Hugging Face's logo

Datasets:
Arashi2001
/
MagicBioLab

Tasks:
Robotics
Tags:
simulation
isaac-sim
lab-automation
microplate
imitation-learning
License:
Dataset card Files
xet
 Community
Arashi2001 commited on
Commit
bf6724c
·
verified ·
1 Parent(s): d0b471c

add 5 episodes (c2_p019_e032 .. c7_p017_e011); total 4729 {'v1': 1088, 'v2': 3641}

Browse files
Files changed (31) hide show
  1. episodes/c2_p019_e032/data.npz +3 -0
  2. episodes/c2_p019_e032/device_events.jsonl +37 -0
  3. episodes/c2_p019_e032/env.mp4 +3 -0
  4. episodes/c2_p019_e032/meta.json +32 -0
  5. episodes/c2_p019_e032/scene_snapshot.json +1558 -0
  6. episodes/c2_p019_e032/wrist.mp4 +3 -0
  7. episodes/c2_p019_e033/data.npz +3 -0
  8. episodes/c2_p019_e033/device_events.jsonl +40 -0
  9. episodes/c2_p019_e033/env.mp4 +3 -0
  10. episodes/c2_p019_e033/meta.json +32 -0
  11. episodes/c2_p019_e033/scene_snapshot.json +1558 -0
  12. episodes/c2_p019_e033/wrist.mp4 +3 -0
  13. episodes/c7_p017_e009/data.npz +3 -0
  14. episodes/c7_p017_e009/device_events.jsonl +35 -0
  15. episodes/c7_p017_e009/env.mp4 +3 -0
  16. episodes/c7_p017_e009/meta.json +32 -0
  17. episodes/c7_p017_e009/scene_snapshot.json +1558 -0
  18. episodes/c7_p017_e009/wrist.mp4 +3 -0
  19. episodes/c7_p017_e010/data.npz +3 -0
  20. episodes/c7_p017_e010/device_events.jsonl +35 -0
  21. episodes/c7_p017_e010/env.mp4 +3 -0
  22. episodes/c7_p017_e010/meta.json +32 -0
  23. episodes/c7_p017_e010/scene_snapshot.json +1558 -0
  24. episodes/c7_p017_e010/wrist.mp4 +3 -0
  25. episodes/c7_p017_e011/data.npz +3 -0
  26. episodes/c7_p017_e011/device_events.jsonl +35 -0
  27. episodes/c7_p017_e011/env.mp4 +3 -0
  28. episodes/c7_p017_e011/meta.json +32 -0
  29. episodes/c7_p017_e011/scene_snapshot.json +1558 -0
  30. episodes/c7_p017_e011/wrist.mp4 +3 -0
  31. index/episodes.csv +5 -0
episodes/c2_p019_e032/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:259d9b5bfbc81f1be7bfaa365f5de5e22280e4c39ea5086276718ed853f53451
3
+ size 186716
episodes/c2_p019_e032/device_events.jsonl ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 63, "t": 0.315, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 63, "t": 0.315, "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": 68, "t": 0.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 2038, "t": 10.19, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
5
+ {"env_id": 3, "seq": 5, "step": 2068, "t": 10.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
6
+ {"env_id": 3, "seq": 6, "step": 6619, "t": 33.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
7
+ {"env_id": 3, "seq": 7, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
8
+ {"env_id": 3, "seq": 8, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0461346009612407}, "cause": "task-3-1"}
9
+ {"env_id": 3, "seq": 9, "step": 7232, "t": 36.16, "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"}
10
+ {"env_id": 3, "seq": 10, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
11
+ {"env_id": 3, "seq": 11, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
12
+ {"env_id": 3, "seq": 12, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
13
+ {"env_id": 3, "seq": 13, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
14
+ {"env_id": 3, "seq": 14, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
15
+ {"env_id": 3, "seq": 15, "step": 7651, "t": 38.255, "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"}
16
+ {"env_id": 3, "seq": 16, "step": 7651, "t": 38.255, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
17
+ {"env_id": 3, "seq": 17, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"}
18
+ {"env_id": 3, "seq": 18, "step": 7651, "t": 38.255, "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"}
19
+ {"env_id": 3, "seq": 19, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
20
+ {"env_id": 3, "seq": 20, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0461346009612407}, "cause": "program-3-3"}
21
+ {"env_id": 3, "seq": 21, "step": 8261, "t": 41.305, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
22
+ {"env_id": 3, "seq": 22, "step": 8261, "t": 41.305, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0500000000015604}, "cause": "program-3-3"}
23
+ {"env_id": 3, "seq": 23, "step": 8261, "t": 41.305, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.0500000000015604}}, "cause": "program-3-3"}
24
+ {"env_id": 3, "seq": 24, "step": 8261, "t": 41.305, "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"}
25
+ {"env_id": 3, "seq": 25, "step": 8261, "t": 41.305, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
26
+ {"env_id": 3, "seq": 26, "step": 8261, "t": 41.305, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
27
+ {"env_id": 3, "seq": 27, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
28
+ {"env_id": 3, "seq": 28, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.710989707338967e-10}, "cause": "program-3-4"}
29
+ {"env_id": 3, "seq": 29, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.710989707338967e-10}, "cause": "program-3-4"}
30
+ {"env_id": 3, "seq": 30, "step": 8681, "t": 43.405, "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"}
31
+ {"env_id": 3, "seq": 31, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
32
+ {"env_id": 3, "seq": 32, "step": 8681, "t": 43.405, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
33
+ {"env_id": 3, "seq": 33, "step": 9262, "t": 46.31, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
34
+ {"env_id": 3, "seq": 34, "step": 10960, "t": 54.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
35
+ {"env_id": 3, "seq": 35, "step": 10960, "t": 54.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"}
36
+ {"env_id": 3, "seq": 36, "step": 10960, "t": 54.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
37
+ {"env_id": 3, "seq": 37, "step": 10960, "t": 54.8, "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"}
episodes/c2_p019_e032/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7cc59b3819684eb20147b333f6e4f07434de9989f22b1d181d938b4ffabc8388
3
+ size 1194324
episodes/c2_p019_e032/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c2_p019/magicsim/32",
3
+ "fps": 25,
4
+ "frames": 1191,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1191,
8
+ "env": 1191
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c2_p019_e032/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 32,
3
+ "env_id": 3,
4
+ "run_id": "c2_p019",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 3,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {},
23
+ {
24
+ "rac_cell": [
25
+ {
26
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
27
+ "pose": {
28
+ "pos": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0
32
+ ],
33
+ "ori": [
34
+ 1.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0
38
+ ],
39
+ "scale": [
40
+ 1.0,
41
+ 1.0,
42
+ 1.0
43
+ ]
44
+ },
45
+ "dr": {
46
+ "visual": {
47
+ "kind": null,
48
+ "value": null,
49
+ "visible": true
50
+ },
51
+ "physics": {
52
+ "type": "geometry",
53
+ "collision": false,
54
+ "physics_material": {
55
+ "static_friction": 0.6,
56
+ "dynamic_friction": 0.5,
57
+ "restitution": 0.0
58
+ },
59
+ "ratio": 1.0
60
+ },
61
+ "primitive_params": null
62
+ },
63
+ "type_specific": {}
64
+ }
65
+ ],
66
+ "robot_mount": [
67
+ {
68
+ "asset": "Cube",
69
+ "pose": {
70
+ "pos": [
71
+ 0.0,
72
+ 0.0,
73
+ 0.9075
74
+ ],
75
+ "ori": [
76
+ 1.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "scale": [
82
+ 1.0,
83
+ 1.0,
84
+ 1.0
85
+ ]
86
+ },
87
+ "dr": {
88
+ "visual": {
89
+ "kind": "color",
90
+ "value": [
91
+ 0.55,
92
+ 0.56,
93
+ 0.58
94
+ ],
95
+ "visible": true
96
+ },
97
+ "physics": {
98
+ "type": "geometry",
99
+ "collision": false,
100
+ "ratio": 1.0
101
+ },
102
+ "primitive_params": {
103
+ "size": [
104
+ 0.2,
105
+ 0.2,
106
+ 0.015
107
+ ]
108
+ }
109
+ },
110
+ "type_specific": {}
111
+ }
112
+ ],
113
+ "plate_rack": [
114
+ {
115
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
116
+ "pose": {
117
+ "pos": [
118
+ -0.6,
119
+ 0.02,
120
+ 0.9
121
+ ],
122
+ "ori": [
123
+ 6.123234262925839e-17,
124
+ 0.0,
125
+ 0.0,
126
+ 1.0
127
+ ],
128
+ "scale": [
129
+ 1.0,
130
+ 1.0,
131
+ 1.0
132
+ ]
133
+ },
134
+ "dr": {
135
+ "visual": {
136
+ "kind": null,
137
+ "value": null,
138
+ "visible": true
139
+ },
140
+ "physics": {
141
+ "type": "geometry",
142
+ "collision": false,
143
+ "physics_material": {
144
+ "static_friction": 0.6,
145
+ "dynamic_friction": 0.5,
146
+ "restitution": 0.0
147
+ },
148
+ "ratio": 1.0
149
+ },
150
+ "primitive_params": null
151
+ },
152
+ "type_specific": {}
153
+ }
154
+ ],
155
+ "hotel_plate": [
156
+ {
157
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
158
+ "pose": {
159
+ "pos": [
160
+ -0.6,
161
+ 0.02,
162
+ 0.9605
163
+ ],
164
+ "ori": [
165
+ 1.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0
169
+ ],
170
+ "scale": [
171
+ 1.0,
172
+ 1.0,
173
+ 1.0
174
+ ]
175
+ },
176
+ "dr": {
177
+ "visual": {
178
+ "kind": null,
179
+ "value": null,
180
+ "visible": true
181
+ },
182
+ "physics": {
183
+ "type": "geometry",
184
+ "collision": false,
185
+ "ratio": 1.0
186
+ },
187
+ "primitive_params": null
188
+ },
189
+ "type_specific": {}
190
+ },
191
+ {
192
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
228
+ "pose": {
229
+ "pos": [
230
+ -0.6,
231
+ 0.02,
232
+ 1.0965
233
+ ],
234
+ "ori": [
235
+ 1.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "scale": [
241
+ 1.0,
242
+ 1.0,
243
+ 1.0
244
+ ]
245
+ },
246
+ "dr": {
247
+ "visual": {
248
+ "kind": null,
249
+ "value": null,
250
+ "visible": true
251
+ },
252
+ "physics": {
253
+ "type": "geometry",
254
+ "collision": false,
255
+ "ratio": 1.0
256
+ },
257
+ "primitive_params": null
258
+ },
259
+ "type_specific": {}
260
+ },
261
+ {
262
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
263
+ "pose": {
264
+ "pos": [
265
+ -0.6,
266
+ 0.02,
267
+ 1.1645
268
+ ],
269
+ "ori": [
270
+ 6.123234262925839e-17,
271
+ 0.0,
272
+ 0.0,
273
+ 1.0
274
+ ],
275
+ "scale": [
276
+ 1.0,
277
+ 1.0,
278
+ 1.0
279
+ ]
280
+ },
281
+ "dr": {
282
+ "visual": {
283
+ "kind": null,
284
+ "value": null,
285
+ "visible": true
286
+ },
287
+ "physics": {
288
+ "type": "geometry",
289
+ "collision": false,
290
+ "ratio": 1.0
291
+ },
292
+ "primitive_params": null
293
+ },
294
+ "type_specific": {}
295
+ },
296
+ {
297
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
298
+ "pose": {
299
+ "pos": [
300
+ -0.6,
301
+ 0.02,
302
+ 1.2325
303
+ ],
304
+ "ori": [
305
+ 1.0,
306
+ 0.0,
307
+ 0.0,
308
+ 0.0
309
+ ],
310
+ "scale": [
311
+ 1.0,
312
+ 1.0,
313
+ 1.0
314
+ ]
315
+ },
316
+ "dr": {
317
+ "visual": {
318
+ "kind": null,
319
+ "value": null,
320
+ "visible": true
321
+ },
322
+ "physics": {
323
+ "type": "geometry",
324
+ "collision": false,
325
+ "ratio": 1.0
326
+ },
327
+ "primitive_params": null
328
+ },
329
+ "type_specific": {}
330
+ }
331
+ ],
332
+ "a4s_sealer": [
333
+ {
334
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
335
+ "pose": {
336
+ "pos": [
337
+ 0.48787498474121094,
338
+ 0.08819580078125,
339
+ 0.8999999761581421
340
+ ],
341
+ "ori": [
342
+ -0.7006720304489136,
343
+ 0.0,
344
+ 0.0,
345
+ 0.7134835124015808
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
+ 2.3549146573736968e-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": 0.28254300858573755,
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": -0.026617763450977883,
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": 0.28254300858573755,
480
+ "holds": [],
481
+ "station": "pick",
482
+ "rider": "carrier_1",
483
+ "arrived": true,
484
+ "applied_speed": 0.0
485
+ }
486
+ }
487
+ }
488
+ ],
489
+ "carrier": [
490
+ {
491
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
492
+ "pose": {
493
+ "pos": [
494
+ 0.12331676483154297,
495
+ 0.4500007629394531,
496
+ 0.8999999761581421
497
+ ],
498
+ "ori": [
499
+ 1.0,
500
+ 5.3403579336475104e-09,
501
+ -3.021893846266721e-11,
502
+ -3.2525578717468306e-05
503
+ ],
504
+ "scale": [
505
+ 1.0,
506
+ 1.0,
507
+ 1.0
508
+ ]
509
+ },
510
+ "dr": {
511
+ "visual": {
512
+ "kind": null,
513
+ "value": null,
514
+ "visible": true
515
+ },
516
+ "physics": {
517
+ "type": "rigid",
518
+ "mass": 0.5,
519
+ "physics_material": {
520
+ "static_friction": 0.9,
521
+ "dynamic_friction": 0.9,
522
+ "restitution": 0.0
523
+ },
524
+ "ratio": 1.0
525
+ },
526
+ "primitive_params": null
527
+ },
528
+ "type_specific": {
529
+ "linear_velocity": [
530
+ 9.802496592214993e-10,
531
+ 1.369161117814599e-09,
532
+ 7.450580596923828e-09
533
+ ],
534
+ "angular_velocity": [
535
+ -1.1451020043296012e-07,
536
+ 9.826708691207386e-08,
537
+ -3.80148090783905e-09
538
+ ]
539
+ }
540
+ },
541
+ {
542
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
543
+ "pose": {
544
+ "pos": [
545
+ -1.3403358459472656,
546
+ 0.6065444946289062,
547
+ 0.9000009894371033
548
+ ],
549
+ "ori": [
550
+ -0.8807566165924072,
551
+ 2.2224357962841168e-05,
552
+ -1.6593759937677532e-05,
553
+ 0.47356918454170227
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
+ -7.816692959750071e-05,
582
+ -3.944088166463189e-05,
583
+ -0.00017489120364189148
584
+ ],
585
+ "angular_velocity": [
586
+ 0.0035632604267448187,
587
+ -0.006707894150167704,
588
+ 2.0925661374349147e-05
589
+ ]
590
+ }
591
+ },
592
+ {
593
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
594
+ "pose": {
595
+ "pos": [
596
+ 1.690567970275879,
597
+ 0.8760786056518555,
598
+ 0.8999999761581421
599
+ ],
600
+ "ori": [
601
+ 0.627449631690979,
602
+ 2.5181009277730482e-08,
603
+ -1.1967469504270412e-07,
604
+ 0.7786571979522705
605
+ ],
606
+ "scale": [
607
+ 1.0,
608
+ 1.0,
609
+ 1.0
610
+ ]
611
+ },
612
+ "dr": {
613
+ "visual": {
614
+ "kind": null,
615
+ "value": null,
616
+ "visible": true
617
+ },
618
+ "physics": {
619
+ "type": "rigid",
620
+ "mass": 0.5,
621
+ "physics_material": {
622
+ "static_friction": 0.9,
623
+ "dynamic_friction": 0.9,
624
+ "restitution": 0.0
625
+ },
626
+ "ratio": 1.0
627
+ },
628
+ "primitive_params": null
629
+ },
630
+ "type_specific": {
631
+ "linear_velocity": [
632
+ 1.3597582437796518e-07,
633
+ -1.1305650104986853e-06,
634
+ -3.0584633350372314e-06
635
+ ],
636
+ "angular_velocity": [
637
+ 9.667453559814021e-05,
638
+ 1.4450615708483383e-05,
639
+ 6.873010534036439e-07
640
+ ]
641
+ }
642
+ },
643
+ {
644
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
645
+ "pose": {
646
+ "pos": [
647
+ 0.2841815948486328,
648
+ 1.1499967575073242,
649
+ 0.8999999761581421
650
+ ],
651
+ "ori": [
652
+ 3.339552858960815e-05,
653
+ -8.756138036858374e-10,
654
+ 4.403833742117058e-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
+ -1.3713639113177578e-09,
684
+ -1.3726502157140885e-09,
685
+ 1.4901161193847656e-08
686
+ ],
687
+ "angular_velocity": [
688
+ 1.1153773726846339e-07,
689
+ -1.4574446538517805e-07,
690
+ -4.446517820611007e-09
691
+ ]
692
+ }
693
+ }
694
+ ],
695
+ "plate": [
696
+ {
697
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
698
+ "pose": {
699
+ "pos": [
700
+ 0.11236190795898438,
701
+ 0.44606971740722656,
702
+ 0.9179999828338623
703
+ ],
704
+ "ori": [
705
+ 0.9956636428833008,
706
+ 5.15835463232861e-09,
707
+ 1.265639260061846e-09,
708
+ -0.09302695095539093
709
+ ],
710
+ "scale": [
711
+ 1.0,
712
+ 1.0,
713
+ 1.0
714
+ ]
715
+ },
716
+ "dr": {
717
+ "visual": {
718
+ "kind": null,
719
+ "value": null,
720
+ "visible": true
721
+ },
722
+ "physics": {
723
+ "type": "rigid",
724
+ "collision": true,
725
+ "mass": "asset",
726
+ "max_depenetration_velocity": 1.0,
727
+ "physics_material": {
728
+ "static_friction": 0.5,
729
+ "dynamic_friction": 0.45,
730
+ "restitution": 0.0,
731
+ "friction_combine_mode": "average"
732
+ },
733
+ "ratio": 1.0
734
+ },
735
+ "primitive_params": null
736
+ },
737
+ "type_specific": {
738
+ "linear_velocity": [
739
+ -1.4656823310588152e-08,
740
+ 1.5223392324514862e-08,
741
+ 1.4156103134155273e-07
742
+ ],
743
+ "angular_velocity": [
744
+ -8.067150503165976e-08,
745
+ -1.8060516140394611e-06,
746
+ -5.935914426657973e-09
747
+ ]
748
+ }
749
+ },
750
+ {
751
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
752
+ "pose": {
753
+ "pos": [
754
+ -1.3352537155151367,
755
+ 0.6175498962402344,
756
+ 0.9180002808570862
757
+ ],
758
+ "ori": [
759
+ -0.8997269868850708,
760
+ 1.426043854735326e-05,
761
+ -9.12005179998232e-06,
762
+ 0.43645331263542175
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
+ -0.00014895637286826968,
794
+ -7.842963532311842e-05,
795
+ -0.0001324675977230072
796
+ ],
797
+ "angular_velocity": [
798
+ 0.0037957930471748114,
799
+ -0.006045046728104353,
800
+ 6.836318789282814e-05
801
+ ]
802
+ }
803
+ },
804
+ {
805
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
806
+ "pose": {
807
+ "pos": [
808
+ 1.6878013610839844,
809
+ 0.8749942779541016,
810
+ 0.9179999828338623
811
+ ],
812
+ "ori": [
813
+ 0.5627376437187195,
814
+ -2.138319814548595e-07,
815
+ -9.542986845190171e-08,
816
+ 0.8266355395317078
817
+ ],
818
+ "scale": [
819
+ 1.0,
820
+ 1.0,
821
+ 1.0
822
+ ]
823
+ },
824
+ "dr": {
825
+ "visual": {
826
+ "kind": null,
827
+ "value": null,
828
+ "visible": true
829
+ },
830
+ "physics": {
831
+ "type": "rigid",
832
+ "collision": true,
833
+ "mass": "asset",
834
+ "max_depenetration_velocity": 1.0,
835
+ "physics_material": {
836
+ "static_friction": 0.5,
837
+ "dynamic_friction": 0.45,
838
+ "restitution": 0.0,
839
+ "friction_combine_mode": "average"
840
+ },
841
+ "ratio": 1.0
842
+ },
843
+ "primitive_params": null
844
+ },
845
+ "type_specific": {
846
+ "linear_velocity": [
847
+ -1.3184877616367885e-06,
848
+ -1.1223800356674474e-05,
849
+ -4.783272743225098e-06
850
+ ],
851
+ "angular_velocity": [
852
+ 0.00011383094533812255,
853
+ 2.162075361411553e-05,
854
+ 5.979147681500763e-05
855
+ ]
856
+ }
857
+ },
858
+ {
859
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
860
+ "pose": {
861
+ "pos": [
862
+ 0.2745370864868164,
863
+ 1.1434955596923828,
864
+ 0.9179999828338623
865
+ ],
866
+ "ori": [
867
+ 0.09555308520793915,
868
+ 5.389150237178342e-10,
869
+ 6.214370795731838e-09,
870
+ 0.9954243898391724
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
+ 3.680249349713449e-08,
902
+ 1.3829863476644277e-08,
903
+ -1.3373792171478271e-06
904
+ ],
905
+ "angular_velocity": [
906
+ -7.323716886276088e-07,
907
+ 1.9392500689718872e-06,
908
+ -1.6398368885006676e-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": 7.319999999999866,
1107
+ "step": 1464,
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": 2.3549146573736968e-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": 0.28254300858573755,
1151
+ "holds": [],
1152
+ "station": "pick",
1153
+ "rider": "carrier_1",
1154
+ "arrived": true,
1155
+ "settle_count": 1400,
1156
+ "released": {
1157
+ "pick": []
1158
+ },
1159
+ "last_pos": {
1160
+ "carrier_1": [
1161
+ -0.02668324112892151,
1162
+ 7.748603820800781e-07,
1163
+ 0.0
1164
+ ],
1165
+ "carrier_2": [
1166
+ -1.49033585190773,
1167
+ 0.1565445065498352,
1168
+ 9.5367431640625e-07
1169
+ ],
1170
+ "carrier_3": [
1171
+ 1.5405679643154144,
1172
+ 0.4260786175727844,
1173
+ 0.0
1174
+ ],
1175
+ "carrier_4": [
1176
+ 0.13418158888816833,
1177
+ 0.6999967694282532,
1178
+ 0.0
1179
+ ]
1180
+ },
1181
+ "command": 0.0
1182
+ },
1183
+ "belt": {
1184
+ "target_speed": 0.0,
1185
+ "command_speed": 0.0
1186
+ },
1187
+ "seen": {
1188
+ "state": "at_station",
1189
+ "station": "pick",
1190
+ "rider": "carrier_1",
1191
+ "arrived": true
1192
+ }
1193
+ }
1194
+ },
1195
+ "queues": {},
1196
+ "program": null,
1197
+ "sensors": {},
1198
+ "interlocks": {}
1199
+ }
1200
+ },
1201
+ "zones": {},
1202
+ "labware": {
1203
+ "plate_1": {
1204
+ "sealed": false
1205
+ },
1206
+ "plate_2": {
1207
+ "sealed": false
1208
+ },
1209
+ "plate_3": {
1210
+ "sealed": false
1211
+ },
1212
+ "plate_4": {
1213
+ "sealed": false
1214
+ }
1215
+ },
1216
+ "rules": {},
1217
+ "records": [],
1218
+ "bus": {
1219
+ "seq": 3,
1220
+ "queue": []
1221
+ }
1222
+ }
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ null,
1227
+ null,
1228
+ {}
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {},
1234
+ {},
1235
+ {
1236
+ "ceiling": {
1237
+ "type": "rect",
1238
+ "pose": {
1239
+ "pos": [
1240
+ 0.38753397394449907,
1241
+ 0.48969369834645216,
1242
+ 2.9301995190409142
1243
+ ],
1244
+ "ori": [
1245
+ 11.803557438400905,
1246
+ 1.9072725164758495,
1247
+ -20.854771935368095
1248
+ ],
1249
+ "scale": [
1250
+ 1.0,
1251
+ 1.0,
1252
+ 1.0
1253
+ ]
1254
+ },
1255
+ "dr": {
1256
+ "color_temperature": 5949.904612877761,
1257
+ "color": [
1258
+ 0.9814187144065718,
1259
+ 0.8857791669662278,
1260
+ 0.7929000762577451
1261
+ ],
1262
+ "intensity": 4143.143637082796,
1263
+ "width": 1.875696935045126,
1264
+ "height": 1.423796146567795
1265
+ }
1266
+ },
1267
+ "key": {
1268
+ "type": "disk",
1269
+ "pose": {
1270
+ "pos": [
1271
+ -0.27693905800637775,
1272
+ -0.5920790339915495,
1273
+ 1.8159440420126072
1274
+ ],
1275
+ "ori": [
1276
+ 27.811556728574217,
1277
+ 20.76237830697093,
1278
+ 39.71339305235381
1279
+ ],
1280
+ "scale": [
1281
+ 1.0,
1282
+ 1.0,
1283
+ 1.0
1284
+ ]
1285
+ },
1286
+ "dr": {
1287
+ "color_temperature": 3748.6686556347267,
1288
+ "color": [
1289
+ 0.8029310354828636,
1290
+ 0.9877837887246691,
1291
+ 0.8238394068668816
1292
+ ],
1293
+ "intensity": 4515.76650036054,
1294
+ "radius": 0.28814726682629455
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": 1515.2679904711936,
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
+ -0.023821663111448288,
1394
+ -2.0849227905273438,
1395
+ 2.373537302017212,
1396
+ -1.8605884313583374,
1397
+ -1.5709913969039917,
1398
+ 4.715380668640137,
1399
+ 0.008149315603077412,
1400
+ 0.006927561480551958
1401
+ ],
1402
+ [
1403
+ 0.9169536828994751,
1404
+ -1.7878613471984863,
1405
+ 2.2438809871673584,
1406
+ -2.0266644954681396,
1407
+ -1.5707926750183105,
1408
+ 1.8419424295425415,
1409
+ 0.007964588701725006,
1410
+ 0.006324046291410923
1411
+ ],
1412
+ [
1413
+ 0.9141024947166443,
1414
+ -1.7193981409072876,
1415
+ 2.09049916267395,
1416
+ -1.9419001340866089,
1417
+ -1.5707999467849731,
1418
+ 2.4849002361297607,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 0.9141026139259338,
1424
+ -1.7193981409072876,
1425
+ 2.0904994010925293,
1426
+ -1.941900372505188,
1427
+ -1.5707999467849731,
1428
+ 2.484900712966919,
1429
+ 0.017999999225139618,
1430
+ 0.017999999225139618
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0014368485426530242,
1436
+ 0.002124601975083351,
1437
+ 0.009146389551460743,
1438
+ -0.0006261001108214259,
1439
+ 0.0024035645183175802,
1440
+ -0.0053785559721291065,
1441
+ -0.007336380425840616,
1442
+ 0.0003432688827160746
1443
+ ],
1444
+ [
1445
+ 0.029231049120426178,
1446
+ 0.013838427141308784,
1447
+ -0.0028807148337364197,
1448
+ -0.00719252647832036,
1449
+ -0.0010161217069253325,
1450
+ -0.07429095357656479,
1451
+ -0.008305072784423828,
1452
+ 0.00023027232964523137
1453
+ ],
1454
+ [
1455
+ -2.843748580391768e-38,
1456
+ 2.3836818355963516e-38,
1457
+ 2.581156458565012e-38,
1458
+ 6.417617381208853e-37,
1459
+ -7.3260197605757445e-37,
1460
+ -8.418609258508999e-37,
1461
+ 9.968533473699683e-38,
1462
+ -2.0212654150664885e-38
1463
+ ],
1464
+ [
1465
+ 7.011180954181839e-37,
1466
+ -2.4045836819629346e-36,
1467
+ -1.1702688752176571e-36,
1468
+ -9.376695627811482e-37,
1469
+ 4.375039449642633e-37,
1470
+ 2.1305117643840227e-37,
1471
+ -1.2013858622879243e-37,
1472
+ -1.5028488824762794e-38
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04957834631204605,
1482
+ -0.002056631725281477,
1483
+ -0.03372752293944359,
1484
+ -0.2810095250606537,
1485
+ 0.6511939764022827,
1486
+ 0.6515762209892273,
1487
+ -0.2691253423690796
1488
+ ],
1489
+ [
1490
+ 0.051121704280376434,
1491
+ -0.0017598536796867847,
1492
+ -0.03215935453772545,
1493
+ -0.27561962604522705,
1494
+ 0.6536687016487122,
1495
+ 0.6456690430641174,
1496
+ -0.2825995683670044
1497
+ ],
1498
+ [
1499
+ 0.05014059320092201,
1500
+ -0.0007461020140908659,
1501
+ -0.028723208233714104,
1502
+ -0.27734047174453735,
1503
+ 0.6563037633895874,
1504
+ 0.6410226821899414,
1505
+ -0.2853725552558899
1506
+ ],
1507
+ [
1508
+ 0.05008190497756004,
1509
+ 0.003216047305613756,
1510
+ -0.029891854152083397,
1511
+ -0.28945350646972656,
1512
+ 0.6466552019119263,
1513
+ 0.6438730955123901,
1514
+ -0.2889310121536255
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.06192278861999512,
1520
+ 0.5832493901252747,
1521
+ 1.9399951696395874,
1522
+ 0.049162253737449646,
1523
+ 0.008120778948068619,
1524
+ 0.2616416811943054,
1525
+ 0.9638779759407043
1526
+ ],
1527
+ [
1528
+ 0.04323829710483551,
1529
+ 0.5623473525047302,
1530
+ 1.9700183868408203,
1531
+ 0.036982886493206024,
1532
+ 0.020772486925125122,
1533
+ 0.259806364774704,
1534
+ 0.9647286534309387
1535
+ ],
1536
+ [
1537
+ 0.05684191361069679,
1538
+ 0.5565974116325378,
1539
+ 1.9404911994934082,
1540
+ 0.05314744636416435,
1541
+ 0.012400009669363499,
1542
+ 0.2593832015991211,
1543
+ 0.9642312526702881
1544
+ ],
1545
+ [
1546
+ 0.03777161240577698,
1547
+ 0.5695332884788513,
1548
+ 1.9709194898605347,
1549
+ 0.06008792668581009,
1550
+ 0.01635018363595009,
1551
+ 0.2571718990802765,
1552
+ 0.9643571376800537
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c2_p019_e032/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2ac0cfd19acafe5e8ad650398b1bf62dfbb79145d457997c5985562597ed131a
3
+ size 7432205
episodes/c2_p019_e033/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50575b2dd46ad9c36646dd086e3f212c4aa2afbcbea2d83f949d1a657ce19757
3
+ size 188953
episodes/c2_p019_e033/device_events.jsonl ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 73, "t": 0.365, "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": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 1294, "t": 6.47, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 1328, "t": 6.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
6
+ {"env_id": 2, "seq": 6, "step": 1365, "t": 6.825, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
7
+ {"env_id": 2, "seq": 7, "step": 1454, "t": 7.27, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
8
+ {"env_id": 2, "seq": 8, "step": 1473, "t": 7.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
9
+ {"env_id": 2, "seq": 9, "step": 6087, "t": 30.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
10
+ {"env_id": 2, "seq": 10, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
11
+ {"env_id": 2, "seq": 11, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.684490108993917}, "cause": "task-2-1"}
12
+ {"env_id": 2, "seq": 12, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
13
+ {"env_id": 2, "seq": 13, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
14
+ {"env_id": 2, "seq": 14, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
15
+ {"env_id": 2, "seq": 15, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
16
+ {"env_id": 2, "seq": 16, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
17
+ {"env_id": 2, "seq": 17, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
18
+ {"env_id": 2, "seq": 18, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
19
+ {"env_id": 2, "seq": 19, "step": 7119, "t": 35.595, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
20
+ {"env_id": 2, "seq": 20, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
21
+ {"env_id": 2, "seq": 21, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
23
+ {"env_id": 2, "seq": 23, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.684490108993917}, "cause": "program-2-3"}
24
+ {"env_id": 2, "seq": 24, "step": 7656, "t": 38.28, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
25
+ {"env_id": 2, "seq": 25, "step": 7656, "t": 38.28, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.6850000000013736}, "cause": "program-2-3"}
26
+ {"env_id": 2, "seq": 26, "step": 7656, "t": 38.28, "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": 2.6850000000013736}}, "cause": "program-2-3"}
27
+ {"env_id": 2, "seq": 27, "step": 7656, "t": 38.28, "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"}
28
+ {"env_id": 2, "seq": 28, "step": 7656, "t": 38.28, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
29
+ {"env_id": 2, "seq": 29, "step": 7656, "t": 38.28, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
30
+ {"env_id": 2, "seq": 30, "step": 8076, "t": 40.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
31
+ {"env_id": 2, "seq": 31, "step": 8076, "t": 40.38, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"}
32
+ {"env_id": 2, "seq": 32, "step": 8076, "t": 40.38, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"}
33
+ {"env_id": 2, "seq": 33, "step": 8076, "t": 40.38, "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"}
34
+ {"env_id": 2, "seq": 34, "step": 8076, "t": 40.38, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
35
+ {"env_id": 2, "seq": 35, "step": 8076, "t": 40.38, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
36
+ {"env_id": 2, "seq": 36, "step": 8654, "t": 43.27, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
37
+ {"env_id": 2, "seq": 37, "step": 10376, "t": 51.88, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
38
+ {"env_id": 2, "seq": 38, "step": 10376, "t": 51.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
39
+ {"env_id": 2, "seq": 39, "step": 10376, "t": 51.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
40
+ {"env_id": 2, "seq": 40, "step": 10376, "t": 51.88, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
episodes/c2_p019_e033/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cacc918a1bd3f38a88d7f03f0e1f856297141b7d8545b3733a230e1bb2059609
3
+ size 1260392
episodes/c2_p019_e033/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c2_p019/magicsim/33",
3
+ "fps": 25,
4
+ "frames": 1193,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1193,
8
+ "env": 1193
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c2_p019_e033/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 33,
3
+ "env_id": 2,
4
+ "run_id": "c2_p019",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 2,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {
23
+ "rac_cell": [
24
+ {
25
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
26
+ "pose": {
27
+ "pos": [
28
+ 0.0,
29
+ 0.0,
30
+ 0.0
31
+ ],
32
+ "ori": [
33
+ 1.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0
37
+ ],
38
+ "scale": [
39
+ 1.0,
40
+ 1.0,
41
+ 1.0
42
+ ]
43
+ },
44
+ "dr": {
45
+ "visual": {
46
+ "kind": null,
47
+ "value": null,
48
+ "visible": true
49
+ },
50
+ "physics": {
51
+ "type": "geometry",
52
+ "collision": false,
53
+ "physics_material": {
54
+ "static_friction": 0.6,
55
+ "dynamic_friction": 0.5,
56
+ "restitution": 0.0
57
+ },
58
+ "ratio": 1.0
59
+ },
60
+ "primitive_params": null
61
+ },
62
+ "type_specific": {}
63
+ }
64
+ ],
65
+ "robot_mount": [
66
+ {
67
+ "asset": "Cube",
68
+ "pose": {
69
+ "pos": [
70
+ 0.0,
71
+ 0.0,
72
+ 0.9075
73
+ ],
74
+ "ori": [
75
+ 1.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0
79
+ ],
80
+ "scale": [
81
+ 1.0,
82
+ 1.0,
83
+ 1.0
84
+ ]
85
+ },
86
+ "dr": {
87
+ "visual": {
88
+ "kind": "color",
89
+ "value": [
90
+ 0.55,
91
+ 0.56,
92
+ 0.58
93
+ ],
94
+ "visible": true
95
+ },
96
+ "physics": {
97
+ "type": "geometry",
98
+ "collision": false,
99
+ "ratio": 1.0
100
+ },
101
+ "primitive_params": {
102
+ "size": [
103
+ 0.2,
104
+ 0.2,
105
+ 0.015
106
+ ]
107
+ }
108
+ },
109
+ "type_specific": {}
110
+ }
111
+ ],
112
+ "plate_rack": [
113
+ {
114
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
115
+ "pose": {
116
+ "pos": [
117
+ -0.6,
118
+ 0.02,
119
+ 0.9
120
+ ],
121
+ "ori": [
122
+ 6.123234262925839e-17,
123
+ 0.0,
124
+ 0.0,
125
+ 1.0
126
+ ],
127
+ "scale": [
128
+ 1.0,
129
+ 1.0,
130
+ 1.0
131
+ ]
132
+ },
133
+ "dr": {
134
+ "visual": {
135
+ "kind": null,
136
+ "value": null,
137
+ "visible": true
138
+ },
139
+ "physics": {
140
+ "type": "geometry",
141
+ "collision": false,
142
+ "physics_material": {
143
+ "static_friction": 0.6,
144
+ "dynamic_friction": 0.5,
145
+ "restitution": 0.0
146
+ },
147
+ "ratio": 1.0
148
+ },
149
+ "primitive_params": null
150
+ },
151
+ "type_specific": {}
152
+ }
153
+ ],
154
+ "hotel_plate": [
155
+ {
156
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
192
+ "pose": {
193
+ "pos": [
194
+ -0.6,
195
+ 0.02,
196
+ 1.0285
197
+ ],
198
+ "ori": [
199
+ 6.123234262925839e-17,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ],
204
+ "scale": [
205
+ 1.0,
206
+ 1.0,
207
+ 1.0
208
+ ]
209
+ },
210
+ "dr": {
211
+ "visual": {
212
+ "kind": null,
213
+ "value": null,
214
+ "visible": true
215
+ },
216
+ "physics": {
217
+ "type": "geometry",
218
+ "collision": false,
219
+ "ratio": 1.0
220
+ },
221
+ "primitive_params": null
222
+ },
223
+ "type_specific": {}
224
+ },
225
+ {
226
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
262
+ "pose": {
263
+ "pos": [
264
+ -0.6,
265
+ 0.02,
266
+ 1.1645
267
+ ],
268
+ "ori": [
269
+ 6.123234262925839e-17,
270
+ 0.0,
271
+ 0.0,
272
+ 1.0
273
+ ],
274
+ "scale": [
275
+ 1.0,
276
+ 1.0,
277
+ 1.0
278
+ ]
279
+ },
280
+ "dr": {
281
+ "visual": {
282
+ "kind": null,
283
+ "value": null,
284
+ "visible": true
285
+ },
286
+ "physics": {
287
+ "type": "geometry",
288
+ "collision": false,
289
+ "ratio": 1.0
290
+ },
291
+ "primitive_params": null
292
+ },
293
+ "type_specific": {}
294
+ },
295
+ {
296
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.5298547744750977,
337
+ 0.07348442077636719,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ -0.6992824077606201,
342
+ 0.0,
343
+ 0.0,
344
+ 0.7148455381393433
345
+ ],
346
+ "scale": [
347
+ 1.0,
348
+ 1.0,
349
+ 1.0
350
+ ]
351
+ },
352
+ "dr": {
353
+ "visual": {
354
+ "kind": null,
355
+ "value": null,
356
+ "visible": true
357
+ },
358
+ "physics": {
359
+ "type": "articulation",
360
+ "solver_position_iteration_count": 16.0,
361
+ "solver_velocity_iteration_count": 1.0,
362
+ "enabled_self_collisions": false,
363
+ "ratio": 1.0
364
+ },
365
+ "primitive_params": null
366
+ },
367
+ "type_specific": {
368
+ "joint_position": [
369
+ 2.018499083156211e-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": 0.26859332544799097,
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": -0.06720917153826314,
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": 0.26859332544799097,
479
+ "holds": [],
480
+ "station": "pick",
481
+ "rider": "carrier_1",
482
+ "arrived": true,
483
+ "applied_speed": 0.0
484
+ }
485
+ }
486
+ }
487
+ ],
488
+ "carrier": [
489
+ {
490
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 0.0833425521850586,
494
+ 0.45000171661376953,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ 1.0,
499
+ 5.285164306201295e-09,
500
+ -2.934920528829821e-09,
501
+ -1.2506149005275802e-06
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ 1.7483756664660177e-09,
530
+ 1.4350586274858301e-09,
531
+ 1.4901161193847656e-08
532
+ ],
533
+ "angular_velocity": [
534
+ -3.996510500314798e-08,
535
+ 1.5582604362407437e-07,
536
+ -2.728128301043853e-08
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ 0.5381345748901367,
545
+ 1.1499977111816406,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ 7.794389239279553e-05,
550
+ -2.949841482191573e-10,
551
+ 4.538194264824824e-10,
552
+ 1.0
553
+ ],
554
+ "scale": [
555
+ 1.0,
556
+ 1.0,
557
+ 1.0
558
+ ]
559
+ },
560
+ "dr": {
561
+ "visual": {
562
+ "kind": null,
563
+ "value": null,
564
+ "visible": true
565
+ },
566
+ "physics": {
567
+ "type": "rigid",
568
+ "mass": 0.5,
569
+ "physics_material": {
570
+ "static_friction": 0.9,
571
+ "dynamic_friction": 0.9,
572
+ "restitution": 0.0
573
+ },
574
+ "ratio": 1.0
575
+ },
576
+ "primitive_params": null
577
+ },
578
+ "type_specific": {
579
+ "linear_velocity": [
580
+ -2.0335773065482954e-09,
581
+ -1.180677999812474e-09,
582
+ 1.1175870895385742e-08
583
+ ],
584
+ "angular_velocity": [
585
+ 5.190890206563381e-08,
586
+ -1.949886296870318e-07,
587
+ -1.8326558048897823e-08
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ 1.688563346862793,
596
+ 0.8782453536987305,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ 0.6333096623420715,
601
+ 8.075173241195444e-08,
602
+ -4.545024268054476e-08,
603
+ 0.7738986015319824
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ -4.478945658803468e-09,
632
+ -6.601514002113618e-09,
633
+ 4.470348358154297e-08
634
+ ],
635
+ "angular_velocity": [
636
+ 4.779097935170284e-07,
637
+ 5.57136985435136e-08,
638
+ 9.188567418050297e-08
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ -1.1026229858398438,
647
+ 1.1425933837890625,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ -0.07010360062122345,
652
+ -1.7585486489224422e-07,
653
+ -2.203436544334636e-09,
654
+ 0.997539758682251
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
+ -1.2425174418240204e-06,
683
+ -6.944021890831209e-08,
684
+ -2.738088369369507e-06
685
+ ],
686
+ "angular_velocity": [
687
+ 1.2636563951673452e-05,
688
+ -0.00010746147745521739,
689
+ -2.5589446295271046e-07
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 0.09040164947509766,
700
+ 0.4445009231567383,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ 0.9975507259368896,
705
+ 3.079477561840349e-09,
706
+ -1.6810146608037257e-09,
707
+ -0.06994767487049103
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ -1.650278846909714e-08,
739
+ 1.749014444385466e-08,
740
+ 1.4901161193847656e-07
741
+ ],
742
+ "angular_velocity": [
743
+ -3.6140670545137255e-07,
744
+ -1.7840695818449603e-06,
745
+ 1.1954655931845082e-08
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ 0.5338430404663086,
754
+ 1.1533803939819336,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ -0.027456052601337433,
759
+ -6.354479165082694e-10,
760
+ 6.497110627279312e-10,
761
+ 0.9996230602264404
762
+ ],
763
+ "scale": [
764
+ 1.0,
765
+ 1.0,
766
+ 1.0
767
+ ]
768
+ },
769
+ "dr": {
770
+ "visual": {
771
+ "kind": null,
772
+ "value": null,
773
+ "visible": true
774
+ },
775
+ "physics": {
776
+ "type": "rigid",
777
+ "collision": true,
778
+ "mass": "asset",
779
+ "max_depenetration_velocity": 1.0,
780
+ "physics_material": {
781
+ "static_friction": 0.5,
782
+ "dynamic_friction": 0.45,
783
+ "restitution": 0.0,
784
+ "friction_combine_mode": "average"
785
+ },
786
+ "ratio": 1.0
787
+ },
788
+ "primitive_params": null
789
+ },
790
+ "type_specific": {
791
+ "linear_velocity": [
792
+ 7.18750570172233e-09,
793
+ -1.537732430278993e-08,
794
+ -5.330890417098999e-06
795
+ ],
796
+ "angular_velocity": [
797
+ -3.6340290421321697e-07,
798
+ 1.911319714054116e-06,
799
+ -3.415076577084619e-08
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ 1.7020959854125977,
808
+ 0.8675060272216797,
809
+ 0.9180000424385071
810
+ ],
811
+ "ori": [
812
+ 0.5732945799827576,
813
+ 7.65224683618726e-08,
814
+ -5.2564605113047946e-08,
815
+ 0.8193493485450745
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ -1.99997032268584e-08,
847
+ -7.87616016850734e-08,
848
+ -5.941838026046753e-06
849
+ ],
850
+ "angular_velocity": [
851
+ 3.985804596595699e-06,
852
+ 1.3141120689397212e-06,
853
+ 5.211431925999932e-07
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ -1.0944633483886719,
862
+ 1.1558818817138672,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ -0.06109720095992088,
867
+ -1.3137375276528473e-07,
868
+ -2.2120097753486334e-08,
869
+ 0.9981318116188049
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
+ -3.515431671985425e-06,
901
+ -2.266498881908774e-07,
902
+ -3.829598426818848e-06
903
+ ],
904
+ "angular_velocity": [
905
+ 1.2292404790059663e-05,
906
+ -8.895025530364364e-05,
907
+ -9.637378752813675e-07
908
+ ]
909
+ }
910
+ }
911
+ ],
912
+ "deco_hub_west": [
913
+ {
914
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
915
+ "pose": {
916
+ "pos": [
917
+ -3.36,
918
+ 0.0,
919
+ 0.0
920
+ ],
921
+ "ori": [
922
+ 1.0,
923
+ 0.0,
924
+ 0.0,
925
+ 0.0
926
+ ],
927
+ "scale": [
928
+ 1.0,
929
+ 1.0,
930
+ 1.0
931
+ ]
932
+ },
933
+ "dr": {
934
+ "visual": {
935
+ "kind": null,
936
+ "value": null,
937
+ "visible": true
938
+ },
939
+ "physics": {
940
+ "type": "geometry",
941
+ "collision": false,
942
+ "ratio": 1.0
943
+ },
944
+ "primitive_params": null
945
+ },
946
+ "type_specific": {}
947
+ }
948
+ ],
949
+ "deco_hub_east": [
950
+ {
951
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
952
+ "pose": {
953
+ "pos": [
954
+ 3.36,
955
+ 0.0,
956
+ 0.0
957
+ ],
958
+ "ori": [
959
+ 1.0,
960
+ 0.0,
961
+ 0.0,
962
+ 0.0
963
+ ],
964
+ "scale": [
965
+ 1.0,
966
+ 1.0,
967
+ 1.0
968
+ ]
969
+ },
970
+ "dr": {
971
+ "visual": {
972
+ "kind": null,
973
+ "value": null,
974
+ "visible": true
975
+ },
976
+ "physics": {
977
+ "type": "geometry",
978
+ "collision": false,
979
+ "ratio": 1.0
980
+ },
981
+ "primitive_params": null
982
+ },
983
+ "type_specific": {}
984
+ }
985
+ ],
986
+ "deco_hub_back": [
987
+ {
988
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
989
+ "pose": {
990
+ "pos": [
991
+ -3.0,
992
+ -2.1,
993
+ 0.0
994
+ ],
995
+ "ori": [
996
+ 1.0,
997
+ 0.0,
998
+ 0.0,
999
+ 0.0
1000
+ ],
1001
+ "scale": [
1002
+ 1.0,
1003
+ 1.0,
1004
+ 1.0
1005
+ ]
1006
+ },
1007
+ "dr": {
1008
+ "visual": {
1009
+ "kind": null,
1010
+ "value": null,
1011
+ "visible": true
1012
+ },
1013
+ "physics": {
1014
+ "type": "geometry",
1015
+ "collision": false,
1016
+ "ratio": 1.0
1017
+ },
1018
+ "primitive_params": null
1019
+ },
1020
+ "type_specific": {}
1021
+ }
1022
+ ],
1023
+ "deco_bench_east": [
1024
+ {
1025
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1026
+ "pose": {
1027
+ "pos": [
1028
+ 2.6,
1029
+ -2.5,
1030
+ 0.0
1031
+ ],
1032
+ "ori": [
1033
+ 6.123234262925839e-17,
1034
+ 0.0,
1035
+ 0.0,
1036
+ 1.0
1037
+ ],
1038
+ "scale": [
1039
+ 1.0,
1040
+ 1.0,
1041
+ 1.0
1042
+ ]
1043
+ },
1044
+ "dr": {
1045
+ "visual": {
1046
+ "kind": null,
1047
+ "value": null,
1048
+ "visible": true
1049
+ },
1050
+ "physics": {
1051
+ "type": "geometry",
1052
+ "collision": false,
1053
+ "ratio": 1.0
1054
+ },
1055
+ "primitive_params": null
1056
+ },
1057
+ "type_specific": {}
1058
+ }
1059
+ ],
1060
+ "deco_bench_gap": [
1061
+ {
1062
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1063
+ "pose": {
1064
+ "pos": [
1065
+ -0.1,
1066
+ -2.9,
1067
+ 0.0
1068
+ ],
1069
+ "ori": [
1070
+ 1.0,
1071
+ 0.0,
1072
+ 0.0,
1073
+ 0.0
1074
+ ],
1075
+ "scale": [
1076
+ 1.0,
1077
+ 1.0,
1078
+ 1.0
1079
+ ]
1080
+ },
1081
+ "dr": {
1082
+ "visual": {
1083
+ "kind": null,
1084
+ "value": null,
1085
+ "visible": true
1086
+ },
1087
+ "physics": {
1088
+ "type": "geometry",
1089
+ "collision": false,
1090
+ "ratio": 1.0
1091
+ },
1092
+ "primitive_params": null
1093
+ },
1094
+ "type_specific": {}
1095
+ }
1096
+ ]
1097
+ },
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ null,
1104
+ {
1105
+ "t": 4.33999999999993,
1106
+ "step": 868,
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": 2.018499083156211e-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": 0.26859332544799097,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_1",
1153
+ "arrived": true,
1154
+ "settle_count": 794,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ -0.06665745377540588,
1161
+ 1.7285346984863281e-06,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ 0.38813456892967224,
1166
+ 0.6999977231025696,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ 1.5385633409023285,
1171
+ 0.4282453656196594,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ -1.2526229918003082,
1176
+ 0.6925933957099915,
1177
+ 0.0
1178
+ ]
1179
+ },
1180
+ "command": 0.0
1181
+ },
1182
+ "belt": {
1183
+ "target_speed": 0.0,
1184
+ "command_speed": 0.0
1185
+ },
1186
+ "seen": {
1187
+ "state": "at_station",
1188
+ "station": "pick",
1189
+ "rider": "carrier_1",
1190
+ "arrived": true
1191
+ }
1192
+ }
1193
+ },
1194
+ "queues": {},
1195
+ "program": null,
1196
+ "sensors": {},
1197
+ "interlocks": {}
1198
+ }
1199
+ },
1200
+ "zones": {},
1201
+ "labware": {
1202
+ "plate_1": {
1203
+ "sealed": false
1204
+ },
1205
+ "plate_2": {
1206
+ "sealed": false
1207
+ },
1208
+ "plate_3": {
1209
+ "sealed": false
1210
+ },
1211
+ "plate_4": {
1212
+ "sealed": false
1213
+ }
1214
+ },
1215
+ "rules": {},
1216
+ "records": [],
1217
+ "bus": {
1218
+ "seq": 3,
1219
+ "queue": []
1220
+ }
1221
+ },
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ null,
1227
+ {},
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {},
1234
+ {
1235
+ "ceiling": {
1236
+ "type": "rect",
1237
+ "pose": {
1238
+ "pos": [
1239
+ 0.25401481517275915,
1240
+ -0.49187443021598104,
1241
+ 3.0138532973280596
1242
+ ],
1243
+ "ori": [
1244
+ -10.325452470297531,
1245
+ 3.0929214821574043,
1246
+ 15.327630664888105
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 6088.128511604026,
1256
+ "color": [
1257
+ 0.9747188817435746,
1258
+ 0.8227783493105338,
1259
+ 0.9894648371026213
1260
+ ],
1261
+ "intensity": 5843.834900921619,
1262
+ "width": 1.864128414677532,
1263
+ "height": 0.9266885872852715
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "sphere",
1268
+ "pose": {
1269
+ "pos": [
1270
+ 1.4737500095899487,
1271
+ 0.25983117758167307,
1272
+ 2.7417536132649145
1273
+ ],
1274
+ "ori": [
1275
+ 32.68986284809243,
1276
+ -25.937565746746767,
1277
+ 9.173955125520322
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 6889.463316286325,
1287
+ "color": [
1288
+ 0.9353799183871221,
1289
+ 0.938881569031112,
1290
+ 0.9188740152664188
1291
+ ],
1292
+ "intensity": 7576.81389148223,
1293
+ "radius": 0.15616682625116712
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": 1515.2679904711936,
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
+ 1.1454272270202637,
1394
+ -1.6041721105575562,
1395
+ 2.2028286457061768,
1396
+ -2.171900987625122,
1397
+ -1.5715428590774536,
1398
+ 5.8628411293029785,
1399
+ 0.0070972866378724575,
1400
+ 0.007940081879496574
1401
+ ],
1402
+ [
1403
+ 1.5503674745559692,
1404
+ -1.498658299446106,
1405
+ 2.1251332759857178,
1406
+ -2.196293354034424,
1407
+ -1.5709798336029053,
1408
+ 0.2092185914516449,
1409
+ 0.0072770509868860245,
1410
+ 0.006692593917250633
1411
+ ],
1412
+ [
1413
+ 0.9141039252281189,
1414
+ -1.7193957567214966,
1415
+ 2.0904977321624756,
1416
+ -1.9419000148773193,
1417
+ -1.5707999467849731,
1418
+ 2.4849002361297607,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 0.7580801248550415,
1424
+ -1.320787787437439,
1425
+ 2.14726185798645,
1426
+ -2.3972268104553223,
1427
+ -1.5707964897155762,
1428
+ 2.5150561332702637,
1429
+ 0.018000049516558647,
1430
+ 0.017999950796365738
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.052122563123703,
1436
+ 0.021695801988244057,
1437
+ -0.006408039480447769,
1438
+ -0.015333924442529678,
1439
+ 0.0009319493547081947,
1440
+ 0.04415581002831459,
1441
+ -0.006250830367207527,
1442
+ 0.00035049888538196683
1443
+ ],
1444
+ [
1445
+ 0.018688155338168144,
1446
+ 0.008489218540489674,
1447
+ -0.003063394222408533,
1448
+ -0.004702891688793898,
1449
+ 9.472982492297888e-05,
1450
+ -0.046981193125247955,
1451
+ -0.007804082706570625,
1452
+ 0.00020829742425121367
1453
+ ],
1454
+ [
1455
+ 3.0853168083608925e-36,
1456
+ -1.0809179955828685e-35,
1457
+ -5.395560683233496e-36,
1458
+ -1.4884290056005421e-36,
1459
+ 7.748199374583457e-37,
1460
+ 8.59487691077826e-37,
1461
+ 2.1154450032956022e-37,
1462
+ -1.642917295984085e-37
1463
+ ],
1464
+ [
1465
+ -0.00016698261606507003,
1466
+ 0.017090780660510063,
1467
+ 0.007331369444727898,
1468
+ -0.023132774978876114,
1469
+ -7.993430699571036e-06,
1470
+ 1.3117312846588902e-05,
1471
+ -7.810001989128068e-06,
1472
+ 7.785758498357609e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.0467001348733902,
1482
+ -0.0006724104750901461,
1483
+ -0.032523076981306076,
1484
+ -0.2812565565109253,
1485
+ 0.645622730255127,
1486
+ 0.6570730805397034,
1487
+ -0.26892560720443726
1488
+ ],
1489
+ [
1490
+ 0.04911147058010101,
1491
+ -0.0035550349857658148,
1492
+ -0.031656354665756226,
1493
+ -0.2720070779323578,
1494
+ 0.6495978832244873,
1495
+ 0.6447728276252747,
1496
+ -0.29715773463249207
1497
+ ],
1498
+ [
1499
+ 0.04912739247083664,
1500
+ -0.0009177330648526549,
1501
+ -0.029317457228899002,
1502
+ -0.2768979072570801,
1503
+ 0.6523953676223755,
1504
+ 0.6428139805793762,
1505
+ -0.2906855046749115
1506
+ ],
1507
+ [
1508
+ 0.049556098878383636,
1509
+ 0.002357101533561945,
1510
+ -0.02839840017259121,
1511
+ -0.2836304306983948,
1512
+ 0.6457997560501099,
1513
+ 0.6481902599334717,
1514
+ -0.28695955872535706
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.06192278861999512,
1520
+ 0.5832493901252747,
1521
+ 1.9399951696395874,
1522
+ 0.049162253737449646,
1523
+ 0.008120778948068619,
1524
+ 0.2616416811943054,
1525
+ 0.9638779759407043
1526
+ ],
1527
+ [
1528
+ 0.04323829710483551,
1529
+ 0.5623473525047302,
1530
+ 1.9700183868408203,
1531
+ 0.036982886493206024,
1532
+ 0.020772486925125122,
1533
+ 0.259806364774704,
1534
+ 0.9647286534309387
1535
+ ],
1536
+ [
1537
+ 0.05684191361069679,
1538
+ 0.5565974116325378,
1539
+ 1.9404911994934082,
1540
+ 0.05314744636416435,
1541
+ 0.012400009669363499,
1542
+ 0.2593832015991211,
1543
+ 0.9642312526702881
1544
+ ],
1545
+ [
1546
+ 0.03777161240577698,
1547
+ 0.5695332884788513,
1548
+ 1.9709194898605347,
1549
+ 0.06008792668581009,
1550
+ 0.01635018363595009,
1551
+ 0.2571718990802765,
1552
+ 0.9643571376800537
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c2_p019_e033/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:308322c83aff96a8506e5ed78671ab9f65d4eb128e7d828a959fa13bcdac3557
3
+ size 6731293
episodes/c7_p017_e009/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:127e48e7a91694432cf904f99e4408788c2e8a0b01784310191666ecc4283d04
3
+ size 189123
episodes/c7_p017_e009/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 35, "t": 0.175, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 35, "t": 0.175, "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": 40, "t": 0.2, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 6766, "t": 33.83, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 7380, "t": 36.9, "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": 7380, "t": 36.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0084630583925644}, "cause": "task-1-1"}
7
+ {"env_id": 1, "seq": 7, "step": 7380, "t": 36.9, "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": 7380, "t": 36.9, "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": 7380, "t": 36.9, "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": 7799, "t": 38.995, "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": 7799, "t": 38.995, "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": 7799, "t": 38.995, "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": 7799, "t": 38.995, "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": 7799, "t": 38.995, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
15
+ {"env_id": 1, "seq": 15, "step": 7799, "t": 38.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"}
16
+ {"env_id": 1, "seq": 16, "step": 7799, "t": 38.995, "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": 7799, "t": 38.995, "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": 7799, "t": 38.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0084630583925644}, "cause": "program-1-3"}
19
+ {"env_id": 1, "seq": 19, "step": 8201, "t": 41.005, "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": 8201, "t": 41.005, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0100000000010283}, "cause": "program-1-3"}
21
+ {"env_id": 1, "seq": 21, "step": 8201, "t": 41.005, "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": 2.0100000000010283}}, "cause": "program-1-3"}
22
+ {"env_id": 1, "seq": 22, "step": 8201, "t": 41.005, "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": 8201, "t": 41.005, "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": 8201, "t": 41.005, "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": 8621, "t": 43.105, "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": 8621, "t": 43.105, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.740944620050923e-12}, "cause": "program-1-4"}
27
+ {"env_id": 1, "seq": 27, "step": 8621, "t": 43.105, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.740944620050923e-12}, "cause": "program-1-4"}
28
+ {"env_id": 1, "seq": 28, "step": 8621, "t": 43.105, "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": 8621, "t": 43.105, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
30
+ {"env_id": 1, "seq": 30, "step": 8621, "t": 43.105, "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": 9197, "t": 45.985, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
32
+ {"env_id": 1, "seq": 32, "step": 10980, "t": 54.9, "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": 10980, "t": 54.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"}
34
+ {"env_id": 1, "seq": 34, "step": 10980, "t": 54.9, "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": 10980, "t": 54.9, "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/c7_p017_e009/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0b489bccbe7b7df9a42b04a7ef00421f9c7b1fd96cb398e7795d94529fd2f654
3
+ size 1255272
episodes/c7_p017_e009/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c7_p017/magicsim/9",
3
+ "fps": 25,
4
+ "frames": 1181,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1181,
8
+ "env": 1181
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c7_p017_e009/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 9,
3
+ "env_id": 1,
4
+ "run_id": "c7_p017",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 1,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {
22
+ "rac_cell": [
23
+ {
24
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
25
+ "pose": {
26
+ "pos": [
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "ori": [
32
+ 1.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0
36
+ ],
37
+ "scale": [
38
+ 1.0,
39
+ 1.0,
40
+ 1.0
41
+ ]
42
+ },
43
+ "dr": {
44
+ "visual": {
45
+ "kind": null,
46
+ "value": null,
47
+ "visible": true
48
+ },
49
+ "physics": {
50
+ "type": "geometry",
51
+ "collision": false,
52
+ "physics_material": {
53
+ "static_friction": 0.6,
54
+ "dynamic_friction": 0.5,
55
+ "restitution": 0.0
56
+ },
57
+ "ratio": 1.0
58
+ },
59
+ "primitive_params": null
60
+ },
61
+ "type_specific": {}
62
+ }
63
+ ],
64
+ "robot_mount": [
65
+ {
66
+ "asset": "Cube",
67
+ "pose": {
68
+ "pos": [
69
+ 0.0,
70
+ 0.0,
71
+ 0.9075
72
+ ],
73
+ "ori": [
74
+ 1.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "scale": [
80
+ 1.0,
81
+ 1.0,
82
+ 1.0
83
+ ]
84
+ },
85
+ "dr": {
86
+ "visual": {
87
+ "kind": "color",
88
+ "value": [
89
+ 0.55,
90
+ 0.56,
91
+ 0.58
92
+ ],
93
+ "visible": true
94
+ },
95
+ "physics": {
96
+ "type": "geometry",
97
+ "collision": false,
98
+ "ratio": 1.0
99
+ },
100
+ "primitive_params": {
101
+ "size": [
102
+ 0.2,
103
+ 0.2,
104
+ 0.015
105
+ ]
106
+ }
107
+ },
108
+ "type_specific": {}
109
+ }
110
+ ],
111
+ "plate_rack": [
112
+ {
113
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
114
+ "pose": {
115
+ "pos": [
116
+ -0.6,
117
+ 0.02,
118
+ 0.9
119
+ ],
120
+ "ori": [
121
+ 6.123234262925839e-17,
122
+ 0.0,
123
+ 0.0,
124
+ 1.0
125
+ ],
126
+ "scale": [
127
+ 1.0,
128
+ 1.0,
129
+ 1.0
130
+ ]
131
+ },
132
+ "dr": {
133
+ "visual": {
134
+ "kind": null,
135
+ "value": null,
136
+ "visible": true
137
+ },
138
+ "physics": {
139
+ "type": "geometry",
140
+ "collision": false,
141
+ "physics_material": {
142
+ "static_friction": 0.6,
143
+ "dynamic_friction": 0.5,
144
+ "restitution": 0.0
145
+ },
146
+ "ratio": 1.0
147
+ },
148
+ "primitive_params": null
149
+ },
150
+ "type_specific": {}
151
+ }
152
+ ],
153
+ "hotel_plate": [
154
+ {
155
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
191
+ "pose": {
192
+ "pos": [
193
+ -0.6,
194
+ 0.02,
195
+ 1.0285
196
+ ],
197
+ "ori": [
198
+ 6.123234262925839e-17,
199
+ 0.0,
200
+ 0.0,
201
+ 1.0
202
+ ],
203
+ "scale": [
204
+ 1.0,
205
+ 1.0,
206
+ 1.0
207
+ ]
208
+ },
209
+ "dr": {
210
+ "visual": {
211
+ "kind": null,
212
+ "value": null,
213
+ "visible": true
214
+ },
215
+ "physics": {
216
+ "type": "geometry",
217
+ "collision": false,
218
+ "ratio": 1.0
219
+ },
220
+ "primitive_params": null
221
+ },
222
+ "type_specific": {}
223
+ },
224
+ {
225
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.5025548934936523,
336
+ 0.05330467224121094,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.6839194893836975,
341
+ 0.0,
342
+ 0.0,
343
+ 0.7295575141906738
344
+ ],
345
+ "scale": [
346
+ 1.0,
347
+ 1.0,
348
+ 1.0
349
+ ]
350
+ },
351
+ "dr": {
352
+ "visual": {
353
+ "kind": null,
354
+ "value": null,
355
+ "visible": true
356
+ },
357
+ "physics": {
358
+ "type": "articulation",
359
+ "solver_position_iteration_count": 16.0,
360
+ "solver_velocity_iteration_count": 1.0,
361
+ "enabled_self_collisions": false,
362
+ "ratio": 1.0
363
+ },
364
+ "primitive_params": null
365
+ },
366
+ "type_specific": {
367
+ "joint_position": [
368
+ 4.7098327841943455e-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": 0.2723044306403687,
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": -0.20035269808046707,
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": 0.2723044306403687,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_3",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ -1.3946685791015625,
493
+ 0.7448024749755859,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ -0.7598758935928345,
498
+ -6.252300011055922e-08,
499
+ -6.144998110357847e-08,
500
+ 0.6500682234764099
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ 2.1247544168545573e-08,
529
+ -9.099161388803623e-07,
530
+ -4.194676876068115e-06
531
+ ],
532
+ "angular_velocity": [
533
+ 7.703219307586551e-05,
534
+ 2.4925034267653245e-06,
535
+ -1.0227748248325952e-07
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 1.6830511093139648,
544
+ 0.6957902908325195,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 0.8073285818099976,
549
+ 2.9781515920035417e-08,
550
+ -2.421237752514571e-07,
551
+ 0.5901023149490356
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
+ 3.0983877685741845e-09,
580
+ 3.4539526794219455e-10,
581
+ 0.0
582
+ ],
583
+ "angular_velocity": [
584
+ 1.4008252335884208e-08,
585
+ 9.045282922670594e-08,
586
+ 3.1649790344090434e-08
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ -0.050201416015625,
595
+ 0.4499988555908203,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ 1.0,
600
+ -1.964588935976508e-09,
601
+ -2.8770050231052835e-10,
602
+ 2.238464730908163e-06
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 6.959455234323286e-10,
631
+ 4.1742997947125104e-10,
632
+ 0.0
633
+ ],
634
+ "angular_velocity": [
635
+ -8.98216114819661e-08,
636
+ 5.389155433022097e-08,
637
+ -1.0468258260232233e-08
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ 0.6438093185424805,
646
+ 1.1499977111816406,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ 4.944951433571987e-05,
651
+ 6.23531504206909e-11,
652
+ -4.517316243290992e-10,
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
+ -3.977227436280373e-09,
682
+ -3.6628116095727137e-09,
683
+ 3.725290298461914e-08
684
+ ],
685
+ "angular_velocity": [
686
+ 2.2901069485214975e-07,
687
+ -3.8027351934033504e-07,
688
+ -3.1264750788295714e-08
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ -1.392171859741211,
699
+ 0.7384281158447266,
700
+ 0.9179999828338623
701
+ ],
702
+ "ori": [
703
+ -0.8081953525543213,
704
+ -4.922249274841306e-08,
705
+ -5.7701015521161025e-08,
706
+ 0.5889145731925964
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ 3.6055865848538815e-08,
738
+ -2.0436284557945328e-06,
739
+ -4.645437002182007e-06
740
+ ],
741
+ "angular_velocity": [
742
+ 7.665391603950411e-05,
743
+ 1.9267608877271414e-06,
744
+ -4.4068892179893737e-07
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 1.6929826736450195,
753
+ 0.6964921951293945,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ 0.8168078660964966,
758
+ 3.472649723335053e-08,
759
+ -2.4037910861807177e-07,
760
+ 0.5769098997116089
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
+ -6.62002506146564e-08,
792
+ -2.7943061198243413e-09,
793
+ -4.637986421585083e-06
794
+ ],
795
+ "angular_velocity": [
796
+ 1.788612962627667e-06,
797
+ -9.370720590595738e-07,
798
+ 4.1577595766284503e-07
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ -0.05928516387939453,
807
+ 0.44739246368408203,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ 0.9989118576049805,
812
+ -1.659894333094769e-09,
813
+ -2.1229883129247895e-10,
814
+ -0.04663952440023422
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ -1.0398258254440407e-08,
846
+ 1.5305966272194382e-08,
847
+ -5.662441253662109e-06
848
+ ],
849
+ "angular_velocity": [
850
+ -1.6319344808835012e-07,
851
+ -1.1522806744324043e-06,
852
+ 1.0569885233735477e-07
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ 0.629638671875,
861
+ 1.157170295715332,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.02664445899426937,
866
+ 1.1786573939076561e-09,
867
+ -5.138236947033192e-09,
868
+ 0.9996449947357178
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
+ 4.093881855737891e-08,
900
+ -3.747716803559342e-08,
901
+ 2.4586915969848633e-07
902
+ ],
903
+ "angular_velocity": [
904
+ 1.2219810514579876e-06,
905
+ 2.427252411507652e-06,
906
+ 4.314413715178489e-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": 7.8199999999998555,
1105
+ "step": 1564,
1106
+ "counter": 0,
1107
+ "devices": {
1108
+ "a4s_sealer_1": {
1109
+ "mode": "auto",
1110
+ "units": {
1111
+ "drawer": {
1112
+ "state": "at_out",
1113
+ "active": null,
1114
+ "target": 0.0,
1115
+ "goal_name": "out",
1116
+ "profile": null,
1117
+ "q_start": null,
1118
+ "reversing": false,
1119
+ "blocked_for": 0.0,
1120
+ "settled_for": 0.0,
1121
+ "last_q": 4.7098327841943455e-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": 0.2723044306403687,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_3",
1152
+ "arrived": true,
1153
+ "settle_count": 1528,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ -1.544668585062027,
1160
+ 0.2948024868965149,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ 1.5330511033535004,
1165
+ 0.2457903027534485,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ -0.20020142197608948,
1170
+ -1.1324882507324219e-06,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ 0.493809312582016,
1175
+ 0.6999977231025696,
1176
+ 0.0
1177
+ ]
1178
+ },
1179
+ "command": 0.0
1180
+ },
1181
+ "belt": {
1182
+ "target_speed": 0.0,
1183
+ "command_speed": 0.0
1184
+ },
1185
+ "seen": {
1186
+ "state": "at_station",
1187
+ "station": "pick",
1188
+ "rider": "carrier_3",
1189
+ "arrived": true
1190
+ }
1191
+ }
1192
+ },
1193
+ "queues": {},
1194
+ "program": null,
1195
+ "sensors": {},
1196
+ "interlocks": {}
1197
+ }
1198
+ },
1199
+ "zones": {},
1200
+ "labware": {
1201
+ "plate_1": {
1202
+ "sealed": false
1203
+ },
1204
+ "plate_2": {
1205
+ "sealed": false
1206
+ },
1207
+ "plate_3": {
1208
+ "sealed": false
1209
+ },
1210
+ "plate_4": {
1211
+ "sealed": false
1212
+ }
1213
+ },
1214
+ "rules": {},
1215
+ "records": [],
1216
+ "bus": {
1217
+ "seq": 3,
1218
+ "queue": []
1219
+ }
1220
+ },
1221
+ null,
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ {},
1227
+ null,
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {
1234
+ "ceiling": {
1235
+ "type": "rect",
1236
+ "pose": {
1237
+ "pos": [
1238
+ 0.3527295378972922,
1239
+ 0.1519195775383535,
1240
+ 3.131188380274814
1241
+ ],
1242
+ "ori": [
1243
+ -14.190997834334688,
1244
+ -12.732760048196527,
1245
+ -29.53229649232936
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 5622.513495875373,
1255
+ "color": [
1256
+ 0.9529327487042426,
1257
+ 0.9051646066070974,
1258
+ 0.8289736025822746
1259
+ ],
1260
+ "intensity": 10377.330169458426,
1261
+ "width": 1.8533929454608733,
1262
+ "height": 1.5265862437190063
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ 0.8669635417506316,
1270
+ 0.020113890656014766,
1271
+ 2.7609735175975088
1272
+ ],
1273
+ "ori": [
1274
+ -20.191864571848264,
1275
+ -28.116025489711465,
1276
+ 38.488519551476486
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 4274.197743685838,
1286
+ "color": [
1287
+ 0.899006827705423,
1288
+ 0.7975595398984172,
1289
+ 0.9984055599550916
1290
+ ],
1291
+ "intensity": 2309.5244132591297,
1292
+ "radius": 0.1492555797133452
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": 1147.9338130431793,
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
+ 1.0807393789291382,
1394
+ -1.631804347038269,
1395
+ 2.173293113708496,
1396
+ -2.1134493350982666,
1397
+ -1.5713187456130981,
1398
+ 2.674837589263916,
1399
+ 0.008647140115499496,
1400
+ 0.0065337722189724445
1401
+ ],
1402
+ [
1403
+ 0.9141103029251099,
1404
+ -1.7193973064422607,
1405
+ 2.090498208999634,
1406
+ -1.9419009685516357,
1407
+ -1.5707999467849731,
1408
+ 2.4849038124084473,
1409
+ 0.01799999736249447,
1410
+ 0.018000001087784767
1411
+ ],
1412
+ [
1413
+ 1.2420804500579834,
1414
+ -1.4988036155700684,
1415
+ 2.0937695503234863,
1416
+ -2.1657323837280273,
1417
+ -1.570786952972412,
1418
+ 2.616764545440674,
1419
+ 0.007807728368788958,
1420
+ 0.007292908150702715
1421
+ ],
1422
+ [
1423
+ 0.9154937267303467,
1424
+ -1.2387644052505493,
1425
+ 2.144684076309204,
1426
+ -2.4766809940338135,
1427
+ -1.5707964897155762,
1428
+ 2.363126039505005,
1429
+ 0.018000030890107155,
1430
+ 0.01799996756017208
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.05509467422962189,
1436
+ -0.031314998865127563,
1437
+ 0.021961070597171783,
1438
+ 0.011528593488037586,
1439
+ 0.004953482653945684,
1440
+ 0.06797914206981659,
1441
+ -0.0045273322612047195,
1442
+ 0.0002192437241319567
1443
+ ],
1444
+ [
1445
+ -2.5029491504919654e-38,
1446
+ 2.2752359079616397e-38,
1447
+ 0.0,
1448
+ 5.051708317236989e-37,
1449
+ -8.178430737463302e-38,
1450
+ 5.217615777595927e-37,
1451
+ 2.599039206074849e-08,
1452
+ -2.599039206074849e-08
1453
+ ],
1454
+ [
1455
+ 0.0004150405584368855,
1456
+ 2.6790963602252305e-05,
1457
+ -0.00033694226294755936,
1458
+ 0.00031520496122539043,
1459
+ 6.276471685850993e-05,
1460
+ 0.00025552522856742144,
1461
+ -0.006117536686360836,
1462
+ 0.00036924457526765764
1463
+ ],
1464
+ [
1465
+ -0.00011910402099601924,
1466
+ 0.015215810388326645,
1467
+ 0.004862833768129349,
1468
+ -0.01900225505232811,
1469
+ -9.463989044888876e-06,
1470
+ -5.4970081691863015e-05,
1471
+ -6.9124967012612615e-06,
1472
+ 6.913575361977564e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04966942220926285,
1482
+ 0.00025641595129854977,
1483
+ -0.029314113780856133,
1484
+ -0.27105075120925903,
1485
+ 0.6488802433013916,
1486
+ 0.6545149087905884,
1487
+ -0.27766185998916626
1488
+ ],
1489
+ [
1490
+ 0.05209324136376381,
1491
+ 0.0024047037586569786,
1492
+ -0.025759819895029068,
1493
+ -0.2827647924423218,
1494
+ 0.6495679020881653,
1495
+ 0.645127534866333,
1496
+ -0.28620994091033936
1497
+ ],
1498
+ [
1499
+ 0.045868657529354095,
1500
+ 0.0005333910812623799,
1501
+ -0.029948269948363304,
1502
+ -0.27756354212760925,
1503
+ 0.6467891931533813,
1504
+ 0.6589254140853882,
1505
+ -0.26540452241897583
1506
+ ],
1507
+ [
1508
+ 0.047989726066589355,
1509
+ 3.4443073673173785e-06,
1510
+ -0.0288008414208889,
1511
+ -0.2691745162010193,
1512
+ 0.651244044303894,
1513
+ 0.6503220796585083,
1514
+ -0.2837384045124054
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0536700002849102,
1520
+ 0.5586802363395691,
1521
+ 1.9665110111236572,
1522
+ 0.04179704561829567,
1523
+ 0.003135326784104109,
1524
+ 0.27098914980888367,
1525
+ 0.961669385433197
1526
+ ],
1527
+ [
1528
+ 0.06668241322040558,
1529
+ 0.5950438976287842,
1530
+ 1.9433468580245972,
1531
+ 0.025198446586728096,
1532
+ 0.01673242263495922,
1533
+ 0.276438444852829,
1534
+ 0.9605554938316345
1535
+ ],
1536
+ [
1537
+ 0.05006523057818413,
1538
+ 0.5637229084968567,
1539
+ 1.9291114807128906,
1540
+ 0.03521127626299858,
1541
+ 0.018498025834560394,
1542
+ 0.2684616148471832,
1543
+ 0.9624688625335693
1544
+ ],
1545
+ [
1546
+ 0.03383839130401611,
1547
+ 0.5616859197616577,
1548
+ 1.9472358226776123,
1549
+ 0.04294122755527496,
1550
+ 0.025806371122598648,
1551
+ 0.2737720310688019,
1552
+ 0.9604889154434204
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c7_p017_e009/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:01473c0637daa657f4a5d1e2ddcbfe5fef273346a1b98f252c44acb031954073
3
+ size 8029342
episodes/c7_p017_e010/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:85fa1e1dd62746c7da3c394d272d2527a581fe6cc3273908a8d6a5771a6ddec7
3
+ size 206208
episodes/c7_p017_e010/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 137, "t": 0.685, "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": 142, "t": 0.71, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 5615, "t": 28.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
6
+ {"env_id": 2, "seq": 6, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.308394609886607}, "cause": "task-2-1"}
7
+ {"env_id": 2, "seq": 7, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
8
+ {"env_id": 2, "seq": 8, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
9
+ {"env_id": 2, "seq": 9, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
10
+ {"env_id": 2, "seq": 10, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
11
+ {"env_id": 2, "seq": 11, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
12
+ {"env_id": 2, "seq": 12, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
13
+ {"env_id": 2, "seq": 13, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
14
+ {"env_id": 2, "seq": 14, "step": 6647, "t": 33.235, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
15
+ {"env_id": 2, "seq": 15, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"}
16
+ {"env_id": 2, "seq": 16, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
17
+ {"env_id": 2, "seq": 17, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
18
+ {"env_id": 2, "seq": 18, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.308394609886607}, "cause": "program-2-3"}
19
+ {"env_id": 2, "seq": 19, "step": 7509, "t": 37.545, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
20
+ {"env_id": 2, "seq": 20, "step": 7509, "t": 37.545, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.310000000002205}, "cause": "program-2-3"}
21
+ {"env_id": 2, "seq": 21, "step": 7509, "t": 37.545, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.310000000002205}}, "cause": "program-2-3"}
22
+ {"env_id": 2, "seq": 22, "step": 7509, "t": 37.545, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
23
+ {"env_id": 2, "seq": 23, "step": 7509, "t": 37.545, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
24
+ {"env_id": 2, "seq": 24, "step": 7509, "t": 37.545, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
25
+ {"env_id": 2, "seq": 25, "step": 7929, "t": 39.645, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
26
+ {"env_id": 2, "seq": 26, "step": 7929, "t": 39.645, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"}
27
+ {"env_id": 2, "seq": 27, "step": 7929, "t": 39.645, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"}
28
+ {"env_id": 2, "seq": 28, "step": 7929, "t": 39.645, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
29
+ {"env_id": 2, "seq": 29, "step": 7929, "t": 39.645, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
30
+ {"env_id": 2, "seq": 30, "step": 7929, "t": 39.645, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
31
+ {"env_id": 2, "seq": 31, "step": 8510, "t": 42.55, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
32
+ {"env_id": 2, "seq": 32, "step": 10716, "t": 53.58, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
33
+ {"env_id": 2, "seq": 33, "step": 10716, "t": 53.58, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"}
34
+ {"env_id": 2, "seq": 34, "step": 10716, "t": 53.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
35
+ {"env_id": 2, "seq": 35, "step": 10716, "t": 53.58, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
episodes/c7_p017_e010/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9dd99e5db2fde7007bc94d502581ab8567eea47f75d7d5bae02b2cb81a673172
3
+ size 1376677
episodes/c7_p017_e010/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c7_p017/magicsim/10",
3
+ "fps": 25,
4
+ "frames": 1317,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1317,
8
+ "env": 1317
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c7_p017_e010/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 10,
3
+ "env_id": 2,
4
+ "run_id": "c7_p017",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 2,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {
23
+ "rac_cell": [
24
+ {
25
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
26
+ "pose": {
27
+ "pos": [
28
+ 0.0,
29
+ 0.0,
30
+ 0.0
31
+ ],
32
+ "ori": [
33
+ 1.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0
37
+ ],
38
+ "scale": [
39
+ 1.0,
40
+ 1.0,
41
+ 1.0
42
+ ]
43
+ },
44
+ "dr": {
45
+ "visual": {
46
+ "kind": null,
47
+ "value": null,
48
+ "visible": true
49
+ },
50
+ "physics": {
51
+ "type": "geometry",
52
+ "collision": false,
53
+ "physics_material": {
54
+ "static_friction": 0.6,
55
+ "dynamic_friction": 0.5,
56
+ "restitution": 0.0
57
+ },
58
+ "ratio": 1.0
59
+ },
60
+ "primitive_params": null
61
+ },
62
+ "type_specific": {}
63
+ }
64
+ ],
65
+ "robot_mount": [
66
+ {
67
+ "asset": "Cube",
68
+ "pose": {
69
+ "pos": [
70
+ 0.0,
71
+ 0.0,
72
+ 0.9075
73
+ ],
74
+ "ori": [
75
+ 1.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0
79
+ ],
80
+ "scale": [
81
+ 1.0,
82
+ 1.0,
83
+ 1.0
84
+ ]
85
+ },
86
+ "dr": {
87
+ "visual": {
88
+ "kind": "color",
89
+ "value": [
90
+ 0.55,
91
+ 0.56,
92
+ 0.58
93
+ ],
94
+ "visible": true
95
+ },
96
+ "physics": {
97
+ "type": "geometry",
98
+ "collision": false,
99
+ "ratio": 1.0
100
+ },
101
+ "primitive_params": {
102
+ "size": [
103
+ 0.2,
104
+ 0.2,
105
+ 0.015
106
+ ]
107
+ }
108
+ },
109
+ "type_specific": {}
110
+ }
111
+ ],
112
+ "plate_rack": [
113
+ {
114
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
115
+ "pose": {
116
+ "pos": [
117
+ -0.6,
118
+ 0.02,
119
+ 0.9
120
+ ],
121
+ "ori": [
122
+ 6.123234262925839e-17,
123
+ 0.0,
124
+ 0.0,
125
+ 1.0
126
+ ],
127
+ "scale": [
128
+ 1.0,
129
+ 1.0,
130
+ 1.0
131
+ ]
132
+ },
133
+ "dr": {
134
+ "visual": {
135
+ "kind": null,
136
+ "value": null,
137
+ "visible": true
138
+ },
139
+ "physics": {
140
+ "type": "geometry",
141
+ "collision": false,
142
+ "physics_material": {
143
+ "static_friction": 0.6,
144
+ "dynamic_friction": 0.5,
145
+ "restitution": 0.0
146
+ },
147
+ "ratio": 1.0
148
+ },
149
+ "primitive_params": null
150
+ },
151
+ "type_specific": {}
152
+ }
153
+ ],
154
+ "hotel_plate": [
155
+ {
156
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
192
+ "pose": {
193
+ "pos": [
194
+ -0.6,
195
+ 0.02,
196
+ 1.0285
197
+ ],
198
+ "ori": [
199
+ 6.123234262925839e-17,
200
+ 0.0,
201
+ 0.0,
202
+ 1.0
203
+ ],
204
+ "scale": [
205
+ 1.0,
206
+ 1.0,
207
+ 1.0
208
+ ]
209
+ },
210
+ "dr": {
211
+ "visual": {
212
+ "kind": null,
213
+ "value": null,
214
+ "visible": true
215
+ },
216
+ "physics": {
217
+ "type": "geometry",
218
+ "collision": false,
219
+ "ratio": 1.0
220
+ },
221
+ "primitive_params": null
222
+ },
223
+ "type_specific": {}
224
+ },
225
+ {
226
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.5249652862548828,
337
+ 0.08799362182617188,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ 0.7331762313842773,
342
+ 0.0,
343
+ 0.0,
344
+ -0.6800386905670166
345
+ ],
346
+ "scale": [
347
+ 1.0,
348
+ 1.0,
349
+ 1.0
350
+ ]
351
+ },
352
+ "dr": {
353
+ "visual": {
354
+ "kind": null,
355
+ "value": null,
356
+ "visible": true
357
+ },
358
+ "physics": {
359
+ "type": "articulation",
360
+ "solver_position_iteration_count": 16.0,
361
+ "solver_velocity_iteration_count": 1.0,
362
+ "enabled_self_collisions": false,
363
+ "ratio": 1.0
364
+ },
365
+ "primitive_params": null
366
+ },
367
+ "type_specific": {
368
+ "joint_position": [
369
+ 1.6820822078961184e-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": 0.1982646014800963,
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": -0.2640625754301551,
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": 0.1982646014800963,
479
+ "holds": [],
480
+ "station": "pick",
481
+ "rider": "carrier_4",
482
+ "arrived": true,
483
+ "applied_speed": 0.0
484
+ }
485
+ }
486
+ }
487
+ ],
488
+ "carrier": [
489
+ {
490
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 1.6961774826049805,
494
+ 0.8285055160522461,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ 0.6817814111709595,
499
+ -1.0802477135030131e-07,
500
+ -3.421742178488785e-08,
501
+ 0.7315559387207031
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ -1.2827516826519059e-11,
530
+ 2.2367441232518104e-11,
531
+ 0.0
532
+ ],
533
+ "angular_velocity": [
534
+ 1.3602658555100788e-08,
535
+ 1.87009376872993e-08,
536
+ 6.592498102975242e-09
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ 0.6570453643798828,
545
+ 1.152653694152832,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ -0.01007116585969925,
550
+ 9.354022001417661e-10,
551
+ -2.7455054896208253e-10,
552
+ 0.9999492764472961
553
+ ],
554
+ "scale": [
555
+ 1.0,
556
+ 1.0,
557
+ 1.0
558
+ ]
559
+ },
560
+ "dr": {
561
+ "visual": {
562
+ "kind": null,
563
+ "value": null,
564
+ "visible": true
565
+ },
566
+ "physics": {
567
+ "type": "rigid",
568
+ "mass": 0.5,
569
+ "physics_material": {
570
+ "static_friction": 0.9,
571
+ "dynamic_friction": 0.9,
572
+ "restitution": 0.0
573
+ },
574
+ "ratio": 1.0
575
+ },
576
+ "primitive_params": null
577
+ },
578
+ "type_specific": {
579
+ "linear_velocity": [
580
+ -3.093292288980365e-10,
581
+ -2.0659194355232557e-09,
582
+ 7.450580596923828e-09
583
+ ],
584
+ "angular_velocity": [
585
+ 1.5137290176880924e-07,
586
+ -1.3924200459314306e-08,
587
+ -3.289602368283795e-09
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ -1.325368881225586,
596
+ 1.0110931396484375,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ -0.4375618100166321,
601
+ -8.579287502641364e-09,
602
+ -1.4037709661351983e-08,
603
+ 0.8991883397102356
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ -4.1979583698115164e-10,
632
+ 8.155726094472016e-10,
633
+ -3.725290298461914e-09
634
+ ],
635
+ "angular_velocity": [
636
+ -7.258755374550674e-08,
637
+ -8.212659885487028e-09,
638
+ 6.370015182000088e-09
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ -0.11401939392089844,
647
+ 0.44803714752197266,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ 0.999874472618103,
652
+ 8.46426040368442e-09,
653
+ -1.4193438424570104e-08,
654
+ 0.01584484986960888
655
+ ],
656
+ "scale": [
657
+ 1.0,
658
+ 1.0,
659
+ 1.0
660
+ ]
661
+ },
662
+ "dr": {
663
+ "visual": {
664
+ "kind": null,
665
+ "value": null,
666
+ "visible": true
667
+ },
668
+ "physics": {
669
+ "type": "rigid",
670
+ "mass": 0.5,
671
+ "physics_material": {
672
+ "static_friction": 0.9,
673
+ "dynamic_friction": 0.9,
674
+ "restitution": 0.0
675
+ },
676
+ "ratio": 1.0
677
+ },
678
+ "primitive_params": null
679
+ },
680
+ "type_specific": {
681
+ "linear_velocity": [
682
+ -4.721556479125866e-10,
683
+ 1.6649206457941546e-08,
684
+ 2.60770320892334e-08
685
+ ],
686
+ "angular_velocity": [
687
+ -5.432136731542414e-07,
688
+ -1.2989512754302268e-07,
689
+ 4.883967719138127e-08
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 1.6909942626953125,
700
+ 0.839259147644043,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ 0.660652220249176,
705
+ -1.0970074981742073e-07,
706
+ -3.2936497973423684e-08,
707
+ 0.7506920695304871
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ 2.1059516797095057e-08,
739
+ -6.484092551772846e-08,
740
+ 9.313225746154785e-08
741
+ ],
742
+ "angular_velocity": [
743
+ 1.991972567338962e-06,
744
+ 1.550754518575559e-06,
745
+ 1.3395165865404124e-07
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ 0.6686601638793945,
754
+ 1.1606645584106445,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.07661870121955872,
759
+ 1.314804265462044e-09,
760
+ -1.9634549541791557e-09,
761
+ 0.9970605373382568
762
+ ],
763
+ "scale": [
764
+ 1.0,
765
+ 1.0,
766
+ 1.0
767
+ ]
768
+ },
769
+ "dr": {
770
+ "visual": {
771
+ "kind": null,
772
+ "value": null,
773
+ "visible": true
774
+ },
775
+ "physics": {
776
+ "type": "rigid",
777
+ "collision": true,
778
+ "mass": "asset",
779
+ "max_depenetration_velocity": 1.0,
780
+ "physics_material": {
781
+ "static_friction": 0.5,
782
+ "dynamic_friction": 0.45,
783
+ "restitution": 0.0,
784
+ "friction_combine_mode": "average"
785
+ },
786
+ "ratio": 1.0
787
+ },
788
+ "primitive_params": null
789
+ },
790
+ "type_specific": {
791
+ "linear_velocity": [
792
+ 1.4277643067828194e-08,
793
+ -2.876453564226722e-08,
794
+ -4.541128873825073e-06
795
+ ],
796
+ "angular_velocity": [
797
+ 8.83965242337581e-07,
798
+ 1.4760150861548027e-06,
799
+ 9.008881818317604e-08
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ -1.3224544525146484,
808
+ 0.9992198944091797,
809
+ 0.9180000424385071
810
+ ],
811
+ "ori": [
812
+ -0.46086254715919495,
813
+ -9.149350610471174e-09,
814
+ -1.4372991685718262e-08,
815
+ 0.8874715566635132
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ -1.8854231953469025e-08,
847
+ 2.0100817010870742e-08,
848
+ -5.122274160385132e-06
849
+ ],
850
+ "angular_velocity": [
851
+ -2.1118103177286685e-06,
852
+ -2.467803597028251e-07,
853
+ -7.532135271048901e-08
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ -0.11657142639160156,
862
+ 0.4464530944824219,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ 0.9951916933059692,
867
+ 8.517784699790809e-09,
868
+ -1.578493069587239e-08,
869
+ 0.0979464054107666
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
+ -7.635946985828923e-08,
901
+ 4.433976386053473e-08,
902
+ -1.4044344425201416e-06
903
+ ],
904
+ "angular_velocity": [
905
+ 1.0501937595108757e-06,
906
+ -3.3724954846547917e-06,
907
+ 2.0384602805734175e-07
908
+ ]
909
+ }
910
+ }
911
+ ],
912
+ "deco_hub_west": [
913
+ {
914
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd",
915
+ "pose": {
916
+ "pos": [
917
+ -3.36,
918
+ 0.0,
919
+ 0.0
920
+ ],
921
+ "ori": [
922
+ 1.0,
923
+ 0.0,
924
+ 0.0,
925
+ 0.0
926
+ ],
927
+ "scale": [
928
+ 1.0,
929
+ 1.0,
930
+ 1.0
931
+ ]
932
+ },
933
+ "dr": {
934
+ "visual": {
935
+ "kind": null,
936
+ "value": null,
937
+ "visible": true
938
+ },
939
+ "physics": {
940
+ "type": "geometry",
941
+ "collision": false,
942
+ "ratio": 1.0
943
+ },
944
+ "primitive_params": null
945
+ },
946
+ "type_specific": {}
947
+ }
948
+ ],
949
+ "deco_hub_east": [
950
+ {
951
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
952
+ "pose": {
953
+ "pos": [
954
+ 3.36,
955
+ 0.0,
956
+ 0.0
957
+ ],
958
+ "ori": [
959
+ 1.0,
960
+ 0.0,
961
+ 0.0,
962
+ 0.0
963
+ ],
964
+ "scale": [
965
+ 1.0,
966
+ 1.0,
967
+ 1.0
968
+ ]
969
+ },
970
+ "dr": {
971
+ "visual": {
972
+ "kind": null,
973
+ "value": null,
974
+ "visible": true
975
+ },
976
+ "physics": {
977
+ "type": "geometry",
978
+ "collision": false,
979
+ "ratio": 1.0
980
+ },
981
+ "primitive_params": null
982
+ },
983
+ "type_specific": {}
984
+ }
985
+ ],
986
+ "deco_hub_back": [
987
+ {
988
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
989
+ "pose": {
990
+ "pos": [
991
+ -3.0,
992
+ -2.1,
993
+ 0.0
994
+ ],
995
+ "ori": [
996
+ 1.0,
997
+ 0.0,
998
+ 0.0,
999
+ 0.0
1000
+ ],
1001
+ "scale": [
1002
+ 1.0,
1003
+ 1.0,
1004
+ 1.0
1005
+ ]
1006
+ },
1007
+ "dr": {
1008
+ "visual": {
1009
+ "kind": null,
1010
+ "value": null,
1011
+ "visible": true
1012
+ },
1013
+ "physics": {
1014
+ "type": "geometry",
1015
+ "collision": false,
1016
+ "ratio": 1.0
1017
+ },
1018
+ "primitive_params": null
1019
+ },
1020
+ "type_specific": {}
1021
+ }
1022
+ ],
1023
+ "deco_bench_east": [
1024
+ {
1025
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1026
+ "pose": {
1027
+ "pos": [
1028
+ 2.6,
1029
+ -2.5,
1030
+ 0.0
1031
+ ],
1032
+ "ori": [
1033
+ 6.123234262925839e-17,
1034
+ 0.0,
1035
+ 0.0,
1036
+ 1.0
1037
+ ],
1038
+ "scale": [
1039
+ 1.0,
1040
+ 1.0,
1041
+ 1.0
1042
+ ]
1043
+ },
1044
+ "dr": {
1045
+ "visual": {
1046
+ "kind": null,
1047
+ "value": null,
1048
+ "visible": true
1049
+ },
1050
+ "physics": {
1051
+ "type": "geometry",
1052
+ "collision": false,
1053
+ "ratio": 1.0
1054
+ },
1055
+ "primitive_params": null
1056
+ },
1057
+ "type_specific": {}
1058
+ }
1059
+ ],
1060
+ "deco_bench_gap": [
1061
+ {
1062
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1063
+ "pose": {
1064
+ "pos": [
1065
+ -0.1,
1066
+ -2.9,
1067
+ 0.0
1068
+ ],
1069
+ "ori": [
1070
+ 1.0,
1071
+ 0.0,
1072
+ 0.0,
1073
+ 0.0
1074
+ ],
1075
+ "scale": [
1076
+ 1.0,
1077
+ 1.0,
1078
+ 1.0
1079
+ ]
1080
+ },
1081
+ "dr": {
1082
+ "visual": {
1083
+ "kind": null,
1084
+ "value": null,
1085
+ "visible": true
1086
+ },
1087
+ "physics": {
1088
+ "type": "geometry",
1089
+ "collision": false,
1090
+ "ratio": 1.0
1091
+ },
1092
+ "primitive_params": null
1093
+ },
1094
+ "type_specific": {}
1095
+ }
1096
+ ]
1097
+ },
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ null,
1104
+ {
1105
+ "t": 1.1399999999999977,
1106
+ "step": 228,
1107
+ "counter": 0,
1108
+ "devices": {
1109
+ "a4s_sealer_1": {
1110
+ "mode": "auto",
1111
+ "units": {
1112
+ "drawer": {
1113
+ "state": "at_out",
1114
+ "active": null,
1115
+ "target": 0.0,
1116
+ "goal_name": "out",
1117
+ "profile": null,
1118
+ "q_start": null,
1119
+ "reversing": false,
1120
+ "blocked_for": 0.0,
1121
+ "settled_for": 0.0,
1122
+ "last_q": 1.6820822078961184e-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": 0.1982646014800963,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_4",
1153
+ "arrived": true,
1154
+ "settle_count": 90,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ 1.546177476644516,
1161
+ 0.37850552797317505,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ 0.5070453584194183,
1166
+ 0.702653706073761,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ -1.4753688871860504,
1171
+ 0.5610931515693665,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ -0.2640193998813629,
1176
+ -0.0019628405570983887,
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_4",
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
+ -0.4786525165616401,
1240
+ 0.3003765454734152,
1241
+ 2.9063248018036356
1242
+ ],
1243
+ "ori": [
1244
+ -8.802430769428234,
1245
+ 3.9238382491290977,
1246
+ -12.842077850005495
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 6477.629122240707,
1256
+ "color": [
1257
+ 0.8456661431597743,
1258
+ 0.8070990143615493,
1259
+ 0.8833279466858329
1260
+ ],
1261
+ "intensity": 15002.977549860381,
1262
+ "width": 1.5877469336122403,
1263
+ "height": 1.467432245746699
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "disk",
1268
+ "pose": {
1269
+ "pos": [
1270
+ -1.5296044934196968,
1271
+ 0.469593921041348,
1272
+ 2.77202951773945
1273
+ ],
1274
+ "ori": [
1275
+ 38.25471091082446,
1276
+ -2.8168980511981943,
1277
+ -10.596945266632652
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 7027.908908498758,
1287
+ "color": [
1288
+ 0.8036205114562501,
1289
+ 0.9136951701078825,
1290
+ 0.848207224286355
1291
+ ],
1292
+ "intensity": 8651.252334028779,
1293
+ "radius": 0.25504111152119435
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": 1147.9338130431793,
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
+ 0.9059669375419617,
1394
+ -1.270205020904541,
1395
+ 2.2326772212982178,
1396
+ -2.5332818031311035,
1397
+ -1.5707809925079346,
1398
+ 2.503293752670288,
1399
+ 0.007602508179843426,
1400
+ 0.0070694671012461185
1401
+ ],
1402
+ [
1403
+ 0.9141038060188293,
1404
+ -1.7193962335586548,
1405
+ 2.0904979705810547,
1406
+ -1.9419007301330566,
1407
+ -1.5707999467849731,
1408
+ 2.484900712966919,
1409
+ 0.01799999736249447,
1410
+ 0.018000001087784767
1411
+ ],
1412
+ [
1413
+ 0.9140999913215637,
1414
+ -1.7194000482559204,
1415
+ 2.0905001163482666,
1416
+ -1.9419000148773193,
1417
+ -1.5707999467849731,
1418
+ 2.4848999977111816,
1419
+ 0.017999999225139618,
1420
+ 0.017999999225139618
1421
+ ],
1422
+ [
1423
+ 1.229282021522522,
1424
+ -1.456236720085144,
1425
+ 2.2327218055725098,
1426
+ -2.357106924057007,
1427
+ -1.5698394775390625,
1428
+ 2.80026912689209,
1429
+ 0.017999978736042976,
1430
+ 0.01800001971423626
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -9.67496816883795e-05,
1436
+ -1.215665088238893e-05,
1437
+ -3.018260031240061e-06,
1438
+ -7.78685716795735e-05,
1439
+ -8.73838143888861e-06,
1440
+ -0.000441266514826566,
1441
+ -0.006993727758526802,
1442
+ 0.00026267790235579014
1443
+ ],
1444
+ [
1445
+ 2.6918052273856425e-38,
1446
+ -1.9032564661918383e-38,
1447
+ 1.9637370684314832e-38,
1448
+ -3.544054662586233e-37,
1449
+ 3.333943298222107e-37,
1450
+ -2.260048960306531e-36,
1451
+ 2.5990388508034812e-08,
1452
+ -2.5990386731677972e-08
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
+ 0.00014794754679314792,
1466
+ -0.017897069454193115,
1467
+ -0.009514675475656986,
1468
+ 0.026166025549173355,
1469
+ -4.5188780859461986e-06,
1470
+ -1.303266344621079e-05,
1471
+ 8.36146773508517e-06,
1472
+ -8.38539290271001e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04928277060389519,
1482
+ 0.000858090934343636,
1483
+ -0.02996666729450226,
1484
+ -0.2772713601589203,
1485
+ 0.6501709818840027,
1486
+ 0.6494812369346619,
1487
+ -0.28030771017074585
1488
+ ],
1489
+ [
1490
+ 0.05314704403281212,
1491
+ 0.002331123221665621,
1492
+ -0.028003009036183357,
1493
+ -0.28346335887908936,
1494
+ 0.6511247158050537,
1495
+ 0.6447988748550415,
1496
+ -0.28270047903060913
1497
+ ],
1498
+ [
1499
+ 0.048282090574502945,
1500
+ -0.0019154557958245277,
1501
+ -0.03165533393621445,
1502
+ -0.27813753485679626,
1503
+ 0.6491491198539734,
1504
+ 0.6548547148704529,
1505
+ -0.26909154653549194
1506
+ ],
1507
+ [
1508
+ 0.053236037492752075,
1509
+ -0.000471490464406088,
1510
+ -0.030736662447452545,
1511
+ -0.28018343448638916,
1512
+ 0.6504000425338745,
1513
+ 0.6551811099052429,
1514
+ -0.2630870044231415
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0536700002849102,
1520
+ 0.5586802363395691,
1521
+ 1.9665110111236572,
1522
+ 0.04179704561829567,
1523
+ 0.003135326784104109,
1524
+ 0.27098914980888367,
1525
+ 0.961669385433197
1526
+ ],
1527
+ [
1528
+ 0.06668241322040558,
1529
+ 0.5950438976287842,
1530
+ 1.9433468580245972,
1531
+ 0.025198446586728096,
1532
+ 0.01673242263495922,
1533
+ 0.276438444852829,
1534
+ 0.9605554938316345
1535
+ ],
1536
+ [
1537
+ 0.05006523057818413,
1538
+ 0.5637229084968567,
1539
+ 1.9291114807128906,
1540
+ 0.03521127626299858,
1541
+ 0.018498025834560394,
1542
+ 0.2684616148471832,
1543
+ 0.9624688625335693
1544
+ ],
1545
+ [
1546
+ 0.03759533539414406,
1547
+ 0.5597837567329407,
1548
+ 1.953680396080017,
1549
+ 0.04072263091802597,
1550
+ 0.007956176996231079,
1551
+ 0.27178940176963806,
1552
+ 0.9614618420600891
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c7_p017_e010/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e13415238c49109f434833cf387930ac7b9505ff2374ec8fc6723d9e9a4d0dbf
3
+ size 7148855
episodes/c7_p017_e011/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f0caf6a86a1c285e009ca3e59cc53a9d7b657e03ff414ccba5d5999315dbe9d
3
+ size 191155
episodes/c7_p017_e011/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 206, "t": 1.03, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 206, "t": 1.03, "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": 211, "t": 1.055, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 5851, "t": 29.255, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
5
+ {"env_id": 3, "seq": 5, "step": 6464, "t": 32.32, "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": 6464, "t": 32.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.782180665235151}, "cause": "task-3-1"}
7
+ {"env_id": 3, "seq": 7, "step": 6464, "t": 32.32, "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": 6464, "t": 32.32, "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": 6464, "t": 32.32, "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": 6883, "t": 34.415, "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": 6883, "t": 34.415, "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": 6883, "t": 34.415, "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": 6883, "t": 34.415, "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": 6883, "t": 34.415, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
15
+ {"env_id": 3, "seq": 15, "step": 6883, "t": 34.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"}
16
+ {"env_id": 3, "seq": 16, "step": 6883, "t": 34.415, "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": 6883, "t": 34.415, "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": 6883, "t": 34.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.782180665235151}, "cause": "program-3-3"}
19
+ {"env_id": 3, "seq": 19, "step": 7840, "t": 39.2, "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": 7840, "t": 39.2, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.785000000002448}, "cause": "program-3-3"}
21
+ {"env_id": 3, "seq": 21, "step": 7840, "t": 39.2, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.785000000002448}}, "cause": "program-3-3"}
22
+ {"env_id": 3, "seq": 22, "step": 7840, "t": 39.2, "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": 7840, "t": 39.2, "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": 7840, "t": 39.2, "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": 8260, "t": 41.3, "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": 8260, "t": 41.3, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.4051094145488605e-09}, "cause": "program-3-4"}
27
+ {"env_id": 3, "seq": 27, "step": 8260, "t": 41.3, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.4051094145488605e-09}, "cause": "program-3-4"}
28
+ {"env_id": 3, "seq": 28, "step": 8260, "t": 41.3, "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": 8260, "t": 41.3, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
30
+ {"env_id": 3, "seq": 30, "step": 8260, "t": 41.3, "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": 8837, "t": 44.185, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
32
+ {"env_id": 3, "seq": 32, "step": 10528, "t": 52.64, "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": 10528, "t": 52.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"}
34
+ {"env_id": 3, "seq": 34, "step": 10528, "t": 52.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
35
+ {"env_id": 3, "seq": 35, "step": 10528, "t": 52.64, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
episodes/c7_p017_e011/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:05e443bca5fd9cbcc2ebe3111fc71464c4ea75846419dad9b32b156bd184db0c
3
+ size 1251816
episodes/c7_p017_e011/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c7_p017/magicsim/11",
3
+ "fps": 25,
4
+ "frames": 1285,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1285,
8
+ "env": 1285
9
+ },
10
+ "joint_target_source": "joint_pos_target",
11
+ "fk_vs_recorded_eef_max_m": 0.0,
12
+ "curobo_joints": [
13
+ "shoulder_pan_joint",
14
+ "shoulder_lift_joint",
15
+ "elbow_joint",
16
+ "wrist_1_joint",
17
+ "wrist_2_joint",
18
+ "wrist_3_joint"
19
+ ],
20
+ "joint_order": [
21
+ "shoulder_pan",
22
+ "shoulder_lift",
23
+ "elbow",
24
+ "wrist_1",
25
+ "wrist_2",
26
+ "wrist_3",
27
+ "finger_left",
28
+ "finger_right"
29
+ ],
30
+ "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
31
+ "dr_version": "v2"
32
+ }
episodes/c7_p017_e011/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 11,
3
+ "env_id": 3,
4
+ "run_id": "c7_p017",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 3,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {},
23
+ {
24
+ "rac_cell": [
25
+ {
26
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
27
+ "pose": {
28
+ "pos": [
29
+ 0.0,
30
+ 0.0,
31
+ 0.0
32
+ ],
33
+ "ori": [
34
+ 1.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0
38
+ ],
39
+ "scale": [
40
+ 1.0,
41
+ 1.0,
42
+ 1.0
43
+ ]
44
+ },
45
+ "dr": {
46
+ "visual": {
47
+ "kind": null,
48
+ "value": null,
49
+ "visible": true
50
+ },
51
+ "physics": {
52
+ "type": "geometry",
53
+ "collision": false,
54
+ "physics_material": {
55
+ "static_friction": 0.6,
56
+ "dynamic_friction": 0.5,
57
+ "restitution": 0.0
58
+ },
59
+ "ratio": 1.0
60
+ },
61
+ "primitive_params": null
62
+ },
63
+ "type_specific": {}
64
+ }
65
+ ],
66
+ "robot_mount": [
67
+ {
68
+ "asset": "Cube",
69
+ "pose": {
70
+ "pos": [
71
+ 0.0,
72
+ 0.0,
73
+ 0.9075
74
+ ],
75
+ "ori": [
76
+ 1.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "scale": [
82
+ 1.0,
83
+ 1.0,
84
+ 1.0
85
+ ]
86
+ },
87
+ "dr": {
88
+ "visual": {
89
+ "kind": "color",
90
+ "value": [
91
+ 0.55,
92
+ 0.56,
93
+ 0.58
94
+ ],
95
+ "visible": true
96
+ },
97
+ "physics": {
98
+ "type": "geometry",
99
+ "collision": false,
100
+ "ratio": 1.0
101
+ },
102
+ "primitive_params": {
103
+ "size": [
104
+ 0.2,
105
+ 0.2,
106
+ 0.015
107
+ ]
108
+ }
109
+ },
110
+ "type_specific": {}
111
+ }
112
+ ],
113
+ "plate_rack": [
114
+ {
115
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
116
+ "pose": {
117
+ "pos": [
118
+ -0.6,
119
+ 0.02,
120
+ 0.9
121
+ ],
122
+ "ori": [
123
+ 6.123234262925839e-17,
124
+ 0.0,
125
+ 0.0,
126
+ 1.0
127
+ ],
128
+ "scale": [
129
+ 1.0,
130
+ 1.0,
131
+ 1.0
132
+ ]
133
+ },
134
+ "dr": {
135
+ "visual": {
136
+ "kind": null,
137
+ "value": null,
138
+ "visible": true
139
+ },
140
+ "physics": {
141
+ "type": "geometry",
142
+ "collision": false,
143
+ "physics_material": {
144
+ "static_friction": 0.6,
145
+ "dynamic_friction": 0.5,
146
+ "restitution": 0.0
147
+ },
148
+ "ratio": 1.0
149
+ },
150
+ "primitive_params": null
151
+ },
152
+ "type_specific": {}
153
+ }
154
+ ],
155
+ "hotel_plate": [
156
+ {
157
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
158
+ "pose": {
159
+ "pos": [
160
+ -0.6,
161
+ 0.02,
162
+ 0.9605
163
+ ],
164
+ "ori": [
165
+ 1.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0
169
+ ],
170
+ "scale": [
171
+ 1.0,
172
+ 1.0,
173
+ 1.0
174
+ ]
175
+ },
176
+ "dr": {
177
+ "visual": {
178
+ "kind": null,
179
+ "value": null,
180
+ "visible": true
181
+ },
182
+ "physics": {
183
+ "type": "geometry",
184
+ "collision": false,
185
+ "ratio": 1.0
186
+ },
187
+ "primitive_params": null
188
+ },
189
+ "type_specific": {}
190
+ },
191
+ {
192
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
193
+ "pose": {
194
+ "pos": [
195
+ -0.6,
196
+ 0.02,
197
+ 1.0285
198
+ ],
199
+ "ori": [
200
+ 6.123234262925839e-17,
201
+ 0.0,
202
+ 0.0,
203
+ 1.0
204
+ ],
205
+ "scale": [
206
+ 1.0,
207
+ 1.0,
208
+ 1.0
209
+ ]
210
+ },
211
+ "dr": {
212
+ "visual": {
213
+ "kind": null,
214
+ "value": null,
215
+ "visible": true
216
+ },
217
+ "physics": {
218
+ "type": "geometry",
219
+ "collision": false,
220
+ "ratio": 1.0
221
+ },
222
+ "primitive_params": null
223
+ },
224
+ "type_specific": {}
225
+ },
226
+ {
227
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
228
+ "pose": {
229
+ "pos": [
230
+ -0.6,
231
+ 0.02,
232
+ 1.0965
233
+ ],
234
+ "ori": [
235
+ 1.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "scale": [
241
+ 1.0,
242
+ 1.0,
243
+ 1.0
244
+ ]
245
+ },
246
+ "dr": {
247
+ "visual": {
248
+ "kind": null,
249
+ "value": null,
250
+ "visible": true
251
+ },
252
+ "physics": {
253
+ "type": "geometry",
254
+ "collision": false,
255
+ "ratio": 1.0
256
+ },
257
+ "primitive_params": null
258
+ },
259
+ "type_specific": {}
260
+ },
261
+ {
262
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
263
+ "pose": {
264
+ "pos": [
265
+ -0.6,
266
+ 0.02,
267
+ 1.1645
268
+ ],
269
+ "ori": [
270
+ 6.123234262925839e-17,
271
+ 0.0,
272
+ 0.0,
273
+ 1.0
274
+ ],
275
+ "scale": [
276
+ 1.0,
277
+ 1.0,
278
+ 1.0
279
+ ]
280
+ },
281
+ "dr": {
282
+ "visual": {
283
+ "kind": null,
284
+ "value": null,
285
+ "visible": true
286
+ },
287
+ "physics": {
288
+ "type": "geometry",
289
+ "collision": false,
290
+ "ratio": 1.0
291
+ },
292
+ "primitive_params": null
293
+ },
294
+ "type_specific": {}
295
+ },
296
+ {
297
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
298
+ "pose": {
299
+ "pos": [
300
+ -0.6,
301
+ 0.02,
302
+ 1.2325
303
+ ],
304
+ "ori": [
305
+ 1.0,
306
+ 0.0,
307
+ 0.0,
308
+ 0.0
309
+ ],
310
+ "scale": [
311
+ 1.0,
312
+ 1.0,
313
+ 1.0
314
+ ]
315
+ },
316
+ "dr": {
317
+ "visual": {
318
+ "kind": null,
319
+ "value": null,
320
+ "visible": true
321
+ },
322
+ "physics": {
323
+ "type": "geometry",
324
+ "collision": false,
325
+ "ratio": 1.0
326
+ },
327
+ "primitive_params": null
328
+ },
329
+ "type_specific": {}
330
+ }
331
+ ],
332
+ "a4s_sealer": [
333
+ {
334
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
335
+ "pose": {
336
+ "pos": [
337
+ 0.4643421173095703,
338
+ 0.09485149383544922,
339
+ 0.8999999761581421
340
+ ],
341
+ "ori": [
342
+ -0.7050361037254333,
343
+ 0.0,
344
+ 0.0,
345
+ 0.7091714143753052
346
+ ],
347
+ "scale": [
348
+ 1.0,
349
+ 1.0,
350
+ 1.0
351
+ ]
352
+ },
353
+ "dr": {
354
+ "visual": {
355
+ "kind": null,
356
+ "value": null,
357
+ "visible": true
358
+ },
359
+ "physics": {
360
+ "type": "articulation",
361
+ "solver_position_iteration_count": 16.0,
362
+ "solver_velocity_iteration_count": 1.0,
363
+ "enabled_self_collisions": false,
364
+ "ratio": 1.0
365
+ },
366
+ "primitive_params": null
367
+ },
368
+ "type_specific": {
369
+ "joint_position": [
370
+ 0.0
371
+ ],
372
+ "joint_velocity": [
373
+ 0.0
374
+ ],
375
+ "linear_velocity": [
376
+ 0.0,
377
+ 0.0,
378
+ 0.0
379
+ ],
380
+ "angular_velocity": [
381
+ 0.0,
382
+ 0.0,
383
+ 0.0
384
+ ]
385
+ }
386
+ }
387
+ ],
388
+ "conveyor": [
389
+ {
390
+ "asset": "Cube",
391
+ "pose": {
392
+ "pos": [
393
+ 0.15,
394
+ 0.45,
395
+ 0.9
396
+ ],
397
+ "ori": [
398
+ 1.0,
399
+ 0.0,
400
+ 0.0,
401
+ 0.0
402
+ ],
403
+ "scale": [
404
+ 1.0,
405
+ 1.0,
406
+ 1.0
407
+ ]
408
+ },
409
+ "dr": {
410
+ "visual": {
411
+ "kind": null,
412
+ "value": null,
413
+ "visible": true
414
+ },
415
+ "physics": {
416
+ "type": "conveyor",
417
+ "physics_material": {
418
+ "static_friction": 0.9,
419
+ "dynamic_friction": 0.9
420
+ },
421
+ "ratio": 1.0
422
+ },
423
+ "primitive_params": {
424
+ "size": [
425
+ 2.4,
426
+ 0.076,
427
+ 0.03
428
+ ]
429
+ },
430
+ "conveyor": {
431
+ "speed": 0.17491840782832654,
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": -0.09369633115852352,
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": 0.17491840782832654,
480
+ "holds": [],
481
+ "station": "pick",
482
+ "rider": "carrier_2",
483
+ "arrived": true,
484
+ "applied_speed": 0.0
485
+ }
486
+ }
487
+ }
488
+ ],
489
+ "carrier": [
490
+ {
491
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
492
+ "pose": {
493
+ "pos": [
494
+ 0.5688676834106445,
495
+ 1.1527643203735352,
496
+ 0.8999999761581421
497
+ ],
498
+ "ori": [
499
+ -0.009576380252838135,
500
+ 6.6882162030879044e-09,
501
+ 3.9864098688724425e-09,
502
+ 0.9999541640281677
503
+ ],
504
+ "scale": [
505
+ 1.0,
506
+ 1.0,
507
+ 1.0
508
+ ]
509
+ },
510
+ "dr": {
511
+ "visual": {
512
+ "kind": null,
513
+ "value": null,
514
+ "visible": true
515
+ },
516
+ "physics": {
517
+ "type": "rigid",
518
+ "mass": 0.5,
519
+ "physics_material": {
520
+ "static_friction": 0.9,
521
+ "dynamic_friction": 0.9,
522
+ "restitution": 0.0
523
+ },
524
+ "ratio": 1.0
525
+ },
526
+ "primitive_params": null
527
+ },
528
+ "type_specific": {
529
+ "linear_velocity": [
530
+ -2.726975534272924e-09,
531
+ -6.9249019851724825e-09,
532
+ 1.862645149230957e-08
533
+ ],
534
+ "angular_velocity": [
535
+ 3.35300740061939e-07,
536
+ -2.2415433420519548e-07,
537
+ -4.4018982237048476e-08
538
+ ]
539
+ }
540
+ },
541
+ {
542
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
543
+ "pose": {
544
+ "pos": [
545
+ 0.055995941162109375,
546
+ 0.44728660583496094,
547
+ 0.8999999761581421
548
+ ],
549
+ "ori": [
550
+ 0.9999457001686096,
551
+ 2.9191267181261082e-09,
552
+ 5.091758126241075e-10,
553
+ 0.010428689420223236
554
+ ],
555
+ "scale": [
556
+ 1.0,
557
+ 1.0,
558
+ 1.0
559
+ ]
560
+ },
561
+ "dr": {
562
+ "visual": {
563
+ "kind": null,
564
+ "value": null,
565
+ "visible": true
566
+ },
567
+ "physics": {
568
+ "type": "rigid",
569
+ "mass": 0.5,
570
+ "physics_material": {
571
+ "static_friction": 0.9,
572
+ "dynamic_friction": 0.9,
573
+ "restitution": 0.0
574
+ },
575
+ "ratio": 1.0
576
+ },
577
+ "primitive_params": null
578
+ },
579
+ "type_specific": {
580
+ "linear_velocity": [
581
+ 3.857536512441584e-10,
582
+ 1.798331927815866e-09,
583
+ 0.0
584
+ ],
585
+ "angular_velocity": [
586
+ -1.46295391800777e-07,
587
+ 1.325125964513063e-08,
588
+ -6.373165106765555e-09
589
+ ]
590
+ }
591
+ },
592
+ {
593
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
594
+ "pose": {
595
+ "pos": [
596
+ -1.3275127410888672,
597
+ 0.5905666351318359,
598
+ 0.8999999761581421
599
+ ],
600
+ "ori": [
601
+ -0.8932622075080872,
602
+ -4.75679051703537e-08,
603
+ 2.463266390861918e-08,
604
+ 0.44953614473342896
605
+ ],
606
+ "scale": [
607
+ 1.0,
608
+ 1.0,
609
+ 1.0
610
+ ]
611
+ },
612
+ "dr": {
613
+ "visual": {
614
+ "kind": null,
615
+ "value": null,
616
+ "visible": true
617
+ },
618
+ "physics": {
619
+ "type": "rigid",
620
+ "mass": 0.5,
621
+ "physics_material": {
622
+ "static_friction": 0.9,
623
+ "dynamic_friction": 0.9,
624
+ "restitution": 0.0
625
+ },
626
+ "ratio": 1.0
627
+ },
628
+ "primitive_params": null
629
+ },
630
+ "type_specific": {
631
+ "linear_velocity": [
632
+ 1.0281882012463939e-08,
633
+ 2.059020154376867e-08,
634
+ 2.2351741790771484e-08
635
+ ],
636
+ "angular_velocity": [
637
+ -7.182554213613912e-07,
638
+ 2.795084412809956e-07,
639
+ 2.8239898597348656e-07
640
+ ]
641
+ }
642
+ },
643
+ {
644
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
645
+ "pose": {
646
+ "pos": [
647
+ 1.6890192031860352,
648
+ 0.7245550155639648,
649
+ 0.8999999761581421
650
+ ],
651
+ "ori": [
652
+ 0.7820312976837158,
653
+ 1.3514641850065345e-08,
654
+ 1.1685250100867961e-08,
655
+ 0.623239278793335
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
+ -5.567220284774521e-08,
684
+ 4.801044894975348e-09,
685
+ 3.3527612686157227e-08
686
+ ],
687
+ "angular_velocity": [
688
+ 4.2133216027195886e-08,
689
+ -1.6964767155513982e-06,
690
+ 4.991223931938293e-07
691
+ ]
692
+ }
693
+ }
694
+ ],
695
+ "plate": [
696
+ {
697
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
698
+ "pose": {
699
+ "pos": [
700
+ 0.5695009231567383,
701
+ 1.164811134338379,
702
+ 0.9179999828338623
703
+ ],
704
+ "ori": [
705
+ 0.06243149936199188,
706
+ 7.060701356920163e-09,
707
+ 4.5416879146387146e-09,
708
+ 0.998049259185791
709
+ ],
710
+ "scale": [
711
+ 1.0,
712
+ 1.0,
713
+ 1.0
714
+ ]
715
+ },
716
+ "dr": {
717
+ "visual": {
718
+ "kind": null,
719
+ "value": null,
720
+ "visible": true
721
+ },
722
+ "physics": {
723
+ "type": "rigid",
724
+ "collision": true,
725
+ "mass": "asset",
726
+ "max_depenetration_velocity": 1.0,
727
+ "physics_material": {
728
+ "static_friction": 0.5,
729
+ "dynamic_friction": 0.45,
730
+ "restitution": 0.0,
731
+ "friction_combine_mode": "average"
732
+ },
733
+ "ratio": 1.0
734
+ },
735
+ "primitive_params": null
736
+ },
737
+ "type_specific": {
738
+ "linear_velocity": [
739
+ 1.3031704604316019e-08,
740
+ -7.24027131582261e-08,
741
+ 1.9371509552001953e-07
742
+ ],
743
+ "angular_velocity": [
744
+ 1.5489869156226632e-06,
745
+ 1.7562862240083632e-06,
746
+ 7.257781220459947e-08
747
+ ]
748
+ }
749
+ },
750
+ {
751
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
752
+ "pose": {
753
+ "pos": [
754
+ 0.04788970947265625,
755
+ 0.4446086883544922,
756
+ 0.9180000424385071
757
+ ],
758
+ "ori": [
759
+ 0.9981023669242859,
760
+ 4.731254499290571e-09,
761
+ 1.1190046111941854e-10,
762
+ 0.061576470732688904
763
+ ],
764
+ "scale": [
765
+ 1.0,
766
+ 1.0,
767
+ 1.0
768
+ ]
769
+ },
770
+ "dr": {
771
+ "visual": {
772
+ "kind": null,
773
+ "value": null,
774
+ "visible": true
775
+ },
776
+ "physics": {
777
+ "type": "rigid",
778
+ "collision": true,
779
+ "mass": "asset",
780
+ "max_depenetration_velocity": 1.0,
781
+ "physics_material": {
782
+ "static_friction": 0.5,
783
+ "dynamic_friction": 0.45,
784
+ "restitution": 0.0,
785
+ "friction_combine_mode": "average"
786
+ },
787
+ "ratio": 1.0
788
+ },
789
+ "primitive_params": null
790
+ },
791
+ "type_specific": {
792
+ "linear_velocity": [
793
+ -1.622695222636139e-08,
794
+ 1.611159561321074e-08,
795
+ -5.5655837059021e-06
796
+ ],
797
+ "angular_velocity": [
798
+ 2.50421521741373e-07,
799
+ -1.5571981748507824e-06,
800
+ 8.645181992505968e-08
801
+ ]
802
+ }
803
+ },
804
+ {
805
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
806
+ "pose": {
807
+ "pos": [
808
+ -1.3257932662963867,
809
+ 0.5860500335693359,
810
+ 0.9180000424385071
811
+ ],
812
+ "ori": [
813
+ -0.8448913097381592,
814
+ -5.110173617595137e-08,
815
+ 1.9090872882543408e-08,
816
+ 0.5349380373954773
817
+ ],
818
+ "scale": [
819
+ 1.0,
820
+ 1.0,
821
+ 1.0
822
+ ]
823
+ },
824
+ "dr": {
825
+ "visual": {
826
+ "kind": null,
827
+ "value": null,
828
+ "visible": true
829
+ },
830
+ "physics": {
831
+ "type": "rigid",
832
+ "collision": true,
833
+ "mass": "asset",
834
+ "max_depenetration_velocity": 1.0,
835
+ "physics_material": {
836
+ "static_friction": 0.5,
837
+ "dynamic_friction": 0.45,
838
+ "restitution": 0.0,
839
+ "friction_combine_mode": "average"
840
+ },
841
+ "ratio": 1.0
842
+ },
843
+ "primitive_params": null
844
+ },
845
+ "type_specific": {
846
+ "linear_velocity": [
847
+ 9.32659904862021e-09,
848
+ 9.35038855232051e-08,
849
+ -5.446374416351318e-06
850
+ ],
851
+ "angular_velocity": [
852
+ -2.5379799808433745e-06,
853
+ 3.896104772138642e-08,
854
+ 4.733440164272906e-07
855
+ ]
856
+ }
857
+ },
858
+ {
859
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
860
+ "pose": {
861
+ "pos": [
862
+ 1.692337989807129,
863
+ 0.7231292724609375,
864
+ 0.9179999828338623
865
+ ],
866
+ "ori": [
867
+ 0.771052360534668,
868
+ 9.311738935480207e-09,
869
+ 7.168205140573036e-09,
870
+ 0.6367717385292053
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
+ -7.840655058544144e-08,
902
+ -4.6092473837688885e-08,
903
+ -2.8796494007110596e-06
904
+ ],
905
+ "angular_velocity": [
906
+ 1.7594776409168844e-06,
907
+ -1.14160570774402e-06,
908
+ 4.512135944878537e-07
909
+ ]
910
+ }
911
+ }
912
+ ],
913
+ "deco_hub_west": [
914
+ {
915
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
916
+ "pose": {
917
+ "pos": [
918
+ -3.36,
919
+ 0.0,
920
+ 0.0
921
+ ],
922
+ "ori": [
923
+ 1.0,
924
+ 0.0,
925
+ 0.0,
926
+ 0.0
927
+ ],
928
+ "scale": [
929
+ 1.0,
930
+ 1.0,
931
+ 1.0
932
+ ]
933
+ },
934
+ "dr": {
935
+ "visual": {
936
+ "kind": null,
937
+ "value": null,
938
+ "visible": true
939
+ },
940
+ "physics": {
941
+ "type": "geometry",
942
+ "collision": false,
943
+ "ratio": 1.0
944
+ },
945
+ "primitive_params": null
946
+ },
947
+ "type_specific": {}
948
+ }
949
+ ],
950
+ "deco_hub_east": [
951
+ {
952
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
953
+ "pose": {
954
+ "pos": [
955
+ 3.36,
956
+ 0.0,
957
+ 0.0
958
+ ],
959
+ "ori": [
960
+ 1.0,
961
+ 0.0,
962
+ 0.0,
963
+ 0.0
964
+ ],
965
+ "scale": [
966
+ 1.0,
967
+ 1.0,
968
+ 1.0
969
+ ]
970
+ },
971
+ "dr": {
972
+ "visual": {
973
+ "kind": null,
974
+ "value": null,
975
+ "visible": true
976
+ },
977
+ "physics": {
978
+ "type": "geometry",
979
+ "collision": false,
980
+ "ratio": 1.0
981
+ },
982
+ "primitive_params": null
983
+ },
984
+ "type_specific": {}
985
+ }
986
+ ],
987
+ "deco_hub_back": [
988
+ {
989
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd",
990
+ "pose": {
991
+ "pos": [
992
+ -3.0,
993
+ -2.1,
994
+ 0.0
995
+ ],
996
+ "ori": [
997
+ 1.0,
998
+ 0.0,
999
+ 0.0,
1000
+ 0.0
1001
+ ],
1002
+ "scale": [
1003
+ 1.0,
1004
+ 1.0,
1005
+ 1.0
1006
+ ]
1007
+ },
1008
+ "dr": {
1009
+ "visual": {
1010
+ "kind": null,
1011
+ "value": null,
1012
+ "visible": true
1013
+ },
1014
+ "physics": {
1015
+ "type": "geometry",
1016
+ "collision": false,
1017
+ "ratio": 1.0
1018
+ },
1019
+ "primitive_params": null
1020
+ },
1021
+ "type_specific": {}
1022
+ }
1023
+ ],
1024
+ "deco_bench_east": [
1025
+ {
1026
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd",
1027
+ "pose": {
1028
+ "pos": [
1029
+ 2.6,
1030
+ -2.5,
1031
+ 0.0
1032
+ ],
1033
+ "ori": [
1034
+ 6.123234262925839e-17,
1035
+ 0.0,
1036
+ 0.0,
1037
+ 1.0
1038
+ ],
1039
+ "scale": [
1040
+ 1.0,
1041
+ 1.0,
1042
+ 1.0
1043
+ ]
1044
+ },
1045
+ "dr": {
1046
+ "visual": {
1047
+ "kind": null,
1048
+ "value": null,
1049
+ "visible": true
1050
+ },
1051
+ "physics": {
1052
+ "type": "geometry",
1053
+ "collision": false,
1054
+ "ratio": 1.0
1055
+ },
1056
+ "primitive_params": null
1057
+ },
1058
+ "type_specific": {}
1059
+ }
1060
+ ],
1061
+ "deco_bench_gap": [
1062
+ {
1063
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1064
+ "pose": {
1065
+ "pos": [
1066
+ -0.1,
1067
+ -2.9,
1068
+ 0.0
1069
+ ],
1070
+ "ori": [
1071
+ 1.0,
1072
+ 0.0,
1073
+ 0.0,
1074
+ 0.0
1075
+ ],
1076
+ "scale": [
1077
+ 1.0,
1078
+ 1.0,
1079
+ 1.0
1080
+ ]
1081
+ },
1082
+ "dr": {
1083
+ "visual": {
1084
+ "kind": null,
1085
+ "value": null,
1086
+ "visible": true
1087
+ },
1088
+ "physics": {
1089
+ "type": "geometry",
1090
+ "collision": false,
1091
+ "ratio": 1.0
1092
+ },
1093
+ "primitive_params": null
1094
+ },
1095
+ "type_specific": {}
1096
+ }
1097
+ ]
1098
+ }
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ null,
1103
+ null,
1104
+ null,
1105
+ {
1106
+ "t": 1.49999999999999,
1107
+ "step": 300,
1108
+ "counter": 0,
1109
+ "devices": {
1110
+ "a4s_sealer_1": {
1111
+ "mode": "auto",
1112
+ "units": {
1113
+ "drawer": {
1114
+ "state": "at_out",
1115
+ "active": null,
1116
+ "target": 0.0,
1117
+ "goal_name": "out",
1118
+ "profile": null,
1119
+ "q_start": null,
1120
+ "reversing": false,
1121
+ "blocked_for": 0.0,
1122
+ "settled_for": 0.0,
1123
+ "last_q": 0.0
1124
+ },
1125
+ "heater": {
1126
+ "state": "ready",
1127
+ "active": null,
1128
+ "duration": 0.0,
1129
+ "t_start": null,
1130
+ "elapsed": 0.0
1131
+ }
1132
+ },
1133
+ "queues": {},
1134
+ "program": null,
1135
+ "sensors": {
1136
+ "plate_present": {
1137
+ "occupants": [],
1138
+ "pending": {}
1139
+ }
1140
+ },
1141
+ "interlocks": {}
1142
+ },
1143
+ "conveyor_1": {
1144
+ "mode": "auto",
1145
+ "units": {
1146
+ "belt": {
1147
+ "state": "at_station",
1148
+ "active": null,
1149
+ "controller": {
1150
+ "speed": 0.17491840782832654,
1151
+ "holds": [],
1152
+ "station": "pick",
1153
+ "rider": "carrier_2",
1154
+ "arrived": true,
1155
+ "settle_count": 93,
1156
+ "released": {
1157
+ "pick": []
1158
+ },
1159
+ "last_pos": {
1160
+ "carrier_1": [
1161
+ 0.41886767745018005,
1162
+ 0.7027643322944641,
1163
+ 0.0
1164
+ ],
1165
+ "carrier_2": [
1166
+ -0.0940040647983551,
1167
+ -0.0027133822441101074,
1168
+ 0.0
1169
+ ],
1170
+ "carrier_3": [
1171
+ -1.4775127470493317,
1172
+ 0.1405666470527649,
1173
+ 0.0
1174
+ ],
1175
+ "carrier_4": [
1176
+ 1.5390191972255707,
1177
+ 0.2745550274848938,
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_2",
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
+ 0.8063332023669935,
1241
+ 0.5322718114108085,
1242
+ 2.8688162610300676
1243
+ ],
1244
+ "ori": [
1245
+ -1.274277905137902,
1246
+ 11.064997950722994,
1247
+ 20.65441142366778
1248
+ ],
1249
+ "scale": [
1250
+ 1.0,
1251
+ 1.0,
1252
+ 1.0
1253
+ ]
1254
+ },
1255
+ "dr": {
1256
+ "color_temperature": 6082.6000801726,
1257
+ "color": [
1258
+ 0.9878170754856966,
1259
+ 0.9953581750039395,
1260
+ 0.8464284327750242
1261
+ ],
1262
+ "intensity": 10406.460249209646,
1263
+ "width": 2.295189255017884,
1264
+ "height": 1.2135697412876245
1265
+ }
1266
+ },
1267
+ "key": {
1268
+ "type": "disk",
1269
+ "pose": {
1270
+ "pos": [
1271
+ -0.6365951558886641,
1272
+ -0.4083621015747355,
1273
+ 1.6826935932906415
1274
+ ],
1275
+ "ori": [
1276
+ 9.547462093077527,
1277
+ -33.068791441755664,
1278
+ -0.9851904775445206
1279
+ ],
1280
+ "scale": [
1281
+ 1.0,
1282
+ 1.0,
1283
+ 1.0
1284
+ ]
1285
+ },
1286
+ "dr": {
1287
+ "color_temperature": 6617.016069361468,
1288
+ "color": [
1289
+ 0.7738481265652452,
1290
+ 0.9876108446106225,
1291
+ 0.7792564738569939
1292
+ ],
1293
+ "intensity": 4074.602726229324,
1294
+ "radius": 0.4204411486951597
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": 1147.9338130431793,
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
+ 0.9059302806854248,
1394
+ -1.5109096765518188,
1395
+ 2.1070992946624756,
1396
+ -2.1668448448181152,
1397
+ -1.5707836151123047,
1398
+ 2.503380298614502,
1399
+ 0.007736390456557274,
1400
+ 0.007315852679312229
1401
+ ],
1402
+ [
1403
+ 0.9141103029251099,
1404
+ -1.7193973064422607,
1405
+ 2.090498208999634,
1406
+ -1.9419009685516357,
1407
+ -1.5707999467849731,
1408
+ 2.4849038124084473,
1409
+ 0.01799999736249447,
1410
+ 0.018000001087784767
1411
+ ],
1412
+ [
1413
+ 1.2420920133590698,
1414
+ -1.2610135078430176,
1415
+ 2.218271017074585,
1416
+ -2.528001308441162,
1417
+ -1.570852518081665,
1418
+ 2.6164753437042236,
1419
+ 0.007770015858113766,
1420
+ 0.007301631383597851
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
+ 0.0012692424934357405,
1436
+ -1.6233473161264556e-06,
1437
+ -0.00042907820898108184,
1438
+ 0.002212467370554805,
1439
+ -0.0009748101583682001,
1440
+ -0.003259161952883005,
1441
+ -0.0035913544707000256,
1442
+ 1.9086604879703373e-05
1443
+ ],
1444
+ [
1445
+ -2.5029491504919654e-38,
1446
+ 2.2752359079616397e-38,
1447
+ 0.0,
1448
+ 5.051708317236989e-37,
1449
+ -8.178430737463302e-38,
1450
+ 5.217615777595927e-37,
1451
+ 2.599039206074849e-08,
1452
+ -2.599039206074849e-08
1453
+ ],
1454
+ [
1455
+ -1.9843953850795515e-05,
1456
+ 0.0001328151993220672,
1457
+ -0.0001145211499533616,
1458
+ -0.0020059046801179647,
1459
+ 0.0019669353496283293,
1460
+ 0.007944055832922459,
1461
+ -0.006506650242954493,
1462
+ 0.00032609215122647583
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
+ 0.050091277807950974,
1482
+ 0.0031830454245209694,
1483
+ -0.028042221441864967,
1484
+ -0.2734776735305786,
1485
+ 0.653433620929718,
1486
+ 0.6506732702255249,
1487
+ -0.273603230714798
1488
+ ],
1489
+ [
1490
+ 0.054077424108982086,
1491
+ 0.001331362291239202,
1492
+ -0.0288730226457119,
1493
+ -0.2850109338760376,
1494
+ 0.6544506549835205,
1495
+ 0.6408571004867554,
1496
+ -0.28242751955986023
1497
+ ],
1498
+ [
1499
+ 0.05008971691131592,
1500
+ -0.002956774551421404,
1501
+ -0.03002570942044258,
1502
+ -0.27925047278404236,
1503
+ 0.6501303315162659,
1504
+ 0.6563540101051331,
1505
+ -0.26181891560554504
1506
+ ],
1507
+ [
1508
+ 0.0482865609228611,
1509
+ -0.0036906618624925613,
1510
+ -0.030567863956093788,
1511
+ -0.26663392782211304,
1512
+ 0.6517595648765564,
1513
+ 0.6521493792533875,
1514
+ -0.28074368834495544
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.0536700002849102,
1520
+ 0.5586802363395691,
1521
+ 1.9665110111236572,
1522
+ 0.04179704561829567,
1523
+ 0.003135326784104109,
1524
+ 0.27098914980888367,
1525
+ 0.961669385433197
1526
+ ],
1527
+ [
1528
+ 0.06668241322040558,
1529
+ 0.5950438976287842,
1530
+ 1.9433468580245972,
1531
+ 0.025198446586728096,
1532
+ 0.01673242263495922,
1533
+ 0.276438444852829,
1534
+ 0.9605554938316345
1535
+ ],
1536
+ [
1537
+ 0.05006523057818413,
1538
+ 0.5637229084968567,
1539
+ 1.9291114807128906,
1540
+ 0.03521127626299858,
1541
+ 0.018498025834560394,
1542
+ 0.2684616148471832,
1543
+ 0.9624688625335693
1544
+ ],
1545
+ [
1546
+ 0.03383839130401611,
1547
+ 0.5616859197616577,
1548
+ 1.9472358226776123,
1549
+ 0.04294122755527496,
1550
+ 0.025806371122598648,
1551
+ 0.2737720310688019,
1552
+ 0.9604889154434204
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c7_p017_e011/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0606974023be91c57c905e0e721edf92e93992fb2e4b79f5fdf32ef05e0c229f
3
+ size 7333577
index/episodes.csv CHANGED
@@ -4723,3 +4723,8 @@ c9_p022_e012,1,True,-0.10443496704101562,0.44740772247314453,-0.0135056593456631
4723
  c9_p022_e013,3,True,0.09082698822021484,0.4499950408935547,0.0023708527248183595,-0.008521074904775069,11.38103038096304,reservoir_12ch,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.21596851428265268,766.5250511657538,rect,0.8955035023709926,-0.47188130947407525,3.1646080176347495,9169.787418956661,4303.536963246842,sphere,1.2955988618529135,-1.0144572872653048,2.136101022136398,4207.752307799472,3707.5927942323874,0.051370590925216675,-0.0026626097969710827,-0.0291778314858675,-0.2766565978527069,0.6534521579742432,0.6433322429656982,-0.2873761057853699,0.05189085751771927,0.5873505473136902,1.9584559202194214,0.03447969630360603,-0.0035545839928090572,0.2740810811519623,0.9610817432403564,1259,1,,2.0694358348846436,0.29854900940919715,0.0,0.007442669477313757,0.5027799841143765,12,release,0.042333364486694336,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4724
  c9_p022_e014,2,True,0.13400745391845703,0.4500007629394531,-0.013999546772635396,0.00851471016229651,-10.576570986718366,plate_1536_black,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.18561485795257346,610.619660942696,rect,0.13200688081222822,-0.22466180265013264,3.003174429344866,8026.071075503889,6246.308039392525,disk,1.3122566729236076,-0.07173846731908529,2.451083153427454,7693.982264551111,6538.94850717957,0.053085654973983765,0.0006724630948156118,-0.029077906161546707,-0.2837286591529846,0.6486362814903259,0.6476259231567383,-0.2816908061504364,0.06659113615751266,0.5983213782310486,1.9521832466125488,0.03803006932139397,0.003466658294200897,0.26008403301239014,0.9648305773735046,1226,1,,2.0869879722595215,0.2660181293755408,0.0,0.007349241059273481,0.5163132137030995,12,release,0.04251393675804138,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4725
  c9_p022_e015,0,True,0.0642385482788086,0.4499988555908203,0.00668798075668963,-0.004332754244304823,-11.081063705395536,pcr_96_blue,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.26864657864182806,610.619660942696,rect,0.48843251478454175,-0.1406882990429692,2.900351287894968,8379.94588641887,6578.411506979584,disk,0.2761369512069827,1.2298821906078572,1.678706042907106,3456.4962446377303,4449.775773101999,0.046429116278886795,-0.000979457050561905,-0.032910048961639404,-0.2867770493030548,0.6399131417274475,0.6531847715377808,-0.28569158911705017,0.07415076345205307,0.5783476829528809,1.9275963306427002,0.02381622977554798,0.012360259890556335,0.2618505656719208,0.9647353291511536,1226,1,,2.1462900638580322,0.32732500672118586,0.0,0.0068627214059233665,0.5203915171288744,12,release,0.0421290397644043,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
 
4723
  c9_p022_e013,3,True,0.09082698822021484,0.4499950408935547,0.0023708527248183595,-0.008521074904775069,11.38103038096304,reservoir_12ch,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.21596851428265268,766.5250511657538,rect,0.8955035023709926,-0.47188130947407525,3.1646080176347495,9169.787418956661,4303.536963246842,sphere,1.2955988618529135,-1.0144572872653048,2.136101022136398,4207.752307799472,3707.5927942323874,0.051370590925216675,-0.0026626097969710827,-0.0291778314858675,-0.2766565978527069,0.6534521579742432,0.6433322429656982,-0.2873761057853699,0.05189085751771927,0.5873505473136902,1.9584559202194214,0.03447969630360603,-0.0035545839928090572,0.2740810811519623,0.9610817432403564,1259,1,,2.0694358348846436,0.29854900940919715,0.0,0.007442669477313757,0.5027799841143765,12,release,0.042333364486694336,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4724
  c9_p022_e014,2,True,0.13400745391845703,0.4500007629394531,-0.013999546772635396,0.00851471016229651,-10.576570986718366,plate_1536_black,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.18561485795257346,610.619660942696,rect,0.13200688081222822,-0.22466180265013264,3.003174429344866,8026.071075503889,6246.308039392525,disk,1.3122566729236076,-0.07173846731908529,2.451083153427454,7693.982264551111,6538.94850717957,0.053085654973983765,0.0006724630948156118,-0.029077906161546707,-0.2837286591529846,0.6486362814903259,0.6476259231567383,-0.2816908061504364,0.06659113615751266,0.5983213782310486,1.9521832466125488,0.03803006932139397,0.003466658294200897,0.26008403301239014,0.9648305773735046,1226,1,,2.0869879722595215,0.2660181293755408,0.0,0.007349241059273481,0.5163132137030995,12,release,0.04251393675804138,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4725
  c9_p022_e015,0,True,0.0642385482788086,0.4499988555908203,0.00668798075668963,-0.004332754244304823,-11.081063705395536,pcr_96_blue,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.26864657864182806,610.619660942696,rect,0.48843251478454175,-0.1406882990429692,2.900351287894968,8379.94588641887,6578.411506979584,disk,0.2761369512069827,1.2298821906078572,1.678706042907106,3456.4962446377303,4449.775773101999,0.046429116278886795,-0.000979457050561905,-0.032910048961639404,-0.2867770493030548,0.6399131417274475,0.6531847715377808,-0.28569158911705017,0.07415076345205307,0.5783476829528809,1.9275963306427002,0.02381622977554798,0.012360259890556335,0.2618505656719208,0.9647353291511536,1226,1,,2.1462900638580322,0.32732500672118586,0.0,0.0068627214059233665,0.5203915171288744,12,release,0.0421290397644043,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4726
+ c2_p019_e032,3,True,0.12331676483154297,0.4500007629394531,-0.010954601130318216,-0.003931758150028246,-10.67181236192576,plate_48_clear,0.48787498474121094,0.08819580078125,-91.03810990994995,0.28254300858573755,1515.2679904711936,rect,0.38753397394449907,0.48969369834645216,2.9301995190409142,4143.143637082796,5949.904612877761,disk,-0.27693905800637775,-0.5920790339915495,1.8159440420126072,4515.76650036054,3748.6686556347267,0.05008190497756004,0.003216047305613756,-0.029891854152083397,-0.28945350646972656,0.6466552019119263,0.6438730955123901,-0.2889310121536255,0.03777161240577698,0.5695332884788513,1.9709194898605347,0.06008792668581009,0.01635018363595009,0.2571718990802765,0.9643571376800537,1191,1,,2.051793336868286,0.2914646198331921,0.0,0.007290122099220753,0.5356842989084802,12,release,0.04222428798675537,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4727
+ c2_p019_e033,2,True,0.0833425521850586,0.45000171661376953,0.007059111048765505,-0.0055007758005895325,-8.021820884002722,plate_24_clear,0.5298547744750977,0.07348442077636719,-91.26108372810012,0.26859332544799097,1515.2679904711936,rect,0.25401481517275915,-0.49187443021598104,3.0138532973280596,5843.834900921619,6088.128511604026,sphere,1.4737500095899487,0.25983117758167307,2.7417536132649145,7576.81389148223,6889.463316286325,0.04912739247083664,-0.0009177330648526549,-0.029317457228899002,-0.2768979072570801,0.6523953676223755,0.6428139805793762,-0.2906855046749115,0.05684191361069679,0.5565974116325378,1.9404911994934082,0.05314744636416435,0.012400009669363499,0.2593832015991211,0.9642312526702881,1193,1,,2.0341522693634033,0.2906006876913097,0.0,0.0073358286172151566,0.537300922045264,12,release,0.042186737060546875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4728
+ c7_p017_e009,1,True,-0.050201416015625,0.4499988555908203,-0.009083759532311216,-0.0026063512394137265,-5.346692204577863,pcr_384_red,0.5025548934936523,0.05330467224121094,-93.69862331648446,0.2723044306403687,1147.9338130431793,rect,0.3527295378972922,0.1519195775383535,3.131188380274814,10377.330169458426,5622.513495875373,sphere,0.8669635417506316,0.020113890656014766,2.7609735175975088,2309.5244132591297,4274.197743685838,0.05209324136376381,0.0024047037586569786,-0.025759819895029068,-0.2827647924423218,0.6495679020881653,0.645127534866333,-0.28620994091033936,0.06668241322040558,0.5950438976287842,1.9433468580245972,0.025198446586728096,0.01673242263495922,0.276438444852829,0.9605554938316345,1181,1,,1.9903448820114136,0.26973695146298593,0.0,0.006770377978682518,0.5402201524132092,12,release,0.04218631982803345,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4729
+ c7_p017_e010,2,True,-0.11401939392089844,0.44803714752197266,-0.002600942911821868,-0.0015023946662168187,9.426093160344436,deep_well_24_10ml,0.5249652862548828,0.08799362182617188,-85.69333309748369,0.1982646014800963,1147.9338130431793,rect,-0.4786525165616401,0.3003765454734152,2.9063248018036356,15002.977549860381,6477.629122240707,disk,-1.5296044934196968,0.469593921041348,2.77202951773945,8651.252334028779,7027.908908498758,0.048282090574502945,-0.0019154557958245277,-0.03165533393621445,-0.27813753485679626,0.6491491198539734,0.6548547148704529,-0.26909154653549194,0.05006523057818413,0.5637229084968567,1.9291114807128906,0.03521127626299858,0.018498025834560394,0.2684616148471832,0.9624688625335693,1317,1,,2.0786681175231934,0.25881993208143944,0.0,0.007527792826294899,0.5292331055429005,12,release,0.0444793701171875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4730
+ c7_p017_e011,3,True,0.055995941162109375,0.44728660583496094,-0.008160319767672302,-0.0025082694282374924,5.865548941264393,plate_384_white,0.4643421173095703,0.09485149383544922,-90.33507851020677,0.17491840782832654,1147.9338130431793,rect,0.8063332023669935,0.5322718114108085,2.8688162610300676,10406.460249209646,6082.6000801726,disk,-0.6365951558886641,-0.4083621015747355,1.6826935932906415,4074.602726229324,6617.016069361468,0.0482865609228611,-0.0036906618624925613,-0.030567863956093788,-0.26663392782211304,0.6517595648765564,0.6521493792533875,-0.28074368834495544,0.03383839130401611,0.5616859197616577,1.9472358226776123,0.04294122755527496,0.025806371122598648,0.2737720310688019,0.9604889154434204,1285,1,,2.0748164653778076,0.31314839680435835,0.0,0.0074202921241521835,0.4933852140077821,12,release,0.04217243194580078,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False