.4758917334111175e-06,
906
+ -3.1175808601346944e-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": 1.3999999999999921,
1105
+ "step": 280,
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": 0.0
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": 0.19429558354648874,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_4",
1152
+ "arrived": true,
1153
+ "settle_count": 198,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ -1.1449932157993317,
1160
+ 0.7000053524971008,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ 0.06192931532859802,
1165
+ 0.7000015377998352,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ 1.3745504319667816,
1170
+ 0.050399601459503174,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ -0.2611631453037262,
1175
+ -1.1324882507324219e-06,
1176
+ 0.0
1177
+ ]
1178
+ },
1179
+ "command": 0.0
1180
+ },
1181
+ "belt": {
1182
+ "target_speed": 0.0,
1183
+ "command_speed": 0.0
1184
+ },
1185
+ "seen": {
1186
+ "state": "at_station",
1187
+ "station": "pick",
1188
+ "rider": "carrier_4",
1189
+ "arrived": true
1190
+ }
1191
+ }
1192
+ },
1193
+ "queues": {},
1194
+ "program": null,
1195
+ "sensors": {},
1196
+ "interlocks": {}
1197
+ }
1198
+ },
1199
+ "zones": {},
1200
+ "labware": {
1201
+ "plate_1": {
1202
+ "sealed": false
1203
+ },
1204
+ "plate_2": {
1205
+ "sealed": false
1206
+ },
1207
+ "plate_3": {
1208
+ "sealed": false
1209
+ },
1210
+ "plate_4": {
1211
+ "sealed": false
1212
+ }
1213
+ },
1214
+ "rules": {},
1215
+ "records": [],
1216
+ "bus": {
1217
+ "seq": 3,
1218
+ "queue": []
1219
+ }
1220
+ },
1221
+ null,
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ {},
1227
+ null,
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {
1234
+ "ceiling": {
1235
+ "type": "rect",
1236
+ "pose": {
1237
+ "pos": [
1238
+ 0.48564653545269965,
1239
+ 0.01514954561682158,
1240
+ 3.1270897577772834
1241
+ ],
1242
+ "ori": [
1243
+ -1.3458855803994947,
1244
+ -13.919067567678088,
1245
+ 11.75617120333952
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 6533.40203983013,
1255
+ "color": [
1256
+ 0.9131401365549656,
1257
+ 0.8249869826818076,
1258
+ 0.8548585018218704
1259
+ ],
1260
+ "intensity": 7337.283806320995,
1261
+ "width": 2.4927684981102045,
1262
+ "height": 1.4973816758668117
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "disk",
1267
+ "pose": {
1268
+ "pos": [
1269
+ 0.11861353750668435,
1270
+ 0.4516661412628049,
1271
+ 2.093985551829596
1272
+ ],
1273
+ "ori": [
1274
+ -7.655495152033687,
1275
+ -9.3583309415055,
1276
+ -19.516768294206514
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 5208.183893871894,
1286
+ "color": [
1287
+ 0.8974807922418655,
1288
+ 0.7692084692477302,
1289
+ 0.8499003693746225
1290
+ ],
1291
+ "intensity": 7951.932723300336,
1292
+ "radius": 0.3464264849626746
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": 1049.881203486043,
1308
+ "texture": null,
1309
+ "color": [
1310
+ 0.92,
1311
+ 0.94,
1312
+ 0.96
1313
+ ]
1314
+ }
1315
+ }
1316
+ },
1317
+ "robots": {
1318
+ "UR5e": {
1319
+ "root_pose": [
1320
+ [
1321
+ 11.0,
1322
+ -11.0,
1323
+ 0.9150000214576721,
1324
+ 1.0,
1325
+ 0.0,
1326
+ 0.0,
1327
+ 0.0
1328
+ ],
1329
+ [
1330
+ 11.0,
1331
+ 11.0,
1332
+ 0.9150000214576721,
1333
+ 1.0,
1334
+ 0.0,
1335
+ 0.0,
1336
+ 0.0
1337
+ ],
1338
+ [
1339
+ -11.0,
1340
+ -11.0,
1341
+ 0.9150000214576721,
1342
+ 1.0,
1343
+ 0.0,
1344
+ 0.0,
1345
+ 0.0
1346
+ ],
1347
+ [
1348
+ -11.0,
1349
+ 11.0,
1350
+ 0.9150000214576721,
1351
+ 1.0,
1352
+ 0.0,
1353
+ 0.0,
1354
+ 0.0
1355
+ ]
1356
+ ],
1357
+ "root_vel": [
1358
+ [
1359
+ 0.0,
1360
+ 0.0,
1361
+ 0.0,
1362
+ 0.0,
1363
+ 0.0,
1364
+ 0.0
1365
+ ],
1366
+ [
1367
+ 0.0,
1368
+ 0.0,
1369
+ 0.0,
1370
+ 0.0,
1371
+ 0.0,
1372
+ 0.0
1373
+ ],
1374
+ [
1375
+ 0.0,
1376
+ 0.0,
1377
+ 0.0,
1378
+ 0.0,
1379
+ 0.0,
1380
+ 0.0
1381
+ ],
1382
+ [
1383
+ 0.0,
1384
+ 0.0,
1385
+ 0.0,
1386
+ 0.0,
1387
+ 0.0,
1388
+ 0.0
1389
+ ]
1390
+ ],
1391
+ "joint_pos": [
1392
+ [
1393
+ 0.9140999913215637,
1394
+ -1.7194000482559204,
1395
+ 2.0905001163482666,
1396
+ -1.9419000148773193,
1397
+ -1.5707999467849731,
1398
+ 2.4848999977111816,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 0.9140999913215637,
1404
+ -1.7194000482559204,
1405
+ 2.0905001163482666,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
1411
+ ],
1412
+ [
1413
+ 0.9140999913215637,
1414
+ -1.7194000482559204,
1415
+ 2.0905001163482666,
1416
+ -1.9419000148773193,
1417
+ -1.5707999467849731,
1418
+ 2.4848999977111816,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 0.9140999913215637,
1424
+ -1.7194000482559204,
1425
+ 2.0905001163482666,
1426
+ -1.9419000148773193,
1427
+ -1.5707999467849731,
1428
+ 2.4848999977111816,
1429
+ 0.017999999225139618,
1430
+ 0.017999999225139618
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ 0.0,
1437
+ 0.0,
1438
+ 0.0,
1439
+ 0.0,
1440
+ 0.0,
1441
+ 0.0,
1442
+ 0.0
1443
+ ],
1444
+ [
1445
+ 0.0,
1446
+ 0.0,
1447
+ 0.0,
1448
+ 0.0,
1449
+ 0.0,
1450
+ 0.0,
1451
+ 0.0,
1452
+ 0.0
1453
+ ],
1454
+ [
1455
+ 0.0,
1456
+ 0.0,
1457
+ 0.0,
1458
+ 0.0,
1459
+ 0.0,
1460
+ 0.0,
1461
+ 0.0,
1462
+ 0.0
1463
+ ],
1464
+ [
1465
+ 0.0,
1466
+ 0.0,
1467
+ 0.0,
1468
+ 0.0,
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04784786328673363,
1482
+ -0.005949635989964008,
1483
+ -0.028302336111664772,
1484
+ -0.26593127846717834,
1485
+ 0.6640657186508179,
1486
+ 0.6376945972442627,
1487
+ -0.2857321798801422
1488
+ ],
1489
+ [
1490
+ 0.048529189079999924,
1491
+ 0.0015199175104498863,
1492
+ -0.027219628915190697,
1493
+ -0.280106782913208,
1494
+ 0.6438459157943726,
1495
+ 0.6540408134460449,
1496
+ -0.2814839780330658
1497
+ ],
1498
+ [
1499
+ 0.04988131672143936,
1500
+ 0.0023236621636897326,
1501
+ -0.03085980750620365,
1502
+ -0.273814857006073,
1503
+ 0.6563341617584229,
1504
+ 0.6430621147155762,
1505
+ -0.2841162383556366
1506
+ ],
1507
+ [
1508
+ 0.047524549067020416,
1509
+ 0.00046486410428769886,
1510
+ -0.026516322046518326,
1511
+ -0.2866538465023041,
1512
+ 0.6431068181991577,
1513
+ 0.6560869216918945,
1514
+ -0.2716488540172577
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0742926374077797,
1520
+ 0.5569846034049988,
1521
+ 1.9433420896530151,
1522
+ 0.038164764642715454,
1523
+ -0.001926740980707109,
1524
+ 0.2682052254676819,
1525
+ 0.9626036286354065
1526
+ ],
1527
+ [
1528
+ 0.07461395114660263,
1529
+ 0.5993618965148926,
1530
+ 1.9546648263931274,
1531
+ 0.05123818665742874,
1532
+ 0.021392924711108208,
1533
+ 0.2881377339363098,
1534
+ 0.9559778571128845
1535
+ ],
1536
+ [
1537
+ 0.03872883692383766,
1538
+ 0.5571075081825256,
1539
+ 1.9276763200759888,
1540
+ 0.04634580761194229,
1541
+ 0.004363419488072395,
1542
+ 0.2804125249385834,
1543
+ 0.9587501287460327
1544
+ ],
1545
+ [
1546
+ 0.04153207689523697,
1547
+ 0.6039298176765442,
1548
+ 1.9667813777923584,
1549
+ 0.05259532481431961,
1550
+ 0.002101211342960596,
1551
+ 0.263209730386734,
1552
+ 0.9633015990257263
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c6_p014_e000/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:44eb3ac5e8ba8d367f08386351bb08989435d6cd3078a5db9f55cc9b6d4473a9
3
+ size 6767722
episodes/c6_p014_e001/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7662a275ff15103b6e5d9eb99ffb14357e335a1f766ef909aa2e2bfb6e070286
3
+ size 198100
episodes/c6_p014_e001/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 117, "t": 0.585, "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": 122, "t": 0.61, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 5682, "t": 28.41, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
5
+ {"env_id": 3, "seq": 5, "step": 6296, "t": 31.48, "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": 6296, "t": 31.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.9802449769523625}, "cause": "task-3-1"}
7
+ {"env_id": 3, "seq": 7, "step": 6296, "t": 31.48, "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": 6296, "t": 31.48, "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": 6296, "t": 31.48, "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": 6715, "t": 33.575, "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": 6715, "t": 33.575, "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": 6715, "t": 33.575, "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": 6715, "t": 33.575, "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": 6715, "t": 33.575, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
15
+ {"env_id": 3, "seq": 15, "step": 6715, "t": 33.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"}
16
+ {"env_id": 3, "seq": 16, "step": 6715, "t": 33.575, "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": 6715, "t": 33.575, "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": 6715, "t": 33.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.9802449769523625}, "cause": "program-3-3"}
19
+ {"env_id": 3, "seq": 19, "step": 7112, "t": 35.56, "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": 7112, "t": 35.56, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9850000000010155}, "cause": "program-3-3"}
21
+ {"env_id": 3, "seq": 21, "step": 7112, "t": 35.56, "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": 1.9850000000010155}}, "cause": "program-3-3"}
22
+ {"env_id": 3, "seq": 22, "step": 7112, "t": 35.56, "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": 7112, "t": 35.56, "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": 7112, "t": 35.56, "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": 7532, "t": 37.66, "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": 7532, "t": 37.66, "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": 7532, "t": 37.66, "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": 7532, "t": 37.66, "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": 7532, "t": 37.66, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
30
+ {"env_id": 3, "seq": 30, "step": 7532, "t": 37.66, "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": 8110, "t": 40.55, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
32
+ {"env_id": 3, "seq": 32, "step": 10360, "t": 51.8, "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": 10360, "t": 51.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"}
34
+ {"env_id": 3, "seq": 34, "step": 10360, "t": 51.8, "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": 10360, "t": 51.8, "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"}