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
cb128e6
·
verified ·
1 Parent(s): 7208b43

add 4 episodes (c9_p026_e036 .. c9_p026_e039); total 4947 {'v1': 1088, 'v2': 3859}

Browse files
Files changed (25) hide show
  1. episodes/c9_p026_e036/data.npz +3 -0
  2. episodes/c9_p026_e036/device_events.jsonl +35 -0
  3. episodes/c9_p026_e036/env.mp4 +3 -0
  4. episodes/c9_p026_e036/meta.json +32 -0
  5. episodes/c9_p026_e036/scene_snapshot.json +1558 -0
  6. episodes/c9_p026_e036/wrist.mp4 +3 -0
  7. episodes/c9_p026_e037/data.npz +3 -0
  8. episodes/c9_p026_e037/device_events.jsonl +36 -0
  9. episodes/c9_p026_e037/env.mp4 +3 -0
  10. episodes/c9_p026_e037/meta.json +32 -0
  11. episodes/c9_p026_e037/scene_snapshot.json +1558 -0
  12. episodes/c9_p026_e037/wrist.mp4 +3 -0
  13. episodes/c9_p026_e038/data.npz +3 -0
  14. episodes/c9_p026_e038/device_events.jsonl +41 -0
  15. episodes/c9_p026_e038/env.mp4 +3 -0
  16. episodes/c9_p026_e038/meta.json +32 -0
  17. episodes/c9_p026_e038/scene_snapshot.json +1558 -0
  18. episodes/c9_p026_e038/wrist.mp4 +3 -0
  19. episodes/c9_p026_e039/data.npz +3 -0
  20. episodes/c9_p026_e039/device_events.jsonl +36 -0
  21. episodes/c9_p026_e039/env.mp4 +3 -0
  22. episodes/c9_p026_e039/meta.json +32 -0
  23. episodes/c9_p026_e039/scene_snapshot.json +1558 -0
  24. episodes/c9_p026_e039/wrist.mp4 +3 -0
  25. index/episodes.csv +4 -0
episodes/c9_p026_e036/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab5d28629ee6c72e747e2156bf63cbaac70c337a3f0fbd8583204cfb5da35782
3
+ size 187835
episodes/c9_p026_e036/device_events.jsonl ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 0, "seq": 1, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
2
+ {"env_id": 0, "seq": 2, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
3
+ {"env_id": 0, "seq": 3, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
4
+ {"env_id": 0, "seq": 4, "step": 6102, "t": 30.51, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
5
+ {"env_id": 0, "seq": 5, "step": 6716, "t": 33.58, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
6
+ {"env_id": 0, "seq": 6, "step": 6716, "t": 33.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.137305289824239}, "cause": "task-0-1"}
7
+ {"env_id": 0, "seq": 7, "step": 6716, "t": 33.58, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
8
+ {"env_id": 0, "seq": 8, "step": 6716, "t": 33.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
9
+ {"env_id": 0, "seq": 9, "step": 6716, "t": 33.58, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
10
+ {"env_id": 0, "seq": 10, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
11
+ {"env_id": 0, "seq": 11, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
12
+ {"env_id": 0, "seq": 12, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
13
+ {"env_id": 0, "seq": 13, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
14
+ {"env_id": 0, "seq": 14, "step": 7135, "t": 35.675, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
15
+ {"env_id": 0, "seq": 15, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
16
+ {"env_id": 0, "seq": 16, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
17
+ {"env_id": 0, "seq": 17, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
18
+ {"env_id": 0, "seq": 18, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.137305289824239}, "cause": "program-0-3"}
19
+ {"env_id": 0, "seq": 19, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
20
+ {"env_id": 0, "seq": 20, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.140000000002118}, "cause": "program-0-3"}
21
+ {"env_id": 0, "seq": 21, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.140000000002118}}, "cause": "program-0-3"}
22
+ {"env_id": 0, "seq": 22, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"}
23
+ {"env_id": 0, "seq": 23, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
24
+ {"env_id": 0, "seq": 24, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
25
+ {"env_id": 0, "seq": 25, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
26
+ {"env_id": 0, "seq": 26, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.973312400264774e-10}, "cause": "program-0-4"}
27
+ {"env_id": 0, "seq": 27, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.973312400264774e-10}, "cause": "program-0-4"}
28
+ {"env_id": 0, "seq": 28, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"}
29
+ {"env_id": 0, "seq": 29, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
30
+ {"env_id": 0, "seq": 30, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
31
+ {"env_id": 0, "seq": 31, "step": 8963, "t": 44.815, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
32
+ {"env_id": 0, "seq": 32, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
33
+ {"env_id": 0, "seq": 33, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"}
34
+ {"env_id": 0, "seq": 34, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
35
+ {"env_id": 0, "seq": 35, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
episodes/c9_p026_e036/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f42f62908ce1fbe4e4cccb93fd4c5879bc3f32dc318401e810fd3233d05077b1
3
+ size 1307249
episodes/c9_p026_e036/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p026/magicsim/36",
3
+ "fps": 25,
4
+ "frames": 1239,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1239,
8
+ "env": 1239
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/c9_p026_e036/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 36,
3
+ "env_id": 0,
4
+ "run_id": "c9_p026",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 0,
18
+ "scene": {
19
+ "objects": [
20
+ {
21
+ "rac_cell": [
22
+ {
23
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
24
+ "pose": {
25
+ "pos": [
26
+ 0.0,
27
+ 0.0,
28
+ 0.0
29
+ ],
30
+ "ori": [
31
+ 1.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0
35
+ ],
36
+ "scale": [
37
+ 1.0,
38
+ 1.0,
39
+ 1.0
40
+ ]
41
+ },
42
+ "dr": {
43
+ "visual": {
44
+ "kind": null,
45
+ "value": null,
46
+ "visible": true
47
+ },
48
+ "physics": {
49
+ "type": "geometry",
50
+ "collision": false,
51
+ "physics_material": {
52
+ "static_friction": 0.6,
53
+ "dynamic_friction": 0.5,
54
+ "restitution": 0.0
55
+ },
56
+ "ratio": 1.0
57
+ },
58
+ "primitive_params": null
59
+ },
60
+ "type_specific": {}
61
+ }
62
+ ],
63
+ "robot_mount": [
64
+ {
65
+ "asset": "Cube",
66
+ "pose": {
67
+ "pos": [
68
+ 0.0,
69
+ 0.0,
70
+ 0.9075
71
+ ],
72
+ "ori": [
73
+ 1.0,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0
77
+ ],
78
+ "scale": [
79
+ 1.0,
80
+ 1.0,
81
+ 1.0
82
+ ]
83
+ },
84
+ "dr": {
85
+ "visual": {
86
+ "kind": "color",
87
+ "value": [
88
+ 0.55,
89
+ 0.56,
90
+ 0.58
91
+ ],
92
+ "visible": true
93
+ },
94
+ "physics": {
95
+ "type": "geometry",
96
+ "collision": false,
97
+ "ratio": 1.0
98
+ },
99
+ "primitive_params": {
100
+ "size": [
101
+ 0.2,
102
+ 0.2,
103
+ 0.015
104
+ ]
105
+ }
106
+ },
107
+ "type_specific": {}
108
+ }
109
+ ],
110
+ "plate_rack": [
111
+ {
112
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
113
+ "pose": {
114
+ "pos": [
115
+ -0.6,
116
+ 0.02,
117
+ 0.9
118
+ ],
119
+ "ori": [
120
+ 6.123234262925839e-17,
121
+ 0.0,
122
+ 0.0,
123
+ 1.0
124
+ ],
125
+ "scale": [
126
+ 1.0,
127
+ 1.0,
128
+ 1.0
129
+ ]
130
+ },
131
+ "dr": {
132
+ "visual": {
133
+ "kind": null,
134
+ "value": null,
135
+ "visible": true
136
+ },
137
+ "physics": {
138
+ "type": "geometry",
139
+ "collision": false,
140
+ "physics_material": {
141
+ "static_friction": 0.6,
142
+ "dynamic_friction": 0.5,
143
+ "restitution": 0.0
144
+ },
145
+ "ratio": 1.0
146
+ },
147
+ "primitive_params": null
148
+ },
149
+ "type_specific": {}
150
+ }
151
+ ],
152
+ "hotel_plate": [
153
+ {
154
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
155
+ "pose": {
156
+ "pos": [
157
+ -0.6,
158
+ 0.02,
159
+ 0.9605
160
+ ],
161
+ "ori": [
162
+ 1.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "scale": [
168
+ 1.0,
169
+ 1.0,
170
+ 1.0
171
+ ]
172
+ },
173
+ "dr": {
174
+ "visual": {
175
+ "kind": null,
176
+ "value": null,
177
+ "visible": true
178
+ },
179
+ "physics": {
180
+ "type": "geometry",
181
+ "collision": false,
182
+ "ratio": 1.0
183
+ },
184
+ "primitive_params": null
185
+ },
186
+ "type_specific": {}
187
+ },
188
+ {
189
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
190
+ "pose": {
191
+ "pos": [
192
+ -0.6,
193
+ 0.02,
194
+ 1.0285
195
+ ],
196
+ "ori": [
197
+ 6.123234262925839e-17,
198
+ 0.0,
199
+ 0.0,
200
+ 1.0
201
+ ],
202
+ "scale": [
203
+ 1.0,
204
+ 1.0,
205
+ 1.0
206
+ ]
207
+ },
208
+ "dr": {
209
+ "visual": {
210
+ "kind": null,
211
+ "value": null,
212
+ "visible": true
213
+ },
214
+ "physics": {
215
+ "type": "geometry",
216
+ "collision": false,
217
+ "ratio": 1.0
218
+ },
219
+ "primitive_params": null
220
+ },
221
+ "type_specific": {}
222
+ },
223
+ {
224
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
225
+ "pose": {
226
+ "pos": [
227
+ -0.6,
228
+ 0.02,
229
+ 1.0965
230
+ ],
231
+ "ori": [
232
+ 1.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0
236
+ ],
237
+ "scale": [
238
+ 1.0,
239
+ 1.0,
240
+ 1.0
241
+ ]
242
+ },
243
+ "dr": {
244
+ "visual": {
245
+ "kind": null,
246
+ "value": null,
247
+ "visible": true
248
+ },
249
+ "physics": {
250
+ "type": "geometry",
251
+ "collision": false,
252
+ "ratio": 1.0
253
+ },
254
+ "primitive_params": null
255
+ },
256
+ "type_specific": {}
257
+ },
258
+ {
259
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
260
+ "pose": {
261
+ "pos": [
262
+ -0.6,
263
+ 0.02,
264
+ 1.1645
265
+ ],
266
+ "ori": [
267
+ 6.123234262925839e-17,
268
+ 0.0,
269
+ 0.0,
270
+ 1.0
271
+ ],
272
+ "scale": [
273
+ 1.0,
274
+ 1.0,
275
+ 1.0
276
+ ]
277
+ },
278
+ "dr": {
279
+ "visual": {
280
+ "kind": null,
281
+ "value": null,
282
+ "visible": true
283
+ },
284
+ "physics": {
285
+ "type": "geometry",
286
+ "collision": false,
287
+ "ratio": 1.0
288
+ },
289
+ "primitive_params": null
290
+ },
291
+ "type_specific": {}
292
+ },
293
+ {
294
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
295
+ "pose": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.02,
299
+ 1.2325
300
+ ],
301
+ "ori": [
302
+ 1.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "scale": [
308
+ 1.0,
309
+ 1.0,
310
+ 1.0
311
+ ]
312
+ },
313
+ "dr": {
314
+ "visual": {
315
+ "kind": null,
316
+ "value": null,
317
+ "visible": true
318
+ },
319
+ "physics": {
320
+ "type": "geometry",
321
+ "collision": false,
322
+ "ratio": 1.0
323
+ },
324
+ "primitive_params": null
325
+ },
326
+ "type_specific": {}
327
+ }
328
+ ],
329
+ "a4s_sealer": [
330
+ {
331
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
332
+ "pose": {
333
+ "pos": [
334
+ 0.5175085067749023,
335
+ 0.06086158752441406,
336
+ 0.8999999761581421
337
+ ],
338
+ "ori": [
339
+ -0.6826450824737549,
340
+ 0.0,
341
+ 0.0,
342
+ 0.7307500839233398
343
+ ],
344
+ "scale": [
345
+ 1.0,
346
+ 1.0,
347
+ 1.0
348
+ ]
349
+ },
350
+ "dr": {
351
+ "visual": {
352
+ "kind": null,
353
+ "value": null,
354
+ "visible": true
355
+ },
356
+ "physics": {
357
+ "type": "articulation",
358
+ "solver_position_iteration_count": 16.0,
359
+ "solver_velocity_iteration_count": 1.0,
360
+ "enabled_self_collisions": false,
361
+ "ratio": 1.0
362
+ },
363
+ "primitive_params": null
364
+ },
365
+ "type_specific": {
366
+ "joint_position": [
367
+ 1.6820826415769874e-12
368
+ ],
369
+ "joint_velocity": [
370
+ 0.0
371
+ ],
372
+ "linear_velocity": [
373
+ 0.0,
374
+ 0.0,
375
+ 0.0
376
+ ],
377
+ "angular_velocity": [
378
+ 0.0,
379
+ 0.0,
380
+ 0.0
381
+ ]
382
+ }
383
+ }
384
+ ],
385
+ "conveyor": [
386
+ {
387
+ "asset": "Cube",
388
+ "pose": {
389
+ "pos": [
390
+ 0.15,
391
+ 0.45,
392
+ 0.9
393
+ ],
394
+ "ori": [
395
+ 1.0,
396
+ 0.0,
397
+ 0.0,
398
+ 0.0
399
+ ],
400
+ "scale": [
401
+ 1.0,
402
+ 1.0,
403
+ 1.0
404
+ ]
405
+ },
406
+ "dr": {
407
+ "visual": {
408
+ "kind": null,
409
+ "value": null,
410
+ "visible": true
411
+ },
412
+ "physics": {
413
+ "type": "conveyor",
414
+ "physics_material": {
415
+ "static_friction": 0.9,
416
+ "dynamic_friction": 0.9
417
+ },
418
+ "ratio": 1.0
419
+ },
420
+ "primitive_params": {
421
+ "size": [
422
+ 2.4,
423
+ 0.076,
424
+ 0.03
425
+ ]
426
+ },
427
+ "conveyor": {
428
+ "speed": 0.24666202611506274,
429
+ "direction": [
430
+ 1.0,
431
+ 0.0,
432
+ 0.0
433
+ ],
434
+ "enabled": true,
435
+ "drive": "surface_velocity",
436
+ "lines": null,
437
+ "station_line": null,
438
+ "riders": [
439
+ "carrier"
440
+ ],
441
+ "stations": {
442
+ "pick": {
443
+ "position": -0.0008353645249375985,
444
+ "slow_distance": 0.03,
445
+ "slow_speed": 0.03
446
+ }
447
+ },
448
+ "rails": {
449
+ "height": 0.01,
450
+ "thickness": 0.01,
451
+ "gap": 0.001,
452
+ "friction": 0.05
453
+ },
454
+ "legs": 0.87,
455
+ "loop": {
456
+ "radius": 0.35,
457
+ "side": "left",
458
+ "curve_extra_width": 0.0,
459
+ "segments": 18,
460
+ "curve_rails": "both"
461
+ },
462
+ "snap_distance": 0.1,
463
+ "junction_snap": 0.02,
464
+ "collision_approximation": "auto",
465
+ "plate_mass": 1.0,
466
+ "lift_drop": 0.004,
467
+ "accel": 0.0,
468
+ "decel": 0.0,
469
+ "drive_damping": 1000000.0,
470
+ "drive_max_force": 1000000000.0
471
+ }
472
+ },
473
+ "type_specific": {
474
+ "controller": {
475
+ "state": "at_station",
476
+ "speed": 0.24666202611506274,
477
+ "holds": [],
478
+ "station": "pick",
479
+ "rider": "carrier_3",
480
+ "arrived": true,
481
+ "applied_speed": 0.0
482
+ }
483
+ }
484
+ }
485
+ ],
486
+ "carrier": [
487
+ {
488
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
489
+ "pose": {
490
+ "pos": [
491
+ 0.10601329803466797,
492
+ 1.1499996185302734,
493
+ 0.8999999761581421
494
+ ],
495
+ "ori": [
496
+ -1.7713309716782533e-05,
497
+ -7.444501459730191e-09,
498
+ -3.534350367928596e-09,
499
+ 1.0
500
+ ],
501
+ "scale": [
502
+ 1.0,
503
+ 1.0,
504
+ 1.0
505
+ ]
506
+ },
507
+ "dr": {
508
+ "visual": {
509
+ "kind": null,
510
+ "value": null,
511
+ "visible": true
512
+ },
513
+ "physics": {
514
+ "type": "rigid",
515
+ "mass": 0.5,
516
+ "physics_material": {
517
+ "static_friction": 0.9,
518
+ "dynamic_friction": 0.9,
519
+ "restitution": 0.0
520
+ },
521
+ "ratio": 1.0
522
+ },
523
+ "primitive_params": null
524
+ },
525
+ "type_specific": {
526
+ "linear_velocity": [
527
+ -4.568126987791743e-10,
528
+ -2.599175097373063e-09,
529
+ 3.725290298461914e-09
530
+ ],
531
+ "angular_velocity": [
532
+ 1.4383718394128664e-07,
533
+ -3.4235792867320924e-08,
534
+ 4.748322623981949e-09
535
+ ]
536
+ }
537
+ },
538
+ {
539
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
540
+ "pose": {
541
+ "pos": [
542
+ 1.5727252960205078,
543
+ 0.5341205596923828,
544
+ 0.8999999761581421
545
+ ],
546
+ "ori": [
547
+ 0.9429667592048645,
548
+ -1.661145532239061e-08,
549
+ 6.393794649284246e-08,
550
+ 0.3328869044780731
551
+ ],
552
+ "scale": [
553
+ 1.0,
554
+ 1.0,
555
+ 1.0
556
+ ]
557
+ },
558
+ "dr": {
559
+ "visual": {
560
+ "kind": null,
561
+ "value": null,
562
+ "visible": true
563
+ },
564
+ "physics": {
565
+ "type": "rigid",
566
+ "mass": 0.5,
567
+ "physics_material": {
568
+ "static_friction": 0.9,
569
+ "dynamic_friction": 0.9,
570
+ "restitution": 0.0
571
+ },
572
+ "ratio": 1.0
573
+ },
574
+ "primitive_params": null
575
+ },
576
+ "type_specific": {
577
+ "linear_velocity": [
578
+ 1.0327039223767542e-10,
579
+ -3.7627889692970484e-10,
580
+ 0.0
581
+ ],
582
+ "angular_velocity": [
583
+ 3.279807714307026e-08,
584
+ 1.1334734040246985e-08,
585
+ -7.868510842889975e-10
586
+ ]
587
+ }
588
+ },
589
+ {
590
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
591
+ "pose": {
592
+ "pos": [
593
+ 0.1496877670288086,
594
+ 0.4500007629394531,
595
+ 0.8999999761581421
596
+ ],
597
+ "ori": [
598
+ 1.0,
599
+ -1.0732285060655045e-09,
600
+ 1.1561548385330411e-09,
601
+ 2.9247453312564176e-06
602
+ ],
603
+ "scale": [
604
+ 1.0,
605
+ 1.0,
606
+ 1.0
607
+ ]
608
+ },
609
+ "dr": {
610
+ "visual": {
611
+ "kind": null,
612
+ "value": null,
613
+ "visible": true
614
+ },
615
+ "physics": {
616
+ "type": "rigid",
617
+ "mass": 0.5,
618
+ "physics_material": {
619
+ "static_friction": 0.9,
620
+ "dynamic_friction": 0.9,
621
+ "restitution": 0.0
622
+ },
623
+ "ratio": 1.0
624
+ },
625
+ "primitive_params": null
626
+ },
627
+ "type_specific": {
628
+ "linear_velocity": [
629
+ 3.45636852472353e-10,
630
+ 1.0409935136124204e-09,
631
+ 0.0
632
+ ],
633
+ "angular_velocity": [
634
+ -7.448847583191309e-08,
635
+ 2.597209025623215e-08,
636
+ -9.967671132926625e-10
637
+ ]
638
+ }
639
+ },
640
+ {
641
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
642
+ "pose": {
643
+ "pos": [
644
+ -1.3620615005493164,
645
+ 0.6458721160888672,
646
+ 0.8999999761581421
647
+ ],
648
+ "ori": [
649
+ -0.8457009792327881,
650
+ -4.1158681796105157e-08,
651
+ -8.041649124379546e-08,
652
+ 0.5336571335792542
653
+ ],
654
+ "scale": [
655
+ 1.0,
656
+ 1.0,
657
+ 1.0
658
+ ]
659
+ },
660
+ "dr": {
661
+ "visual": {
662
+ "kind": null,
663
+ "value": null,
664
+ "visible": true
665
+ },
666
+ "physics": {
667
+ "type": "rigid",
668
+ "mass": 0.5,
669
+ "physics_material": {
670
+ "static_friction": 0.9,
671
+ "dynamic_friction": 0.9,
672
+ "restitution": 0.0
673
+ },
674
+ "ratio": 1.0
675
+ },
676
+ "primitive_params": null
677
+ },
678
+ "type_specific": {
679
+ "linear_velocity": [
680
+ 1.558231321752146e-09,
681
+ -6.769664828709665e-10,
682
+ -3.725290298461914e-09
683
+ ],
684
+ "angular_velocity": [
685
+ 1.1589457926675095e-07,
686
+ 1.6868133911884797e-07,
687
+ 1.0823038021356979e-09
688
+ ]
689
+ }
690
+ }
691
+ ],
692
+ "plate": [
693
+ {
694
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd",
695
+ "pose": {
696
+ "pos": [
697
+ 0.09549903869628906,
698
+ 1.158656120300293,
699
+ 0.9179999828338623
700
+ ],
701
+ "ori": [
702
+ 0.08786944299936295,
703
+ -6.446479794419702e-09,
704
+ -6.0495355391765315e-09,
705
+ 0.9961320161819458
706
+ ],
707
+ "scale": [
708
+ 1.0,
709
+ 1.0,
710
+ 1.0
711
+ ]
712
+ },
713
+ "dr": {
714
+ "visual": {
715
+ "kind": null,
716
+ "value": null,
717
+ "visible": true
718
+ },
719
+ "physics": {
720
+ "type": "rigid",
721
+ "collision": true,
722
+ "mass": "asset",
723
+ "max_depenetration_velocity": 1.0,
724
+ "physics_material": {
725
+ "static_friction": 0.5,
726
+ "dynamic_friction": 0.45,
727
+ "restitution": 0.0,
728
+ "friction_combine_mode": "average"
729
+ },
730
+ "ratio": 1.0
731
+ },
732
+ "primitive_params": null
733
+ },
734
+ "type_specific": {
735
+ "linear_velocity": [
736
+ 3.477569165966088e-08,
737
+ -3.7216249637594956e-08,
738
+ 1.1175870895385742e-07
739
+ ],
740
+ "angular_velocity": [
741
+ 1.1239127388762427e-06,
742
+ 1.923826403071871e-06,
743
+ 1.98505830439899e-07
744
+ ]
745
+ }
746
+ },
747
+ {
748
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd",
749
+ "pose": {
750
+ "pos": [
751
+ 1.5847463607788086,
752
+ 0.5340805053710938,
753
+ 0.9180000424385071
754
+ ],
755
+ "ori": [
756
+ 0.9575021266937256,
757
+ -2.058555281791996e-08,
758
+ 6.317784340126309e-08,
759
+ 0.2884264588356018
760
+ ],
761
+ "scale": [
762
+ 1.0,
763
+ 1.0,
764
+ 1.0
765
+ ]
766
+ },
767
+ "dr": {
768
+ "visual": {
769
+ "kind": null,
770
+ "value": null,
771
+ "visible": true
772
+ },
773
+ "physics": {
774
+ "type": "rigid",
775
+ "collision": true,
776
+ "mass": "asset",
777
+ "max_depenetration_velocity": 1.0,
778
+ "physics_material": {
779
+ "static_friction": 0.5,
780
+ "dynamic_friction": 0.45,
781
+ "restitution": 0.0,
782
+ "friction_combine_mode": "average"
783
+ },
784
+ "ratio": 1.0
785
+ },
786
+ "primitive_params": null
787
+ },
788
+ "type_specific": {
789
+ "linear_velocity": [
790
+ -2.1336788336157042e-08,
791
+ -1.3997954795286205e-08,
792
+ -5.833804607391357e-06
793
+ ],
794
+ "angular_velocity": [
795
+ 5.301342866914638e-07,
796
+ -7.116408369256533e-07,
797
+ 7.606344354371686e-08
798
+ ]
799
+ }
800
+ },
801
+ {
802
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd",
803
+ "pose": {
804
+ "pos": [
805
+ 0.1355447769165039,
806
+ 0.43941211700439453,
807
+ 0.9180000424385071
808
+ ],
809
+ "ori": [
810
+ 0.9999887347221375,
811
+ -1.4409637927315089e-09,
812
+ 7.839946469800907e-10,
813
+ -0.004748106002807617
814
+ ],
815
+ "scale": [
816
+ 1.0,
817
+ 1.0,
818
+ 1.0
819
+ ]
820
+ },
821
+ "dr": {
822
+ "visual": {
823
+ "kind": null,
824
+ "value": null,
825
+ "visible": true
826
+ },
827
+ "physics": {
828
+ "type": "rigid",
829
+ "collision": true,
830
+ "mass": "asset",
831
+ "max_depenetration_velocity": 1.0,
832
+ "physics_material": {
833
+ "static_friction": 0.5,
834
+ "dynamic_friction": 0.45,
835
+ "restitution": 0.0,
836
+ "friction_combine_mode": "average"
837
+ },
838
+ "ratio": 1.0
839
+ },
840
+ "primitive_params": null
841
+ },
842
+ "type_specific": {
843
+ "linear_velocity": [
844
+ -2.0238299924812964e-08,
845
+ 1.582296071944711e-08,
846
+ -5.729496479034424e-06
847
+ ],
848
+ "angular_velocity": [
849
+ -6.956891240861296e-08,
850
+ -1.5543117797278683e-06,
851
+ 1.6280543491120625e-07
852
+ ]
853
+ }
854
+ },
855
+ {
856
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd",
857
+ "pose": {
858
+ "pos": [
859
+ -1.3655824661254883,
860
+ 0.6307258605957031,
861
+ 0.9179999828338623
862
+ ],
863
+ "ori": [
864
+ -0.8356762528419495,
865
+ -3.634167100585728e-08,
866
+ -7.770163534814856e-08,
867
+ 0.5492224097251892
868
+ ],
869
+ "scale": [
870
+ 1.0,
871
+ 1.0,
872
+ 1.0
873
+ ]
874
+ },
875
+ "dr": {
876
+ "visual": {
877
+ "kind": null,
878
+ "value": null,
879
+ "visible": true
880
+ },
881
+ "physics": {
882
+ "type": "rigid",
883
+ "collision": true,
884
+ "mass": "asset",
885
+ "max_depenetration_velocity": 1.0,
886
+ "physics_material": {
887
+ "static_friction": 0.5,
888
+ "dynamic_friction": 0.45,
889
+ "restitution": 0.0,
890
+ "friction_combine_mode": "average"
891
+ },
892
+ "ratio": 1.0
893
+ },
894
+ "primitive_params": null
895
+ },
896
+ "type_specific": {
897
+ "linear_velocity": [
898
+ -1.2161116558218055e-07,
899
+ -2.654894046827394e-07,
900
+ -1.5906989574432373e-06
901
+ ],
902
+ "angular_velocity": [
903
+ 8.388275091419928e-06,
904
+ -6.2660383264301345e-06,
905
+ -7.038789817670477e-07
906
+ ]
907
+ }
908
+ }
909
+ ],
910
+ "deco_hub_west": [
911
+ {
912
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd",
913
+ "pose": {
914
+ "pos": [
915
+ -3.36,
916
+ 0.0,
917
+ 0.0
918
+ ],
919
+ "ori": [
920
+ 1.0,
921
+ 0.0,
922
+ 0.0,
923
+ 0.0
924
+ ],
925
+ "scale": [
926
+ 1.0,
927
+ 1.0,
928
+ 1.0
929
+ ]
930
+ },
931
+ "dr": {
932
+ "visual": {
933
+ "kind": null,
934
+ "value": null,
935
+ "visible": true
936
+ },
937
+ "physics": {
938
+ "type": "geometry",
939
+ "collision": false,
940
+ "ratio": 1.0
941
+ },
942
+ "primitive_params": null
943
+ },
944
+ "type_specific": {}
945
+ }
946
+ ],
947
+ "deco_hub_east": [
948
+ {
949
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd",
950
+ "pose": {
951
+ "pos": [
952
+ 3.36,
953
+ 0.0,
954
+ 0.0
955
+ ],
956
+ "ori": [
957
+ 1.0,
958
+ 0.0,
959
+ 0.0,
960
+ 0.0
961
+ ],
962
+ "scale": [
963
+ 1.0,
964
+ 1.0,
965
+ 1.0
966
+ ]
967
+ },
968
+ "dr": {
969
+ "visual": {
970
+ "kind": null,
971
+ "value": null,
972
+ "visible": true
973
+ },
974
+ "physics": {
975
+ "type": "geometry",
976
+ "collision": false,
977
+ "ratio": 1.0
978
+ },
979
+ "primitive_params": null
980
+ },
981
+ "type_specific": {}
982
+ }
983
+ ],
984
+ "deco_hub_back": [
985
+ {
986
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd",
987
+ "pose": {
988
+ "pos": [
989
+ -3.0,
990
+ -2.1,
991
+ 0.0
992
+ ],
993
+ "ori": [
994
+ 1.0,
995
+ 0.0,
996
+ 0.0,
997
+ 0.0
998
+ ],
999
+ "scale": [
1000
+ 1.0,
1001
+ 1.0,
1002
+ 1.0
1003
+ ]
1004
+ },
1005
+ "dr": {
1006
+ "visual": {
1007
+ "kind": null,
1008
+ "value": null,
1009
+ "visible": true
1010
+ },
1011
+ "physics": {
1012
+ "type": "geometry",
1013
+ "collision": false,
1014
+ "ratio": 1.0
1015
+ },
1016
+ "primitive_params": null
1017
+ },
1018
+ "type_specific": {}
1019
+ }
1020
+ ],
1021
+ "deco_bench_east": [
1022
+ {
1023
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd",
1024
+ "pose": {
1025
+ "pos": [
1026
+ 2.6,
1027
+ -2.5,
1028
+ 0.0
1029
+ ],
1030
+ "ori": [
1031
+ 6.123234262925839e-17,
1032
+ 0.0,
1033
+ 0.0,
1034
+ 1.0
1035
+ ],
1036
+ "scale": [
1037
+ 1.0,
1038
+ 1.0,
1039
+ 1.0
1040
+ ]
1041
+ },
1042
+ "dr": {
1043
+ "visual": {
1044
+ "kind": null,
1045
+ "value": null,
1046
+ "visible": true
1047
+ },
1048
+ "physics": {
1049
+ "type": "geometry",
1050
+ "collision": false,
1051
+ "ratio": 1.0
1052
+ },
1053
+ "primitive_params": null
1054
+ },
1055
+ "type_specific": {}
1056
+ }
1057
+ ],
1058
+ "deco_bench_gap": [
1059
+ {
1060
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd",
1061
+ "pose": {
1062
+ "pos": [
1063
+ -0.1,
1064
+ -2.9,
1065
+ 0.0
1066
+ ],
1067
+ "ori": [
1068
+ 1.0,
1069
+ 0.0,
1070
+ 0.0,
1071
+ 0.0
1072
+ ],
1073
+ "scale": [
1074
+ 1.0,
1075
+ 1.0,
1076
+ 1.0
1077
+ ]
1078
+ },
1079
+ "dr": {
1080
+ "visual": {
1081
+ "kind": null,
1082
+ "value": null,
1083
+ "visible": true
1084
+ },
1085
+ "physics": {
1086
+ "type": "geometry",
1087
+ "collision": false,
1088
+ "ratio": 1.0
1089
+ },
1090
+ "primitive_params": null
1091
+ },
1092
+ "type_specific": {}
1093
+ }
1094
+ ]
1095
+ },
1096
+ {},
1097
+ {},
1098
+ {}
1099
+ ],
1100
+ "devices": {
1101
+ "hub": [
1102
+ {
1103
+ "t": 3.8199999999999408,
1104
+ "step": 764,
1105
+ "counter": 0,
1106
+ "devices": {
1107
+ "a4s_sealer_1": {
1108
+ "mode": "auto",
1109
+ "units": {
1110
+ "drawer": {
1111
+ "state": "at_out",
1112
+ "active": null,
1113
+ "target": 0.0,
1114
+ "goal_name": "out",
1115
+ "profile": null,
1116
+ "q_start": null,
1117
+ "reversing": false,
1118
+ "blocked_for": 0.0,
1119
+ "settled_for": 0.0,
1120
+ "last_q": 1.6820826415769874e-12
1121
+ },
1122
+ "heater": {
1123
+ "state": "ready",
1124
+ "active": null,
1125
+ "duration": 0.0,
1126
+ "t_start": null,
1127
+ "elapsed": 0.0
1128
+ }
1129
+ },
1130
+ "queues": {},
1131
+ "program": null,
1132
+ "sensors": {
1133
+ "plate_present": {
1134
+ "occupants": [],
1135
+ "pending": {}
1136
+ }
1137
+ },
1138
+ "interlocks": {}
1139
+ },
1140
+ "conveyor_1": {
1141
+ "mode": "auto",
1142
+ "units": {
1143
+ "belt": {
1144
+ "state": "at_station",
1145
+ "active": null,
1146
+ "controller": {
1147
+ "speed": 0.24666202611506274,
1148
+ "holds": [],
1149
+ "station": "pick",
1150
+ "rider": "carrier_3",
1151
+ "arrived": true,
1152
+ "settle_count": 644,
1153
+ "released": {
1154
+ "pick": []
1155
+ },
1156
+ "last_pos": {
1157
+ "carrier_1": [
1158
+ -0.04398670792579651,
1159
+ 0.6999996304512024,
1160
+ 0.0
1161
+ ],
1162
+ "carrier_2": [
1163
+ 1.4227252900600433,
1164
+ 0.08412057161331177,
1165
+ 0.0
1166
+ ],
1167
+ "carrier_3": [
1168
+ -0.0003122389316558838,
1169
+ 7.748603820800781e-07,
1170
+ 0.0
1171
+ ],
1172
+ "carrier_4": [
1173
+ -1.5120615065097809,
1174
+ 0.19587212800979614,
1175
+ 0.0
1176
+ ]
1177
+ },
1178
+ "command": 0.0
1179
+ },
1180
+ "belt": {
1181
+ "target_speed": 0.0,
1182
+ "command_speed": 0.0
1183
+ },
1184
+ "seen": {
1185
+ "state": "at_station",
1186
+ "station": "pick",
1187
+ "rider": "carrier_3",
1188
+ "arrived": true
1189
+ }
1190
+ }
1191
+ },
1192
+ "queues": {},
1193
+ "program": null,
1194
+ "sensors": {},
1195
+ "interlocks": {}
1196
+ }
1197
+ },
1198
+ "zones": {},
1199
+ "labware": {
1200
+ "plate_1": {
1201
+ "sealed": false
1202
+ },
1203
+ "plate_2": {
1204
+ "sealed": false
1205
+ },
1206
+ "plate_3": {
1207
+ "sealed": false
1208
+ },
1209
+ "plate_4": {
1210
+ "sealed": false
1211
+ }
1212
+ },
1213
+ "rules": {},
1214
+ "records": [],
1215
+ "bus": {
1216
+ "seq": 3,
1217
+ "queue": []
1218
+ }
1219
+ },
1220
+ null,
1221
+ null,
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ {},
1226
+ null,
1227
+ null,
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {
1233
+ "ceiling": {
1234
+ "type": "rect",
1235
+ "pose": {
1236
+ "pos": [
1237
+ -0.04010888147825764,
1238
+ 0.39040999576584257,
1239
+ 2.6646701847644043
1240
+ ],
1241
+ "ori": [
1242
+ -14.9713912872253,
1243
+ -14.981182103896657,
1244
+ 6.961968094492505
1245
+ ],
1246
+ "scale": [
1247
+ 1.0,
1248
+ 1.0,
1249
+ 1.0
1250
+ ]
1251
+ },
1252
+ "dr": {
1253
+ "color_temperature": 3284.368064571909,
1254
+ "color": [
1255
+ 0.9043586523945504,
1256
+ 0.8998806012533122,
1257
+ 0.8320877046139199
1258
+ ],
1259
+ "intensity": 5176.23020994519,
1260
+ "width": 2.0066599025751186,
1261
+ "height": 1.3014650845798648
1262
+ }
1263
+ },
1264
+ "key": {
1265
+ "type": "disk",
1266
+ "pose": {
1267
+ "pos": [
1268
+ -1.0600021913968298,
1269
+ -0.8262284045237618,
1270
+ 2.2847237179294067
1271
+ ],
1272
+ "ori": [
1273
+ -17.915380087399953,
1274
+ -32.055244119397656,
1275
+ 15.226039488728802
1276
+ ],
1277
+ "scale": [
1278
+ 1.0,
1279
+ 1.0,
1280
+ 1.0
1281
+ ]
1282
+ },
1283
+ "dr": {
1284
+ "color_temperature": 3675.6684878564847,
1285
+ "color": [
1286
+ 0.9335034476879006,
1287
+ 0.9450303077520621,
1288
+ 0.8659088464277678
1289
+ ],
1290
+ "intensity": 9915.267807536127,
1291
+ "radius": 0.44802123348276235
1292
+ }
1293
+ }
1294
+ },
1295
+ {},
1296
+ {},
1297
+ {}
1298
+ ],
1299
+ "background": {
1300
+ "type": "dome",
1301
+ "pose": {
1302
+ "pos": null,
1303
+ "ori": null,
1304
+ "scale": null
1305
+ },
1306
+ "dr": {
1307
+ "intensity": 1056.6062134895242,
1308
+ "texture": null,
1309
+ "color": [
1310
+ 0.92,
1311
+ 0.94,
1312
+ 0.96
1313
+ ]
1314
+ }
1315
+ }
1316
+ },
1317
+ "robots": {
1318
+ "UR5e": {
1319
+ "root_pose": [
1320
+ [
1321
+ 11.0,
1322
+ -11.0,
1323
+ 0.9150000214576721,
1324
+ 1.0,
1325
+ 0.0,
1326
+ 0.0,
1327
+ 0.0
1328
+ ],
1329
+ [
1330
+ 11.0,
1331
+ 11.0,
1332
+ 0.9150000214576721,
1333
+ 1.0,
1334
+ 0.0,
1335
+ 0.0,
1336
+ 0.0
1337
+ ],
1338
+ [
1339
+ -11.0,
1340
+ -11.0,
1341
+ 0.9150000214576721,
1342
+ 1.0,
1343
+ 0.0,
1344
+ 0.0,
1345
+ 0.0
1346
+ ],
1347
+ [
1348
+ -11.0,
1349
+ 11.0,
1350
+ 0.9150000214576721,
1351
+ 1.0,
1352
+ 0.0,
1353
+ 0.0,
1354
+ 0.0
1355
+ ]
1356
+ ],
1357
+ "root_vel": [
1358
+ [
1359
+ 0.0,
1360
+ 0.0,
1361
+ 0.0,
1362
+ 0.0,
1363
+ 0.0,
1364
+ 0.0
1365
+ ],
1366
+ [
1367
+ 0.0,
1368
+ 0.0,
1369
+ 0.0,
1370
+ 0.0,
1371
+ 0.0,
1372
+ 0.0
1373
+ ],
1374
+ [
1375
+ 0.0,
1376
+ 0.0,
1377
+ 0.0,
1378
+ 0.0,
1379
+ 0.0,
1380
+ 0.0
1381
+ ],
1382
+ [
1383
+ 0.0,
1384
+ 0.0,
1385
+ 0.0,
1386
+ 0.0,
1387
+ 0.0,
1388
+ 0.0
1389
+ ]
1390
+ ],
1391
+ "joint_pos": [
1392
+ [
1393
+ 0.9140999913215637,
1394
+ -1.7194000482559204,
1395
+ 2.0905001163482666,
1396
+ -1.9419000148773193,
1397
+ -1.5707999467849731,
1398
+ 2.4848999977111816,
1399
+ 0.017999999225139618,
1400
+ 0.017999999225139618
1401
+ ],
1402
+ [
1403
+ 0.9140999913215637,
1404
+ -1.7194000482559204,
1405
+ 2.0905001163482666,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
1411
+ ],
1412
+ [
1413
+ 0.9141027927398682,
1414
+ -1.7193982601165771,
1415
+ 2.0904998779296875,
1416
+ -1.9419009685516357,
1417
+ -1.5707999467849731,
1418
+ 2.484900951385498,
1419
+ 0.01799999549984932,
1420
+ 0.018000002950429916
1421
+ ],
1422
+ [
1423
+ 0.9140999913215637,
1424
+ -1.7194000482559204,
1425
+ 2.0905001163482666,
1426
+ -1.9419000148773193,
1427
+ -1.5707999467849731,
1428
+ 2.4848999977111816,
1429
+ 0.017999999225139618,
1430
+ 0.017999999225139618
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ 0.0,
1436
+ 0.0,
1437
+ 0.0,
1438
+ 0.0,
1439
+ 0.0,
1440
+ 0.0,
1441
+ 0.0,
1442
+ 0.0
1443
+ ],
1444
+ [
1445
+ 0.0,
1446
+ 0.0,
1447
+ 0.0,
1448
+ 0.0,
1449
+ 0.0,
1450
+ 0.0,
1451
+ 0.0,
1452
+ 0.0
1453
+ ],
1454
+ [
1455
+ -2.6945032874488535e-38,
1456
+ 1.9051538243125341e-38,
1457
+ -1.965740364716082e-38,
1458
+ 3.5470617369867968e-37,
1459
+ -3.3385014418668627e-37,
1460
+ 2.262487981940821e-36,
1461
+ 5.198075214707387e-08,
1462
+ -5.1980798332351696e-08
1463
+ ],
1464
+ [
1465
+ 0.0,
1466
+ 0.0,
1467
+ 0.0,
1468
+ 0.0,
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.0513402484357357,
1482
+ -0.0026144064031541348,
1483
+ -0.0313003808259964,
1484
+ -0.28581786155700684,
1485
+ 0.6482633948326111,
1486
+ 0.6499364972114563,
1487
+ -0.27503684163093567
1488
+ ],
1489
+ [
1490
+ 0.05242197588086128,
1491
+ -0.0018581616459414363,
1492
+ -0.02649025060236454,
1493
+ -0.28388381004333496,
1494
+ 0.643293559551239,
1495
+ 0.6539435386657715,
1496
+ -0.2791796028614044
1497
+ ],
1498
+ [
1499
+ 0.04931589961051941,
1500
+ -0.002303550485521555,
1501
+ -0.03128711134195328,
1502
+ -0.2805147171020508,
1503
+ 0.6576094627380371,
1504
+ 0.6358892321586609,
1505
+ -0.2906995117664337
1506
+ ],
1507
+ [
1508
+ 0.049745600670576096,
1509
+ 0.0024040478747338057,
1510
+ -0.03245487064123154,
1511
+ -0.29010942578315735,
1512
+ 0.6510800123214722,
1513
+ 0.6438921093940735,
1514
+ -0.27809038758277893
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.05821666121482849,
1520
+ 0.5740291476249695,
1521
+ 1.9427893161773682,
1522
+ 0.05137203633785248,
1523
+ -0.008627895265817642,
1524
+ 0.27488696575164795,
1525
+ 0.9600644111633301
1526
+ ],
1527
+ [
1528
+ 0.033452101051807404,
1529
+ 0.5873380303382874,
1530
+ 1.9316346645355225,
1531
+ 0.04941113293170929,
1532
+ 0.002314594341441989,
1533
+ 0.2584032416343689,
1534
+ 0.9647698998451233
1535
+ ],
1536
+ [
1537
+ 0.06627560406923294,
1538
+ 0.5807642340660095,
1539
+ 1.9613794088363647,
1540
+ 0.04226279258728027,
1541
+ 0.009617375209927559,
1542
+ 0.27623435854911804,
1543
+ 0.960112452507019
1544
+ ],
1545
+ [
1546
+ 0.025376426056027412,
1547
+ 0.597843587398529,
1548
+ 1.9589900970458984,
1549
+ 0.035491205751895905,
1550
+ 0.014250198379158974,
1551
+ 0.25589719414711,
1552
+ 0.965947151184082
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p026_e036/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27526e49218d8fd087b9e4c44581277c844c4f93c33d01cb532e89f3062e9908
3
+ size 8004848
episodes/c9_p026_e037/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:40dd7440eb055950f2ad41d8a16d075f46fd4901c157d72c5eff073965f6f9a3
3
+ size 203389
episodes/c9_p026_e037/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 3, "seq": 1, "step": 144, "t": 0.72, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 3, "seq": 2, "step": 144, "t": 0.72, "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": 149, "t": 0.745, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 3, "seq": 4, "step": 1102, "t": 5.51, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 3, "seq": 5, "step": 5823, "t": 29.115, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
6
+ {"env_id": 3, "seq": 6, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
7
+ {"env_id": 3, "seq": 7, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.906790924855735}, "cause": "task-3-1"}
8
+ {"env_id": 3, "seq": 8, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
9
+ {"env_id": 3, "seq": 9, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 3, "seq": 10, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
11
+ {"env_id": 3, "seq": 11, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 3, "seq": 12, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
13
+ {"env_id": 3, "seq": 13, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
14
+ {"env_id": 3, "seq": 14, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
15
+ {"env_id": 3, "seq": 15, "step": 6855, "t": 34.275, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
16
+ {"env_id": 3, "seq": 16, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"}
17
+ {"env_id": 3, "seq": 17, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
18
+ {"env_id": 3, "seq": 18, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 3, "seq": 19, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.906790924855735}, "cause": "program-3-3"}
20
+ {"env_id": 3, "seq": 20, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 3, "seq": 21, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9100000000014887}, "cause": "program-3-3"}
22
+ {"env_id": 3, "seq": 22, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.9100000000014887}}, "cause": "program-3-3"}
23
+ {"env_id": 3, "seq": 23, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
24
+ {"env_id": 3, "seq": 24, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 3, "seq": 25, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
26
+ {"env_id": 3, "seq": 26, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 3, "seq": 27, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"}
28
+ {"env_id": 3, "seq": 28, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"}
29
+ {"env_id": 3, "seq": 29, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
30
+ {"env_id": 3, "seq": 30, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
31
+ {"env_id": 3, "seq": 31, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
32
+ {"env_id": 3, "seq": 32, "step": 8438, "t": 42.19, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
33
+ {"env_id": 3, "seq": 33, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
34
+ {"env_id": 3, "seq": 34, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"}
35
+ {"env_id": 3, "seq": 35, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
36
+ {"env_id": 3, "seq": 36, "step": 10732, "t": 53.66, "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/c9_p026_e037/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2716e3eefbd25252ed809dd0e3931202140b8cbe6ed88dbd166a1b1c452a311
3
+ size 1241839
episodes/c9_p026_e037/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p026/magicsim/37",
3
+ "fps": 25,
4
+ "frames": 1259,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1259,
8
+ "env": 1259
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/c9_p026_e037/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 37,
3
+ "env_id": 3,
4
+ "run_id": "c9_p026",
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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
158
+ "pose": {
159
+ "pos": [
160
+ -0.6,
161
+ 0.02,
162
+ 0.9605
163
+ ],
164
+ "ori": [
165
+ 1.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0
169
+ ],
170
+ "scale": [
171
+ 1.0,
172
+ 1.0,
173
+ 1.0
174
+ ]
175
+ },
176
+ "dr": {
177
+ "visual": {
178
+ "kind": null,
179
+ "value": null,
180
+ "visible": true
181
+ },
182
+ "physics": {
183
+ "type": "geometry",
184
+ "collision": false,
185
+ "ratio": 1.0
186
+ },
187
+ "primitive_params": null
188
+ },
189
+ "type_specific": {}
190
+ },
191
+ {
192
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
228
+ "pose": {
229
+ "pos": [
230
+ -0.6,
231
+ 0.02,
232
+ 1.0965
233
+ ],
234
+ "ori": [
235
+ 1.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0
239
+ ],
240
+ "scale": [
241
+ 1.0,
242
+ 1.0,
243
+ 1.0
244
+ ]
245
+ },
246
+ "dr": {
247
+ "visual": {
248
+ "kind": null,
249
+ "value": null,
250
+ "visible": true
251
+ },
252
+ "physics": {
253
+ "type": "geometry",
254
+ "collision": false,
255
+ "ratio": 1.0
256
+ },
257
+ "primitive_params": null
258
+ },
259
+ "type_specific": {}
260
+ },
261
+ {
262
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
298
+ "pose": {
299
+ "pos": [
300
+ -0.6,
301
+ 0.02,
302
+ 1.2325
303
+ ],
304
+ "ori": [
305
+ 1.0,
306
+ 0.0,
307
+ 0.0,
308
+ 0.0
309
+ ],
310
+ "scale": [
311
+ 1.0,
312
+ 1.0,
313
+ 1.0
314
+ ]
315
+ },
316
+ "dr": {
317
+ "visual": {
318
+ "kind": null,
319
+ "value": null,
320
+ "visible": true
321
+ },
322
+ "physics": {
323
+ "type": "geometry",
324
+ "collision": false,
325
+ "ratio": 1.0
326
+ },
327
+ "primitive_params": null
328
+ },
329
+ "type_specific": {}
330
+ }
331
+ ],
332
+ "a4s_sealer": [
333
+ {
334
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
335
+ "pose": {
336
+ "pos": [
337
+ 0.5189428329467773,
338
+ 0.05177879333496094,
339
+ 0.8999999761581421
340
+ ],
341
+ "ori": [
342
+ -0.6768593192100525,
343
+ 0.0,
344
+ 0.0,
345
+ 0.7361124157905579
346
+ ],
347
+ "scale": [
348
+ 1.0,
349
+ 1.0,
350
+ 1.0
351
+ ]
352
+ },
353
+ "dr": {
354
+ "visual": {
355
+ "kind": null,
356
+ "value": null,
357
+ "visible": true
358
+ },
359
+ "physics": {
360
+ "type": "articulation",
361
+ "solver_position_iteration_count": 16.0,
362
+ "solver_velocity_iteration_count": 1.0,
363
+ "enabled_self_collisions": false,
364
+ "ratio": 1.0
365
+ },
366
+ "primitive_params": null
367
+ },
368
+ "type_specific": {
369
+ "joint_position": [
370
+ 1.6820822078961184e-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": 0.2619707761073893,
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": -0.16114420792733183,
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": 0.2619707761073893,
480
+ "holds": [],
481
+ "station": "pick",
482
+ "rider": "carrier_4",
483
+ "arrived": true,
484
+ "applied_speed": 0.0
485
+ }
486
+ }
487
+ }
488
+ ],
489
+ "carrier": [
490
+ {
491
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
492
+ "pose": {
493
+ "pos": [
494
+ 1.676478385925293,
495
+ 0.6816310882568359,
496
+ 0.8999999761581421
497
+ ],
498
+ "ori": [
499
+ 0.8236616849899292,
500
+ -3.8843900540541654e-08,
501
+ 7.645127197974944e-08,
502
+ 0.5670815110206604
503
+ ],
504
+ "scale": [
505
+ 1.0,
506
+ 1.0,
507
+ 1.0
508
+ ]
509
+ },
510
+ "dr": {
511
+ "visual": {
512
+ "kind": null,
513
+ "value": null,
514
+ "visible": true
515
+ },
516
+ "physics": {
517
+ "type": "rigid",
518
+ "mass": 0.5,
519
+ "physics_material": {
520
+ "static_friction": 0.9,
521
+ "dynamic_friction": 0.9,
522
+ "restitution": 0.0
523
+ },
524
+ "ratio": 1.0
525
+ },
526
+ "primitive_params": null
527
+ },
528
+ "type_specific": {
529
+ "linear_velocity": [
530
+ 4.805233988491864e-10,
531
+ -2.078586192055809e-10,
532
+ 3.725290298461914e-09
533
+ ],
534
+ "angular_velocity": [
535
+ 8.289724462429149e-10,
536
+ 4.18364045629005e-08,
537
+ -1.7365620053055864e-10
538
+ ]
539
+ }
540
+ },
541
+ {
542
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
543
+ "pose": {
544
+ "pos": [
545
+ -1.3023500442504883,
546
+ 1.0385808944702148,
547
+ 0.8999999761581421
548
+ ],
549
+ "ori": [
550
+ -0.3885105848312378,
551
+ 1.009751500191669e-07,
552
+ -8.312414223610176e-08,
553
+ 0.921444296836853
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
+ 1.3470424775618994e-10,
582
+ 3.8263348045575185e-09,
583
+ -7.450580596923828e-09
584
+ ],
585
+ "angular_velocity": [
586
+ 3.0492321911879117e-07,
587
+ 7.575252425340295e-09,
588
+ -1.0713702636167e-07
589
+ ]
590
+ }
591
+ },
592
+ {
593
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
594
+ "pose": {
595
+ "pos": [
596
+ 0.23856353759765625,
597
+ 1.1526250839233398,
598
+ 0.8999999761581421
599
+ ],
600
+ "ori": [
601
+ -0.011054757982492447,
602
+ -7.291101944417733e-09,
603
+ -3.4266626869339234e-08,
604
+ 0.99993896484375
605
+ ],
606
+ "scale": [
607
+ 1.0,
608
+ 1.0,
609
+ 1.0
610
+ ]
611
+ },
612
+ "dr": {
613
+ "visual": {
614
+ "kind": null,
615
+ "value": null,
616
+ "visible": true
617
+ },
618
+ "physics": {
619
+ "type": "rigid",
620
+ "mass": 0.5,
621
+ "physics_material": {
622
+ "static_friction": 0.9,
623
+ "dynamic_friction": 0.9,
624
+ "restitution": 0.0
625
+ },
626
+ "ratio": 1.0
627
+ },
628
+ "primitive_params": null
629
+ },
630
+ "type_specific": {
631
+ "linear_velocity": [
632
+ 1.3923219910338958e-08,
633
+ 1.7829357545906532e-07,
634
+ 1.0058283805847168e-07
635
+ ],
636
+ "angular_velocity": [
637
+ -5.5299165069300216e-06,
638
+ -5.931256623625814e-07,
639
+ -2.318864744665916e-06
640
+ ]
641
+ }
642
+ },
643
+ {
644
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
645
+ "pose": {
646
+ "pos": [
647
+ -0.010960578918457031,
648
+ 0.44738006591796875,
649
+ 0.8999999761581421
650
+ ],
651
+ "ori": [
652
+ 0.9999487996101379,
653
+ -6.720134448912063e-10,
654
+ -2.7570192795423054e-09,
655
+ 0.01012788899242878
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
+ -1.0371411507392736e-09,
684
+ 2.6025026578224697e-09,
685
+ 0.0
686
+ ],
687
+ "angular_velocity": [
688
+ -1.714272457320476e-07,
689
+ -7.305285265601924e-08,
690
+ 1.3155522893271154e-08
691
+ ]
692
+ }
693
+ }
694
+ ],
695
+ "plate": [
696
+ {
697
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd",
698
+ "pose": {
699
+ "pos": [
700
+ 1.6831779479980469,
701
+ 0.6783571243286133,
702
+ 0.9179999828338623
703
+ ],
704
+ "ori": [
705
+ 0.844717264175415,
706
+ -3.8427764081916393e-08,
707
+ 7.633374110582736e-08,
708
+ 0.5352128148078918
709
+ ],
710
+ "scale": [
711
+ 1.0,
712
+ 1.0,
713
+ 1.0
714
+ ]
715
+ },
716
+ "dr": {
717
+ "visual": {
718
+ "kind": null,
719
+ "value": null,
720
+ "visible": true
721
+ },
722
+ "physics": {
723
+ "type": "rigid",
724
+ "collision": true,
725
+ "mass": "asset",
726
+ "max_depenetration_velocity": 1.0,
727
+ "physics_material": {
728
+ "static_friction": 0.5,
729
+ "dynamic_friction": 0.45,
730
+ "restitution": 0.0,
731
+ "friction_combine_mode": "average"
732
+ },
733
+ "ratio": 1.0
734
+ },
735
+ "primitive_params": null
736
+ },
737
+ "type_specific": {
738
+ "linear_velocity": [
739
+ -1.9976411635980185e-08,
740
+ -1.9604250667271117e-08,
741
+ 1.043081283569336e-07
742
+ ],
743
+ "angular_velocity": [
744
+ 1.7747245237842435e-06,
745
+ -4.748266633214371e-07,
746
+ 8.00180686155727e-08
747
+ ]
748
+ }
749
+ },
750
+ {
751
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd",
752
+ "pose": {
753
+ "pos": [
754
+ -1.3037843704223633,
755
+ 1.039907455444336,
756
+ 0.9180000424385071
757
+ ],
758
+ "ori": [
759
+ -0.4189302325248718,
760
+ 1.0010710838059822e-07,
761
+ -8.911772653164007e-08,
762
+ 0.9080185294151306
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
+ 1.2593872611432744e-08,
794
+ 2.1196745692009245e-08,
795
+ -5.900859832763672e-06
796
+ ],
797
+ "angular_velocity": [
798
+ -1.3002429568587104e-06,
799
+ -8.983346901914047e-07,
800
+ -2.4256754826978977e-08
801
+ ]
802
+ }
803
+ },
804
+ {
805
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd",
806
+ "pose": {
807
+ "pos": [
808
+ 0.23288249969482422,
809
+ 1.1635379791259766,
810
+ 0.9180000424385071
811
+ ],
812
+ "ori": [
813
+ -0.06108475103974342,
814
+ 3.7827398102763254e-08,
815
+ -4.918857712254976e-07,
816
+ 0.9981326460838318
817
+ ],
818
+ "scale": [
819
+ 1.0,
820
+ 1.0,
821
+ 1.0
822
+ ]
823
+ },
824
+ "dr": {
825
+ "visual": {
826
+ "kind": null,
827
+ "value": null,
828
+ "visible": true
829
+ },
830
+ "physics": {
831
+ "type": "rigid",
832
+ "collision": true,
833
+ "mass": "asset",
834
+ "max_depenetration_velocity": 1.0,
835
+ "physics_material": {
836
+ "static_friction": 0.5,
837
+ "dynamic_friction": 0.45,
838
+ "restitution": 0.0,
839
+ "friction_combine_mode": "average"
840
+ },
841
+ "ratio": 1.0
842
+ },
843
+ "primitive_params": null
844
+ },
845
+ "type_specific": {
846
+ "linear_velocity": [
847
+ -2.7711314487532945e-06,
848
+ 2.5453819034737535e-06,
849
+ -6.671994924545288e-06
850
+ ],
851
+ "angular_velocity": [
852
+ 7.40604882594198e-05,
853
+ 9.200070053339005e-06,
854
+ -4.837562664761208e-05
855
+ ]
856
+ }
857
+ },
858
+ {
859
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd",
860
+ "pose": {
861
+ "pos": [
862
+ -0.00336456298828125,
863
+ 0.4564628601074219,
864
+ 0.9179999828338623
865
+ ],
866
+ "ori": [
867
+ 0.9972429871559143,
868
+ 8.742322976651451e-10,
869
+ -2.589224390447953e-09,
870
+ -0.07420580089092255
871
+ ],
872
+ "scale": [
873
+ 1.0,
874
+ 1.0,
875
+ 1.0
876
+ ]
877
+ },
878
+ "dr": {
879
+ "visual": {
880
+ "kind": null,
881
+ "value": null,
882
+ "visible": true
883
+ },
884
+ "physics": {
885
+ "type": "rigid",
886
+ "collision": true,
887
+ "mass": "asset",
888
+ "max_depenetration_velocity": 1.0,
889
+ "physics_material": {
890
+ "static_friction": 0.5,
891
+ "dynamic_friction": 0.45,
892
+ "restitution": 0.0,
893
+ "friction_combine_mode": "average"
894
+ },
895
+ "ratio": 1.0
896
+ },
897
+ "primitive_params": null
898
+ },
899
+ "type_specific": {
900
+ "linear_velocity": [
901
+ -1.0146142415123904e-07,
902
+ -3.422348981985124e-08,
903
+ -1.7173588275909424e-06
904
+ ],
905
+ "angular_velocity": [
906
+ 1.0812736945808865e-06,
907
+ -3.486274863462313e-06,
908
+ 2.2796353960075066e-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": 3.479999999999948,
1107
+ "step": 696,
1108
+ "counter": 0,
1109
+ "devices": {
1110
+ "a4s_sealer_1": {
1111
+ "mode": "auto",
1112
+ "units": {
1113
+ "drawer": {
1114
+ "state": "at_out",
1115
+ "active": null,
1116
+ "target": 0.0,
1117
+ "goal_name": "out",
1118
+ "profile": null,
1119
+ "q_start": null,
1120
+ "reversing": false,
1121
+ "blocked_for": 0.0,
1122
+ "settled_for": 0.0,
1123
+ "last_q": 1.6820822078961184e-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": 0.2619707761073893,
1151
+ "holds": [],
1152
+ "station": "pick",
1153
+ "rider": "carrier_4",
1154
+ "arrived": true,
1155
+ "settle_count": 551,
1156
+ "released": {
1157
+ "pick": []
1158
+ },
1159
+ "last_pos": {
1160
+ "carrier_1": [
1161
+ 1.5264783799648285,
1162
+ 0.2316311001777649,
1163
+ 0.0
1164
+ ],
1165
+ "carrier_2": [
1166
+ -1.4523500502109528,
1167
+ 0.5885809063911438,
1168
+ 0.0
1169
+ ],
1170
+ "carrier_3": [
1171
+ 0.08856353163719177,
1172
+ 0.7026250958442688,
1173
+ 0.0
1174
+ ],
1175
+ "carrier_4": [
1176
+ -0.1609605848789215,
1177
+ -0.002619922161102295,
1178
+ 0.0
1179
+ ]
1180
+ },
1181
+ "command": 0.0
1182
+ },
1183
+ "belt": {
1184
+ "target_speed": 0.0,
1185
+ "command_speed": 0.0
1186
+ },
1187
+ "seen": {
1188
+ "state": "at_station",
1189
+ "station": "pick",
1190
+ "rider": "carrier_4",
1191
+ "arrived": true
1192
+ }
1193
+ }
1194
+ },
1195
+ "queues": {},
1196
+ "program": null,
1197
+ "sensors": {},
1198
+ "interlocks": {}
1199
+ }
1200
+ },
1201
+ "zones": {},
1202
+ "labware": {
1203
+ "plate_1": {
1204
+ "sealed": false
1205
+ },
1206
+ "plate_2": {
1207
+ "sealed": false
1208
+ },
1209
+ "plate_3": {
1210
+ "sealed": false
1211
+ },
1212
+ "plate_4": {
1213
+ "sealed": false
1214
+ }
1215
+ },
1216
+ "rules": {},
1217
+ "records": [],
1218
+ "bus": {
1219
+ "seq": 3,
1220
+ "queue": []
1221
+ }
1222
+ }
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ null,
1227
+ null,
1228
+ {}
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {},
1234
+ {},
1235
+ {
1236
+ "ceiling": {
1237
+ "type": "rect",
1238
+ "pose": {
1239
+ "pos": [
1240
+ 0.2509089502860439,
1241
+ -0.1112736034611504,
1242
+ 3.1388495121022695
1243
+ ],
1244
+ "ori": [
1245
+ 11.633158619820037,
1246
+ 9.386890927366053,
1247
+ 13.130964204094909
1248
+ ],
1249
+ "scale": [
1250
+ 1.0,
1251
+ 1.0,
1252
+ 1.0
1253
+ ]
1254
+ },
1255
+ "dr": {
1256
+ "color_temperature": 5320.388850270665,
1257
+ "color": [
1258
+ 0.9769486595546388,
1259
+ 0.9684371248741235,
1260
+ 0.8261102749633026
1261
+ ],
1262
+ "intensity": 8389.9461607478,
1263
+ "width": 2.629702856715789,
1264
+ "height": 1.7070289493300468
1265
+ }
1266
+ },
1267
+ "key": {
1268
+ "type": "sphere",
1269
+ "pose": {
1270
+ "pos": [
1271
+ 0.016854584567206787,
1272
+ -0.6255019008744468,
1273
+ 1.9331674416533666
1274
+ ],
1275
+ "ori": [
1276
+ -0.8096352863778264,
1277
+ 18.25653771178027,
1278
+ -7.919501520091146
1279
+ ],
1280
+ "scale": [
1281
+ 1.0,
1282
+ 1.0,
1283
+ 1.0
1284
+ ]
1285
+ },
1286
+ "dr": {
1287
+ "color_temperature": 4550.261801274188,
1288
+ "color": [
1289
+ 0.8073904355617189,
1290
+ 0.7515333926355857,
1291
+ 0.9218160874633933
1292
+ ],
1293
+ "intensity": 2948.0453646251676,
1294
+ "radius": 0.17580849933880277
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": 1056.6062134895242,
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
+ 0.8768627047538757,
1394
+ -1.647468090057373,
1395
+ 2.065509557723999,
1396
+ -1.988795280456543,
1397
+ -1.5708014965057373,
1398
+ 2.4498274326324463,
1399
+ 0.018001047894358635,
1400
+ 0.01799895241856575
1401
+ ],
1402
+ [
1403
+ 0.9140999913215637,
1404
+ -1.7194000482559204,
1405
+ 2.0905001163482666,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
1411
+ ],
1412
+ [
1413
+ 0.9141027927398682,
1414
+ -1.7193982601165771,
1415
+ 2.0904998779296875,
1416
+ -1.9419009685516357,
1417
+ -1.5707999467849731,
1418
+ 2.484900951385498,
1419
+ 0.01799999549984932,
1420
+ 0.018000002950429916
1421
+ ],
1422
+ [
1423
+ 0.9141011834144592,
1424
+ -1.7193984985351562,
1425
+ 2.0904994010925293,
1426
+ -1.9419007301330566,
1427
+ -1.5707999467849731,
1428
+ 2.4848999977111816,
1429
+ 0.017999999225139618,
1430
+ 0.017999999225139618
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -0.016633497551083565,
1436
+ 0.032100073993206024,
1437
+ -0.010460780933499336,
1438
+ -0.019888363778591156,
1439
+ -3.931144601665437e-05,
1440
+ -0.014879588037729263,
1441
+ 3.304349593236111e-05,
1442
+ -3.306457801954821e-05
1443
+ ],
1444
+ [
1445
+ 0.0,
1446
+ 0.0,
1447
+ 0.0,
1448
+ 0.0,
1449
+ 0.0,
1450
+ 0.0,
1451
+ 0.0,
1452
+ 0.0
1453
+ ],
1454
+ [
1455
+ -2.6945032874488535e-38,
1456
+ 1.9051538243125341e-38,
1457
+ -1.965740364716082e-38,
1458
+ 3.5470617369867968e-37,
1459
+ -3.3385014418668627e-37,
1460
+ 2.262487981940821e-36,
1461
+ 5.198075214707387e-08,
1462
+ -5.1980798332351696e-08
1463
+ ],
1464
+ [
1465
+ 5.108947334520053e-06,
1466
+ -3.1759212366097925e-14,
1467
+ -6.06389531686638e-14,
1468
+ 1.3713388877147764e-14,
1469
+ -1.3054878358897959e-14,
1470
+ 9.559114567611604e-13,
1471
+ 2.589410619518312e-13,
1472
+ 1.7186368972930965e-13
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04915214329957962,
1482
+ 0.0008660847088322043,
1483
+ -0.032041698694229126,
1484
+ -0.2857123017311096,
1485
+ 0.6497099995613098,
1486
+ 0.6497399210929871,
1487
+ -0.2721826732158661
1488
+ ],
1489
+ [
1490
+ 0.05260862410068512,
1491
+ -0.0013626468135043979,
1492
+ -0.02812371216714382,
1493
+ -0.2791692018508911,
1494
+ 0.6432828307151794,
1495
+ 0.6549779176712036,
1496
+ -0.2815239727497101
1497
+ ],
1498
+ [
1499
+ 0.04925309866666794,
1500
+ -0.0042057279497385025,
1501
+ -0.03069250099360943,
1502
+ -0.2756461799144745,
1503
+ 0.6546980738639832,
1504
+ 0.6430538892745972,
1505
+ -0.2861315906047821
1506
+ ],
1507
+ [
1508
+ 0.04941631853580475,
1509
+ 0.003421830479055643,
1510
+ -0.03143475949764252,
1511
+ -0.2826170027256012,
1512
+ 0.6505617499351501,
1513
+ 0.6488373875617981,
1514
+ -0.2755123972892761
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.05821666121482849,
1520
+ 0.5740291476249695,
1521
+ 1.9427893161773682,
1522
+ 0.05137203633785248,
1523
+ -0.008627895265817642,
1524
+ 0.27488696575164795,
1525
+ 0.9600644111633301
1526
+ ],
1527
+ [
1528
+ 0.033452101051807404,
1529
+ 0.5873380303382874,
1530
+ 1.9316346645355225,
1531
+ 0.04941113293170929,
1532
+ 0.002314594341441989,
1533
+ 0.2584032416343689,
1534
+ 0.9647698998451233
1535
+ ],
1536
+ [
1537
+ 0.06627560406923294,
1538
+ 0.5807642340660095,
1539
+ 1.9613794088363647,
1540
+ 0.04226279258728027,
1541
+ 0.009617375209927559,
1542
+ 0.27623435854911804,
1543
+ 0.960112452507019
1544
+ ],
1545
+ [
1546
+ 0.025376426056027412,
1547
+ 0.597843587398529,
1548
+ 1.9589900970458984,
1549
+ 0.035491205751895905,
1550
+ 0.014250198379158974,
1551
+ 0.25589719414711,
1552
+ 0.965947151184082
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p026_e037/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26dac53a5e3db926de17374a77a9caf74cbf2befd221eb33f77571e73d6bfb56
3
+ size 7490025
episodes/c9_p026_e038/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:78f8a3185726fa77687479ad29d726fa03933d00c42410c81b257d82fca26914
3
+ size 206163
episodes/c9_p026_e038/device_events.jsonl ADDED
@@ -0,0 +1,41 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 2, "seq": 1, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
2
+ {"env_id": 2, "seq": 2, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
3
+ {"env_id": 2, "seq": 3, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
4
+ {"env_id": 2, "seq": 4, "step": 1878, "t": 9.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
5
+ {"env_id": 2, "seq": 5, "step": 1894, "t": 9.47, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
6
+ {"env_id": 2, "seq": 6, "step": 1910, "t": 9.55, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
7
+ {"env_id": 2, "seq": 7, "step": 1998, "t": 9.99, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
8
+ {"env_id": 2, "seq": 8, "step": 2047, "t": 10.235, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
9
+ {"env_id": 2, "seq": 9, "step": 2070, "t": 10.35, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
10
+ {"env_id": 2, "seq": 10, "step": 6867, "t": 34.335, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
11
+ {"env_id": 2, "seq": 11, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
12
+ {"env_id": 2, "seq": 12, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5264526564942864}, "cause": "task-2-1"}
13
+ {"env_id": 2, "seq": 13, "step": 7480, "t": 37.4, "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"}
14
+ {"env_id": 2, "seq": 14, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
15
+ {"env_id": 2, "seq": 15, "step": 7480, "t": 37.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
16
+ {"env_id": 2, "seq": 16, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
17
+ {"env_id": 2, "seq": 17, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
18
+ {"env_id": 2, "seq": 18, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
19
+ {"env_id": 2, "seq": 19, "step": 7899, "t": 39.495, "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"}
20
+ {"env_id": 2, "seq": 20, "step": 7899, "t": 39.495, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
21
+ {"env_id": 2, "seq": 21, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"}
22
+ {"env_id": 2, "seq": 22, "step": 7899, "t": 39.495, "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"}
23
+ {"env_id": 2, "seq": 23, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
24
+ {"env_id": 2, "seq": 24, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5264526564942864}, "cause": "program-2-3"}
25
+ {"env_id": 2, "seq": 25, "step": 8205, "t": 41.025, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
26
+ {"env_id": 2, "seq": 26, "step": 8205, "t": 41.025, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5300000000007827}, "cause": "program-2-3"}
27
+ {"env_id": 2, "seq": 27, "step": 8205, "t": 41.025, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.5300000000007827}}, "cause": "program-2-3"}
28
+ {"env_id": 2, "seq": 28, "step": 8205, "t": 41.025, "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"}
29
+ {"env_id": 2, "seq": 29, "step": 8205, "t": 41.025, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
30
+ {"env_id": 2, "seq": 30, "step": 8205, "t": 41.025, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
31
+ {"env_id": 2, "seq": 31, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
32
+ {"env_id": 2, "seq": 32, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.067443436563735e-09}, "cause": "program-2-4"}
33
+ {"env_id": 2, "seq": 33, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.067443436563735e-09}, "cause": "program-2-4"}
34
+ {"env_id": 2, "seq": 34, "step": 8625, "t": 43.125, "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"}
35
+ {"env_id": 2, "seq": 35, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
36
+ {"env_id": 2, "seq": 36, "step": 8625, "t": 43.125, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
37
+ {"env_id": 2, "seq": 37, "step": 9207, "t": 46.035, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
38
+ {"env_id": 2, "seq": 38, "step": 11480, "t": 57.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
39
+ {"env_id": 2, "seq": 39, "step": 11480, "t": 57.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"}
40
+ {"env_id": 2, "seq": 40, "step": 11480, "t": 57.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
41
+ {"env_id": 2, "seq": 41, "step": 11480, "t": 57.4, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
episodes/c9_p026_e038/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d69ea16f5aa3c81927e5d44b9c973905febe0de02601abfb88901636e18c32e
3
+ size 1353898
episodes/c9_p026_e038/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p026/magicsim/38",
3
+ "fps": 25,
4
+ "frames": 1259,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1259,
8
+ "env": 1259
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/c9_p026_e038/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 38,
3
+ "env_id": 2,
4
+ "run_id": "c9_p026",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 2,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {},
22
+ {
23
+ "rac_cell": [
24
+ {
25
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
26
+ "pose": {
27
+ "pos": [
28
+ 0.0,
29
+ 0.0,
30
+ 0.0
31
+ ],
32
+ "ori": [
33
+ 1.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0
37
+ ],
38
+ "scale": [
39
+ 1.0,
40
+ 1.0,
41
+ 1.0
42
+ ]
43
+ },
44
+ "dr": {
45
+ "visual": {
46
+ "kind": null,
47
+ "value": null,
48
+ "visible": true
49
+ },
50
+ "physics": {
51
+ "type": "geometry",
52
+ "collision": false,
53
+ "physics_material": {
54
+ "static_friction": 0.6,
55
+ "dynamic_friction": 0.5,
56
+ "restitution": 0.0
57
+ },
58
+ "ratio": 1.0
59
+ },
60
+ "primitive_params": null
61
+ },
62
+ "type_specific": {}
63
+ }
64
+ ],
65
+ "robot_mount": [
66
+ {
67
+ "asset": "Cube",
68
+ "pose": {
69
+ "pos": [
70
+ 0.0,
71
+ 0.0,
72
+ 0.9075
73
+ ],
74
+ "ori": [
75
+ 1.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0
79
+ ],
80
+ "scale": [
81
+ 1.0,
82
+ 1.0,
83
+ 1.0
84
+ ]
85
+ },
86
+ "dr": {
87
+ "visual": {
88
+ "kind": "color",
89
+ "value": [
90
+ 0.55,
91
+ 0.56,
92
+ 0.58
93
+ ],
94
+ "visible": true
95
+ },
96
+ "physics": {
97
+ "type": "geometry",
98
+ "collision": false,
99
+ "ratio": 1.0
100
+ },
101
+ "primitive_params": {
102
+ "size": [
103
+ 0.2,
104
+ 0.2,
105
+ 0.015
106
+ ]
107
+ }
108
+ },
109
+ "type_specific": {}
110
+ }
111
+ ],
112
+ "plate_rack": [
113
+ {
114
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
115
+ "pose": {
116
+ "pos": [
117
+ -0.6,
118
+ 0.02,
119
+ 0.9
120
+ ],
121
+ "ori": [
122
+ 6.123234262925839e-17,
123
+ 0.0,
124
+ 0.0,
125
+ 1.0
126
+ ],
127
+ "scale": [
128
+ 1.0,
129
+ 1.0,
130
+ 1.0
131
+ ]
132
+ },
133
+ "dr": {
134
+ "visual": {
135
+ "kind": null,
136
+ "value": null,
137
+ "visible": true
138
+ },
139
+ "physics": {
140
+ "type": "geometry",
141
+ "collision": false,
142
+ "physics_material": {
143
+ "static_friction": 0.6,
144
+ "dynamic_friction": 0.5,
145
+ "restitution": 0.0
146
+ },
147
+ "ratio": 1.0
148
+ },
149
+ "primitive_params": null
150
+ },
151
+ "type_specific": {}
152
+ }
153
+ ],
154
+ "hotel_plate": [
155
+ {
156
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
157
+ "pose": {
158
+ "pos": [
159
+ -0.6,
160
+ 0.02,
161
+ 0.9605
162
+ ],
163
+ "ori": [
164
+ 1.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0
168
+ ],
169
+ "scale": [
170
+ 1.0,
171
+ 1.0,
172
+ 1.0
173
+ ]
174
+ },
175
+ "dr": {
176
+ "visual": {
177
+ "kind": null,
178
+ "value": null,
179
+ "visible": true
180
+ },
181
+ "physics": {
182
+ "type": "geometry",
183
+ "collision": false,
184
+ "ratio": 1.0
185
+ },
186
+ "primitive_params": null
187
+ },
188
+ "type_specific": {}
189
+ },
190
+ {
191
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
227
+ "pose": {
228
+ "pos": [
229
+ -0.6,
230
+ 0.02,
231
+ 1.0965
232
+ ],
233
+ "ori": [
234
+ 1.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0
238
+ ],
239
+ "scale": [
240
+ 1.0,
241
+ 1.0,
242
+ 1.0
243
+ ]
244
+ },
245
+ "dr": {
246
+ "visual": {
247
+ "kind": null,
248
+ "value": null,
249
+ "visible": true
250
+ },
251
+ "physics": {
252
+ "type": "geometry",
253
+ "collision": false,
254
+ "ratio": 1.0
255
+ },
256
+ "primitive_params": null
257
+ },
258
+ "type_specific": {}
259
+ },
260
+ {
261
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
262
+ "pose": {
263
+ "pos": [
264
+ -0.6,
265
+ 0.02,
266
+ 1.1645
267
+ ],
268
+ "ori": [
269
+ 6.123234262925839e-17,
270
+ 0.0,
271
+ 0.0,
272
+ 1.0
273
+ ],
274
+ "scale": [
275
+ 1.0,
276
+ 1.0,
277
+ 1.0
278
+ ]
279
+ },
280
+ "dr": {
281
+ "visual": {
282
+ "kind": null,
283
+ "value": null,
284
+ "visible": true
285
+ },
286
+ "physics": {
287
+ "type": "geometry",
288
+ "collision": false,
289
+ "ratio": 1.0
290
+ },
291
+ "primitive_params": null
292
+ },
293
+ "type_specific": {}
294
+ },
295
+ {
296
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
297
+ "pose": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.02,
301
+ 1.2325
302
+ ],
303
+ "ori": [
304
+ 1.0,
305
+ 0.0,
306
+ 0.0,
307
+ 0.0
308
+ ],
309
+ "scale": [
310
+ 1.0,
311
+ 1.0,
312
+ 1.0
313
+ ]
314
+ },
315
+ "dr": {
316
+ "visual": {
317
+ "kind": null,
318
+ "value": null,
319
+ "visible": true
320
+ },
321
+ "physics": {
322
+ "type": "geometry",
323
+ "collision": false,
324
+ "ratio": 1.0
325
+ },
326
+ "primitive_params": null
327
+ },
328
+ "type_specific": {}
329
+ }
330
+ ],
331
+ "a4s_sealer": [
332
+ {
333
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
334
+ "pose": {
335
+ "pos": [
336
+ 0.5164613723754883,
337
+ 0.08666610717773438,
338
+ 0.8999999761581421
339
+ ],
340
+ "ori": [
341
+ 0.7181479930877686,
342
+ 0.0,
343
+ 0.0,
344
+ -0.6958904266357422
345
+ ],
346
+ "scale": [
347
+ 1.0,
348
+ 1.0,
349
+ 1.0
350
+ ]
351
+ },
352
+ "dr": {
353
+ "visual": {
354
+ "kind": null,
355
+ "value": null,
356
+ "visible": true
357
+ },
358
+ "physics": {
359
+ "type": "articulation",
360
+ "solver_position_iteration_count": 16.0,
361
+ "solver_velocity_iteration_count": 1.0,
362
+ "enabled_self_collisions": false,
363
+ "ratio": 1.0
364
+ },
365
+ "primitive_params": null
366
+ },
367
+ "type_specific": {
368
+ "joint_position": [
369
+ 0.0
370
+ ],
371
+ "joint_velocity": [
372
+ 0.0
373
+ ],
374
+ "linear_velocity": [
375
+ 0.0,
376
+ 0.0,
377
+ 0.0
378
+ ],
379
+ "angular_velocity": [
380
+ 0.0,
381
+ 0.0,
382
+ 0.0
383
+ ]
384
+ }
385
+ }
386
+ ],
387
+ "conveyor": [
388
+ {
389
+ "asset": "Cube",
390
+ "pose": {
391
+ "pos": [
392
+ 0.15,
393
+ 0.45,
394
+ 0.9
395
+ ],
396
+ "ori": [
397
+ 1.0,
398
+ 0.0,
399
+ 0.0,
400
+ 0.0
401
+ ],
402
+ "scale": [
403
+ 1.0,
404
+ 1.0,
405
+ 1.0
406
+ ]
407
+ },
408
+ "dr": {
409
+ "visual": {
410
+ "kind": null,
411
+ "value": null,
412
+ "visible": true
413
+ },
414
+ "physics": {
415
+ "type": "conveyor",
416
+ "physics_material": {
417
+ "static_friction": 0.9,
418
+ "dynamic_friction": 0.9
419
+ },
420
+ "ratio": 1.0
421
+ },
422
+ "primitive_params": {
423
+ "size": [
424
+ 2.4,
425
+ 0.076,
426
+ 0.03
427
+ ]
428
+ },
429
+ "conveyor": {
430
+ "speed": 0.1571665682891885,
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": -0.14128318272206877,
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": 0.1571665682891885,
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": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
491
+ "pose": {
492
+ "pos": [
493
+ 0.12505340576171875,
494
+ 1.1500043869018555,
495
+ 0.8999999761581421
496
+ ],
497
+ "ori": [
498
+ 8.263658855867106e-06,
499
+ 1.8913430821498878e-08,
500
+ 7.176965244326539e-09,
501
+ 1.0
502
+ ],
503
+ "scale": [
504
+ 1.0,
505
+ 1.0,
506
+ 1.0
507
+ ]
508
+ },
509
+ "dr": {
510
+ "visual": {
511
+ "kind": null,
512
+ "value": null,
513
+ "visible": true
514
+ },
515
+ "physics": {
516
+ "type": "rigid",
517
+ "mass": 0.5,
518
+ "physics_material": {
519
+ "static_friction": 0.9,
520
+ "dynamic_friction": 0.9,
521
+ "restitution": 0.0
522
+ },
523
+ "ratio": 1.0
524
+ },
525
+ "primitive_params": null
526
+ },
527
+ "type_specific": {
528
+ "linear_velocity": [
529
+ -1.5575960521374554e-09,
530
+ -1.040230346305293e-09,
531
+ 1.1175870895385742e-08
532
+ ],
533
+ "angular_velocity": [
534
+ 5.899348920479497e-08,
535
+ -1.5003828934823105e-07,
536
+ -1.2463675425067322e-08
537
+ ]
538
+ }
539
+ },
540
+ {
541
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
542
+ "pose": {
543
+ "pos": [
544
+ 1.6519222259521484,
545
+ 0.9751081466674805,
546
+ 0.8999999761581421
547
+ ],
548
+ "ori": [
549
+ 0.499858021736145,
550
+ -2.780069685570652e-08,
551
+ -8.14681797578487e-08,
552
+ 0.8661074638366699
553
+ ],
554
+ "scale": [
555
+ 1.0,
556
+ 1.0,
557
+ 1.0
558
+ ]
559
+ },
560
+ "dr": {
561
+ "visual": {
562
+ "kind": null,
563
+ "value": null,
564
+ "visible": true
565
+ },
566
+ "physics": {
567
+ "type": "rigid",
568
+ "mass": 0.5,
569
+ "physics_material": {
570
+ "static_friction": 0.9,
571
+ "dynamic_friction": 0.9,
572
+ "restitution": 0.0
573
+ },
574
+ "ratio": 1.0
575
+ },
576
+ "primitive_params": null
577
+ },
578
+ "type_specific": {
579
+ "linear_velocity": [
580
+ -5.346705744813107e-09,
581
+ -2.259273212956714e-09,
582
+ 1.1175870895385742e-08
583
+ ],
584
+ "angular_velocity": [
585
+ 2.132479295369194e-07,
586
+ -5.395009452513477e-07,
587
+ 1.6790924206588898e-08
588
+ ]
589
+ }
590
+ },
591
+ {
592
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
593
+ "pose": {
594
+ "pos": [
595
+ -1.2125673294067383,
596
+ 1.1064863204956055,
597
+ 0.8999999761581421
598
+ ],
599
+ "ori": [
600
+ -0.23853076994419098,
601
+ -1.175089323623979e-07,
602
+ -1.9641119308744237e-07,
603
+ 0.9711349010467529
604
+ ],
605
+ "scale": [
606
+ 1.0,
607
+ 1.0,
608
+ 1.0
609
+ ]
610
+ },
611
+ "dr": {
612
+ "visual": {
613
+ "kind": null,
614
+ "value": null,
615
+ "visible": true
616
+ },
617
+ "physics": {
618
+ "type": "rigid",
619
+ "mass": 0.5,
620
+ "physics_material": {
621
+ "static_friction": 0.9,
622
+ "dynamic_friction": 0.9,
623
+ "restitution": 0.0
624
+ },
625
+ "ratio": 1.0
626
+ },
627
+ "primitive_params": null
628
+ },
629
+ "type_specific": {
630
+ "linear_velocity": [
631
+ -1.4691091010377022e-08,
632
+ 3.801498138500392e-08,
633
+ 4.842877388000488e-08
634
+ ],
635
+ "angular_velocity": [
636
+ -1.1955812624364626e-06,
637
+ -1.1321219517412828e-06,
638
+ 1.714300452704265e-07
639
+ ]
640
+ }
641
+ },
642
+ {
643
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
644
+ "pose": {
645
+ "pos": [
646
+ 0.008493423461914062,
647
+ 0.4499940872192383,
648
+ 0.8999999761581421
649
+ ],
650
+ "ori": [
651
+ 1.0,
652
+ 6.169888600027207e-09,
653
+ 6.712512767848011e-10,
654
+ -1.1500508662720677e-05
655
+ ],
656
+ "scale": [
657
+ 1.0,
658
+ 1.0,
659
+ 1.0
660
+ ]
661
+ },
662
+ "dr": {
663
+ "visual": {
664
+ "kind": null,
665
+ "value": null,
666
+ "visible": true
667
+ },
668
+ "physics": {
669
+ "type": "rigid",
670
+ "mass": 0.5,
671
+ "physics_material": {
672
+ "static_friction": 0.9,
673
+ "dynamic_friction": 0.9,
674
+ "restitution": 0.0
675
+ },
676
+ "ratio": 1.0
677
+ },
678
+ "primitive_params": null
679
+ },
680
+ "type_specific": {
681
+ "linear_velocity": [
682
+ 3.468707099330004e-09,
683
+ 3.036815243717683e-09,
684
+ 1.862645149230957e-08
685
+ ],
686
+ "angular_velocity": [
687
+ -1.5829360222596733e-07,
688
+ 3.1019521884445567e-07,
689
+ -3.460926478737747e-08
690
+ ]
691
+ }
692
+ }
693
+ ],
694
+ "plate": [
695
+ {
696
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd",
697
+ "pose": {
698
+ "pos": [
699
+ 0.11573600769042969,
700
+ 1.1389713287353516,
701
+ 0.9179999828338623
702
+ ],
703
+ "ori": [
704
+ 0.021495014429092407,
705
+ 1.9693844777179947e-08,
706
+ 9.454512728268583e-09,
707
+ 0.9997689723968506
708
+ ],
709
+ "scale": [
710
+ 1.0,
711
+ 1.0,
712
+ 1.0
713
+ ]
714
+ },
715
+ "dr": {
716
+ "visual": {
717
+ "kind": null,
718
+ "value": null,
719
+ "visible": true
720
+ },
721
+ "physics": {
722
+ "type": "rigid",
723
+ "collision": true,
724
+ "mass": "asset",
725
+ "max_depenetration_velocity": 1.0,
726
+ "physics_material": {
727
+ "static_friction": 0.5,
728
+ "dynamic_friction": 0.45,
729
+ "restitution": 0.0,
730
+ "friction_combine_mode": "average"
731
+ },
732
+ "ratio": 1.0
733
+ },
734
+ "primitive_params": null
735
+ },
736
+ "type_specific": {
737
+ "linear_velocity": [
738
+ 1.550461981025819e-08,
739
+ 2.0298678293784178e-08,
740
+ 1.4901161193847656e-07
741
+ ],
742
+ "angular_velocity": [
743
+ -1.2827055115849362e-06,
744
+ 1.9794574654952157e-06,
745
+ -6.706673616463377e-08
746
+ ]
747
+ }
748
+ },
749
+ {
750
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd",
751
+ "pose": {
752
+ "pos": [
753
+ 1.6567163467407227,
754
+ 0.9742164611816406,
755
+ 0.9180000424385071
756
+ ],
757
+ "ori": [
758
+ 0.412931889295578,
759
+ -3.7387209772532515e-08,
760
+ -7.943312141378556e-08,
761
+ 0.9107619524002075
762
+ ],
763
+ "scale": [
764
+ 1.0,
765
+ 1.0,
766
+ 1.0
767
+ ]
768
+ },
769
+ "dr": {
770
+ "visual": {
771
+ "kind": null,
772
+ "value": null,
773
+ "visible": true
774
+ },
775
+ "physics": {
776
+ "type": "rigid",
777
+ "collision": true,
778
+ "mass": "asset",
779
+ "max_depenetration_velocity": 1.0,
780
+ "physics_material": {
781
+ "static_friction": 0.5,
782
+ "dynamic_friction": 0.45,
783
+ "restitution": 0.0,
784
+ "friction_combine_mode": "average"
785
+ },
786
+ "ratio": 1.0
787
+ },
788
+ "primitive_params": null
789
+ },
790
+ "type_specific": {
791
+ "linear_velocity": [
792
+ -3.6979336925924144e-08,
793
+ -3.671933512805481e-08,
794
+ -4.556030035018921e-06
795
+ ],
796
+ "angular_velocity": [
797
+ 2.3397217319143238e-06,
798
+ -9.489014018981834e-08,
799
+ 1.3534156551031629e-07
800
+ ]
801
+ }
802
+ },
803
+ {
804
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd",
805
+ "pose": {
806
+ "pos": [
807
+ -1.2223777770996094,
808
+ 1.112548828125,
809
+ 0.9180000424385071
810
+ ],
811
+ "ori": [
812
+ -0.23010693490505219,
813
+ -2.6441722411618684e-07,
814
+ -2.0092150521122676e-07,
815
+ 0.9731653928756714
816
+ ],
817
+ "scale": [
818
+ 1.0,
819
+ 1.0,
820
+ 1.0
821
+ ]
822
+ },
823
+ "dr": {
824
+ "visual": {
825
+ "kind": null,
826
+ "value": null,
827
+ "visible": true
828
+ },
829
+ "physics": {
830
+ "type": "rigid",
831
+ "collision": true,
832
+ "mass": "asset",
833
+ "max_depenetration_velocity": 1.0,
834
+ "physics_material": {
835
+ "static_friction": 0.5,
836
+ "dynamic_friction": 0.45,
837
+ "restitution": 0.0,
838
+ "friction_combine_mode": "average"
839
+ },
840
+ "ratio": 1.0
841
+ },
842
+ "primitive_params": null
843
+ },
844
+ "type_specific": {
845
+ "linear_velocity": [
846
+ 6.1415448726620525e-06,
847
+ 6.495371053460985e-06,
848
+ -6.75395131111145e-06
849
+ ],
850
+ "angular_velocity": [
851
+ -7.9283956438303e-05,
852
+ -5.212812902755104e-05,
853
+ 2.5422305043321103e-05
854
+ ]
855
+ }
856
+ },
857
+ {
858
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd",
859
+ "pose": {
860
+ "pos": [
861
+ -0.001068115234375,
862
+ 0.4486970901489258,
863
+ 0.9179999828338623
864
+ ],
865
+ "ori": [
866
+ 0.9950639009475708,
867
+ 6.078894720928929e-09,
868
+ 1.5421680599203569e-09,
869
+ 0.09923677146434784
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
+ -6.121826601201974e-09,
901
+ -1.2144376171363547e-08,
902
+ -1.1175870895385742e-06
903
+ ],
904
+ "angular_velocity": [
905
+ 1.8378311779088108e-06,
906
+ -1.6132297560034203e-06,
907
+ -1.4725108599122905e-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": 7.299999999999867,
1106
+ "step": 1460,
1107
+ "counter": 0,
1108
+ "devices": {
1109
+ "a4s_sealer_1": {
1110
+ "mode": "auto",
1111
+ "units": {
1112
+ "drawer": {
1113
+ "state": "at_out",
1114
+ "active": null,
1115
+ "target": 0.0,
1116
+ "goal_name": "out",
1117
+ "profile": null,
1118
+ "q_start": null,
1119
+ "reversing": false,
1120
+ "blocked_for": 0.0,
1121
+ "settled_for": 0.0,
1122
+ "last_q": 0.0
1123
+ },
1124
+ "heater": {
1125
+ "state": "ready",
1126
+ "active": null,
1127
+ "duration": 0.0,
1128
+ "t_start": null,
1129
+ "elapsed": 0.0
1130
+ }
1131
+ },
1132
+ "queues": {},
1133
+ "program": null,
1134
+ "sensors": {
1135
+ "plate_present": {
1136
+ "occupants": [],
1137
+ "pending": {}
1138
+ }
1139
+ },
1140
+ "interlocks": {}
1141
+ },
1142
+ "conveyor_1": {
1143
+ "mode": "auto",
1144
+ "units": {
1145
+ "belt": {
1146
+ "state": "at_station",
1147
+ "active": null,
1148
+ "controller": {
1149
+ "speed": 0.1571665682891885,
1150
+ "holds": [],
1151
+ "station": "pick",
1152
+ "rider": "carrier_4",
1153
+ "arrived": true,
1154
+ "settle_count": 1353,
1155
+ "released": {
1156
+ "pick": []
1157
+ },
1158
+ "last_pos": {
1159
+ "carrier_1": [
1160
+ -0.024946600198745728,
1161
+ 0.7000043988227844,
1162
+ 0.0
1163
+ ],
1164
+ "carrier_2": [
1165
+ 1.501922219991684,
1166
+ 0.5251081585884094,
1167
+ 0.0
1168
+ ],
1169
+ "carrier_3": [
1170
+ -1.3625673353672028,
1171
+ 0.6564863324165344,
1172
+ 0.0
1173
+ ],
1174
+ "carrier_4": [
1175
+ -0.14150658249855042,
1176
+ -5.900859832763672e-06,
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
+ 0.7805055154290131,
1240
+ 0.47405147642592105,
1241
+ 2.9700967936763654
1242
+ ],
1243
+ "ori": [
1244
+ -4.001643323047439,
1245
+ 14.270725547835383,
1246
+ -29.200862824305013
1247
+ ],
1248
+ "scale": [
1249
+ 1.0,
1250
+ 1.0,
1251
+ 1.0
1252
+ ]
1253
+ },
1254
+ "dr": {
1255
+ "color_temperature": 6196.80586352607,
1256
+ "color": [
1257
+ 0.9920093872369372,
1258
+ 0.9589298760323537,
1259
+ 0.8791193168278679
1260
+ ],
1261
+ "intensity": 8608.546047213153,
1262
+ "width": 2.068371293345102,
1263
+ "height": 0.905069776412836
1264
+ }
1265
+ },
1266
+ "key": {
1267
+ "type": "disk",
1268
+ "pose": {
1269
+ "pos": [
1270
+ 0.4937372963411244,
1271
+ 0.7116803572655355,
1272
+ 1.6395934445088094
1273
+ ],
1274
+ "ori": [
1275
+ -25.58451526065065,
1276
+ 25.84626377560258,
1277
+ 14.337006094628492
1278
+ ],
1279
+ "scale": [
1280
+ 1.0,
1281
+ 1.0,
1282
+ 1.0
1283
+ ]
1284
+ },
1285
+ "dr": {
1286
+ "color_temperature": 4773.835987002787,
1287
+ "color": [
1288
+ 0.7614724528566703,
1289
+ 0.8085240109613014,
1290
+ 0.7980870362333896
1291
+ ],
1292
+ "intensity": 9052.320629819184,
1293
+ "radius": 0.208216069611961
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": 1056.6062134895242,
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
+ 0.7491165399551392,
1394
+ -1.3714451789855957,
1395
+ 2.004587173461914,
1396
+ -2.2038934230804443,
1397
+ -1.5707961320877075,
1398
+ 2.3294005393981934,
1399
+ 0.0180000402033329,
1400
+ 0.017999958246946335
1401
+ ],
1402
+ [
1403
+ 0.9140999913215637,
1404
+ -1.7194000482559204,
1405
+ 2.0905001163482666,
1406
+ -1.9419000148773193,
1407
+ -1.5707999467849731,
1408
+ 2.4848999977111816,
1409
+ 0.017999999225139618,
1410
+ 0.017999999225139618
1411
+ ],
1412
+ [
1413
+ 0.9141027927398682,
1414
+ -1.7193982601165771,
1415
+ 2.0904998779296875,
1416
+ -1.9419009685516357,
1417
+ -1.5707999467849731,
1418
+ 2.484900951385498,
1419
+ 0.01799999549984932,
1420
+ 0.018000002950429916
1421
+ ],
1422
+ [
1423
+ 0.9732142090797424,
1424
+ -1.5355230569839478,
1425
+ 2.1457700729370117,
1426
+ -2.1810190677642822,
1427
+ -1.5707964897155762,
1428
+ 2.6915271282196045,
1429
+ 0.018000034615397453,
1430
+ 0.017999963834881783
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -0.00013048805703874677,
1436
+ 0.012171629816293716,
1437
+ 0.009352095425128937,
1438
+ -0.020266318693757057,
1439
+ -9.739970664668363e-06,
1440
+ -2.077961471513845e-05,
1441
+ -5.3686826504417695e-06,
1442
+ 5.3698599913332146e-06
1443
+ ],
1444
+ [
1445
+ 0.0,
1446
+ 0.0,
1447
+ 0.0,
1448
+ 0.0,
1449
+ 0.0,
1450
+ 0.0,
1451
+ 0.0,
1452
+ 0.0
1453
+ ],
1454
+ [
1455
+ -2.6945032874488535e-38,
1456
+ 1.9051538243125341e-38,
1457
+ -1.965740364716082e-38,
1458
+ 3.5470617369867968e-37,
1459
+ -3.3385014418668627e-37,
1460
+ 2.262487981940821e-36,
1461
+ 5.198075214707387e-08,
1462
+ -5.1980798332351696e-08
1463
+ ],
1464
+ [
1465
+ -6.452074740082026e-05,
1466
+ 0.008145693689584732,
1467
+ 0.0068139201030135155,
1468
+ -0.01418271940201521,
1469
+ -8.207228347600903e-06,
1470
+ 2.0248815417289734e-05,
1471
+ -3.2520956665393896e-06,
1472
+ 3.252784836149658e-06
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.05062234774231911,
1482
+ -0.0026965090073645115,
1483
+ -0.032922763377428055,
1484
+ -0.28876549005508423,
1485
+ 0.6421388387680054,
1486
+ 0.6546292304992676,
1487
+ -0.275195837020874
1488
+ ],
1489
+ [
1490
+ 0.051222704350948334,
1491
+ -0.004633756820112467,
1492
+ -0.028420422226190567,
1493
+ -0.278116375207901,
1494
+ 0.6457257270812988,
1495
+ 0.6557580828666687,
1496
+ -0.2750834822654724
1497
+ ],
1498
+ [
1499
+ 0.05112917348742485,
1500
+ -0.0012733991025015712,
1501
+ -0.03172910213470459,
1502
+ -0.2795286476612091,
1503
+ 0.65751051902771,
1504
+ 0.6377828121185303,
1505
+ -0.28770947456359863
1506
+ ],
1507
+ [
1508
+ 0.048051394522190094,
1509
+ 0.001585538499057293,
1510
+ -0.03286297619342804,
1511
+ -0.2832096517086029,
1512
+ 0.6533623337745667,
1513
+ 0.6439633369445801,
1514
+ -0.2796804904937744
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.05821666121482849,
1520
+ 0.5740291476249695,
1521
+ 1.9427893161773682,
1522
+ 0.05137203633785248,
1523
+ -0.008627895265817642,
1524
+ 0.27488696575164795,
1525
+ 0.9600644111633301
1526
+ ],
1527
+ [
1528
+ 0.033452101051807404,
1529
+ 0.5873380303382874,
1530
+ 1.9316346645355225,
1531
+ 0.04941113293170929,
1532
+ 0.002314594341441989,
1533
+ 0.2584032416343689,
1534
+ 0.9647698998451233
1535
+ ],
1536
+ [
1537
+ 0.06627560406923294,
1538
+ 0.5807642340660095,
1539
+ 1.9613794088363647,
1540
+ 0.04226279258728027,
1541
+ 0.009617375209927559,
1542
+ 0.27623435854911804,
1543
+ 0.960112452507019
1544
+ ],
1545
+ [
1546
+ 0.025376426056027412,
1547
+ 0.597843587398529,
1548
+ 1.9589900970458984,
1549
+ 0.035491205751895905,
1550
+ 0.014250198379158974,
1551
+ 0.25589719414711,
1552
+ 0.965947151184082
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p026_e038/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f697748f686ff407586c17500fc0f9b8be8f5e8be9ab115b9cb3e82e3e537fa
3
+ size 6974425
episodes/c9_p026_e039/data.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30d4bce1149635b553a7f2b58b27d8583f823497838f78fb49731ecbed8050e5
3
+ size 189914
episodes/c9_p026_e039/device_events.jsonl ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"env_id": 1, "seq": 1, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
2
+ {"env_id": 1, "seq": 2, "step": 99, "t": 0.495, "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": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
4
+ {"env_id": 1, "seq": 4, "step": 1998, "t": 9.99, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
5
+ {"env_id": 1, "seq": 5, "step": 6603, "t": 33.015, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
6
+ {"env_id": 1, "seq": 6, "step": 7216, "t": 36.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
7
+ {"env_id": 1, "seq": 7, "step": 7216, "t": 36.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.883047342444737}, "cause": "task-1-1"}
8
+ {"env_id": 1, "seq": 8, "step": 7216, "t": 36.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"}
9
+ {"env_id": 1, "seq": 9, "step": 7216, "t": 36.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
10
+ {"env_id": 1, "seq": 10, "step": 7216, "t": 36.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
11
+ {"env_id": 1, "seq": 11, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
12
+ {"env_id": 1, "seq": 12, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
13
+ {"env_id": 1, "seq": 13, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
14
+ {"env_id": 1, "seq": 14, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
15
+ {"env_id": 1, "seq": 15, "step": 7635, "t": 38.175, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
16
+ {"env_id": 1, "seq": 16, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
17
+ {"env_id": 1, "seq": 17, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
18
+ {"env_id": 1, "seq": 18, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
19
+ {"env_id": 1, "seq": 19, "step": 7635, "t": 38.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.883047342444737}, "cause": "program-1-3"}
20
+ {"env_id": 1, "seq": 20, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
21
+ {"env_id": 1, "seq": 21, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.885000000002499}, "cause": "program-1-3"}
22
+ {"env_id": 1, "seq": 22, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.885000000002499}}, "cause": "program-1-3"}
23
+ {"env_id": 1, "seq": 23, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
24
+ {"env_id": 1, "seq": 24, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
25
+ {"env_id": 1, "seq": 25, "step": 8612, "t": 43.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
26
+ {"env_id": 1, "seq": 26, "step": 9032, "t": 45.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
27
+ {"env_id": 1, "seq": 27, "step": 9032, "t": 45.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
28
+ {"env_id": 1, "seq": 28, "step": 9032, "t": 45.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
29
+ {"env_id": 1, "seq": 29, "step": 9032, "t": 45.16, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
30
+ {"env_id": 1, "seq": 30, "step": 9032, "t": 45.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
31
+ {"env_id": 1, "seq": 31, "step": 9032, "t": 45.16, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
32
+ {"env_id": 1, "seq": 32, "step": 9611, "t": 48.055, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
33
+ {"env_id": 1, "seq": 33, "step": 11348, "t": 56.74, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
34
+ {"env_id": 1, "seq": 34, "step": 11348, "t": 56.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
35
+ {"env_id": 1, "seq": 35, "step": 11348, "t": 56.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
36
+ {"env_id": 1, "seq": 36, "step": 11348, "t": 56.74, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
episodes/c9_p026_e039/env.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1387557642d5eea87b74d5a23f9ef0e5bb30b21a3767051f726ca278d2d0989
3
+ size 1279411
episodes/c9_p026_e039/meta.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "raw/c9_p026/magicsim/39",
3
+ "fps": 25,
4
+ "frames": 1247,
5
+ "kept_ticks": "even",
6
+ "video_frames": {
7
+ "wrist": 1247,
8
+ "env": 1247
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/c9_p026_e039/scene_snapshot.json ADDED
@@ -0,0 +1,1558 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 39,
3
+ "env_id": 1,
4
+ "run_id": "c9_p026",
5
+ "task_type": "BioPlateCell",
6
+ "success": true,
7
+ "timing": {
8
+ "fps": 50.0,
9
+ "sim_dt": 0.005,
10
+ "decimation": 4
11
+ },
12
+ "restore_interface": {
13
+ "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
14
+ "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
15
+ },
16
+ "snapshot": {
17
+ "env_id": 1,
18
+ "scene": {
19
+ "objects": [
20
+ {},
21
+ {
22
+ "rac_cell": [
23
+ {
24
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
25
+ "pose": {
26
+ "pos": [
27
+ 0.0,
28
+ 0.0,
29
+ 0.0
30
+ ],
31
+ "ori": [
32
+ 1.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0
36
+ ],
37
+ "scale": [
38
+ 1.0,
39
+ 1.0,
40
+ 1.0
41
+ ]
42
+ },
43
+ "dr": {
44
+ "visual": {
45
+ "kind": null,
46
+ "value": null,
47
+ "visible": true
48
+ },
49
+ "physics": {
50
+ "type": "geometry",
51
+ "collision": false,
52
+ "physics_material": {
53
+ "static_friction": 0.6,
54
+ "dynamic_friction": 0.5,
55
+ "restitution": 0.0
56
+ },
57
+ "ratio": 1.0
58
+ },
59
+ "primitive_params": null
60
+ },
61
+ "type_specific": {}
62
+ }
63
+ ],
64
+ "robot_mount": [
65
+ {
66
+ "asset": "Cube",
67
+ "pose": {
68
+ "pos": [
69
+ 0.0,
70
+ 0.0,
71
+ 0.9075
72
+ ],
73
+ "ori": [
74
+ 1.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "scale": [
80
+ 1.0,
81
+ 1.0,
82
+ 1.0
83
+ ]
84
+ },
85
+ "dr": {
86
+ "visual": {
87
+ "kind": "color",
88
+ "value": [
89
+ 0.55,
90
+ 0.56,
91
+ 0.58
92
+ ],
93
+ "visible": true
94
+ },
95
+ "physics": {
96
+ "type": "geometry",
97
+ "collision": false,
98
+ "ratio": 1.0
99
+ },
100
+ "primitive_params": {
101
+ "size": [
102
+ 0.2,
103
+ 0.2,
104
+ 0.015
105
+ ]
106
+ }
107
+ },
108
+ "type_specific": {}
109
+ }
110
+ ],
111
+ "plate_rack": [
112
+ {
113
+ "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
114
+ "pose": {
115
+ "pos": [
116
+ -0.6,
117
+ 0.02,
118
+ 0.9
119
+ ],
120
+ "ori": [
121
+ 6.123234262925839e-17,
122
+ 0.0,
123
+ 0.0,
124
+ 1.0
125
+ ],
126
+ "scale": [
127
+ 1.0,
128
+ 1.0,
129
+ 1.0
130
+ ]
131
+ },
132
+ "dr": {
133
+ "visual": {
134
+ "kind": null,
135
+ "value": null,
136
+ "visible": true
137
+ },
138
+ "physics": {
139
+ "type": "geometry",
140
+ "collision": false,
141
+ "physics_material": {
142
+ "static_friction": 0.6,
143
+ "dynamic_friction": 0.5,
144
+ "restitution": 0.0
145
+ },
146
+ "ratio": 1.0
147
+ },
148
+ "primitive_params": null
149
+ },
150
+ "type_specific": {}
151
+ }
152
+ ],
153
+ "hotel_plate": [
154
+ {
155
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
156
+ "pose": {
157
+ "pos": [
158
+ -0.6,
159
+ 0.02,
160
+ 0.9605
161
+ ],
162
+ "ori": [
163
+ 1.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0
167
+ ],
168
+ "scale": [
169
+ 1.0,
170
+ 1.0,
171
+ 1.0
172
+ ]
173
+ },
174
+ "dr": {
175
+ "visual": {
176
+ "kind": null,
177
+ "value": null,
178
+ "visible": true
179
+ },
180
+ "physics": {
181
+ "type": "geometry",
182
+ "collision": false,
183
+ "ratio": 1.0
184
+ },
185
+ "primitive_params": null
186
+ },
187
+ "type_specific": {}
188
+ },
189
+ {
190
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
191
+ "pose": {
192
+ "pos": [
193
+ -0.6,
194
+ 0.02,
195
+ 1.0285
196
+ ],
197
+ "ori": [
198
+ 6.123234262925839e-17,
199
+ 0.0,
200
+ 0.0,
201
+ 1.0
202
+ ],
203
+ "scale": [
204
+ 1.0,
205
+ 1.0,
206
+ 1.0
207
+ ]
208
+ },
209
+ "dr": {
210
+ "visual": {
211
+ "kind": null,
212
+ "value": null,
213
+ "visible": true
214
+ },
215
+ "physics": {
216
+ "type": "geometry",
217
+ "collision": false,
218
+ "ratio": 1.0
219
+ },
220
+ "primitive_params": null
221
+ },
222
+ "type_specific": {}
223
+ },
224
+ {
225
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
226
+ "pose": {
227
+ "pos": [
228
+ -0.6,
229
+ 0.02,
230
+ 1.0965
231
+ ],
232
+ "ori": [
233
+ 1.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0
237
+ ],
238
+ "scale": [
239
+ 1.0,
240
+ 1.0,
241
+ 1.0
242
+ ]
243
+ },
244
+ "dr": {
245
+ "visual": {
246
+ "kind": null,
247
+ "value": null,
248
+ "visible": true
249
+ },
250
+ "physics": {
251
+ "type": "geometry",
252
+ "collision": false,
253
+ "ratio": 1.0
254
+ },
255
+ "primitive_params": null
256
+ },
257
+ "type_specific": {}
258
+ },
259
+ {
260
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
261
+ "pose": {
262
+ "pos": [
263
+ -0.6,
264
+ 0.02,
265
+ 1.1645
266
+ ],
267
+ "ori": [
268
+ 6.123234262925839e-17,
269
+ 0.0,
270
+ 0.0,
271
+ 1.0
272
+ ],
273
+ "scale": [
274
+ 1.0,
275
+ 1.0,
276
+ 1.0
277
+ ]
278
+ },
279
+ "dr": {
280
+ "visual": {
281
+ "kind": null,
282
+ "value": null,
283
+ "visible": true
284
+ },
285
+ "physics": {
286
+ "type": "geometry",
287
+ "collision": false,
288
+ "ratio": 1.0
289
+ },
290
+ "primitive_params": null
291
+ },
292
+ "type_specific": {}
293
+ },
294
+ {
295
+ "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
296
+ "pose": {
297
+ "pos": [
298
+ -0.6,
299
+ 0.02,
300
+ 1.2325
301
+ ],
302
+ "ori": [
303
+ 1.0,
304
+ 0.0,
305
+ 0.0,
306
+ 0.0
307
+ ],
308
+ "scale": [
309
+ 1.0,
310
+ 1.0,
311
+ 1.0
312
+ ]
313
+ },
314
+ "dr": {
315
+ "visual": {
316
+ "kind": null,
317
+ "value": null,
318
+ "visible": true
319
+ },
320
+ "physics": {
321
+ "type": "geometry",
322
+ "collision": false,
323
+ "ratio": 1.0
324
+ },
325
+ "primitive_params": null
326
+ },
327
+ "type_specific": {}
328
+ }
329
+ ],
330
+ "a4s_sealer": [
331
+ {
332
+ "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd",
333
+ "pose": {
334
+ "pos": [
335
+ 0.5186014175415039,
336
+ 0.1036224365234375,
337
+ 0.8999999761581421
338
+ ],
339
+ "ori": [
340
+ -0.6934500932693481,
341
+ 0.0,
342
+ 0.0,
343
+ 0.720504641532898
344
+ ],
345
+ "scale": [
346
+ 1.0,
347
+ 1.0,
348
+ 1.0
349
+ ]
350
+ },
351
+ "dr": {
352
+ "visual": {
353
+ "kind": null,
354
+ "value": null,
355
+ "visible": true
356
+ },
357
+ "physics": {
358
+ "type": "articulation",
359
+ "solver_position_iteration_count": 16.0,
360
+ "solver_velocity_iteration_count": 1.0,
361
+ "enabled_self_collisions": false,
362
+ "ratio": 1.0
363
+ },
364
+ "primitive_params": null
365
+ },
366
+ "type_specific": {
367
+ "joint_position": [
368
+ 0.0
369
+ ],
370
+ "joint_velocity": [
371
+ 0.0
372
+ ],
373
+ "linear_velocity": [
374
+ 0.0,
375
+ 0.0,
376
+ 0.0
377
+ ],
378
+ "angular_velocity": [
379
+ 0.0,
380
+ 0.0,
381
+ 0.0
382
+ ]
383
+ }
384
+ }
385
+ ],
386
+ "conveyor": [
387
+ {
388
+ "asset": "Cube",
389
+ "pose": {
390
+ "pos": [
391
+ 0.15,
392
+ 0.45,
393
+ 0.9
394
+ ],
395
+ "ori": [
396
+ 1.0,
397
+ 0.0,
398
+ 0.0,
399
+ 0.0
400
+ ],
401
+ "scale": [
402
+ 1.0,
403
+ 1.0,
404
+ 1.0
405
+ ]
406
+ },
407
+ "dr": {
408
+ "visual": {
409
+ "kind": null,
410
+ "value": null,
411
+ "visible": true
412
+ },
413
+ "physics": {
414
+ "type": "conveyor",
415
+ "physics_material": {
416
+ "static_friction": 0.9,
417
+ "dynamic_friction": 0.9
418
+ },
419
+ "ratio": 1.0
420
+ },
421
+ "primitive_params": {
422
+ "size": [
423
+ 2.4,
424
+ 0.076,
425
+ 0.03
426
+ ]
427
+ },
428
+ "conveyor": {
429
+ "speed": 0.15519088388612118,
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": -0.246590513020639,
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": 0.15519088388612118,
478
+ "holds": [],
479
+ "station": "pick",
480
+ "rider": "carrier_1",
481
+ "arrived": true,
482
+ "applied_speed": 0.0
483
+ }
484
+ }
485
+ }
486
+ ],
487
+ "carrier": [
488
+ {
489
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
490
+ "pose": {
491
+ "pos": [
492
+ -0.0964059829711914,
493
+ 0.45000171661376953,
494
+ 0.8999999761581421
495
+ ],
496
+ "ori": [
497
+ 1.0,
498
+ 1.6075557596195722e-07,
499
+ 2.8414492092565524e-08,
500
+ -1.7553687939653173e-05
501
+ ],
502
+ "scale": [
503
+ 1.0,
504
+ 1.0,
505
+ 1.0
506
+ ]
507
+ },
508
+ "dr": {
509
+ "visual": {
510
+ "kind": null,
511
+ "value": null,
512
+ "visible": true
513
+ },
514
+ "physics": {
515
+ "type": "rigid",
516
+ "mass": 0.5,
517
+ "physics_material": {
518
+ "static_friction": 0.9,
519
+ "dynamic_friction": 0.9,
520
+ "restitution": 0.0
521
+ },
522
+ "ratio": 1.0
523
+ },
524
+ "primitive_params": null
525
+ },
526
+ "type_specific": {
527
+ "linear_velocity": [
528
+ -2.1439653608013032e-08,
529
+ 7.479562924572747e-08,
530
+ 1.2665987014770508e-07
531
+ ],
532
+ "angular_velocity": [
533
+ -5.717822659789817e-06,
534
+ -1.6873586901056115e-06,
535
+ -2.8193420575917116e-07
536
+ ]
537
+ }
538
+ },
539
+ {
540
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
541
+ "pose": {
542
+ "pos": [
543
+ 1.3941049575805664,
544
+ 0.4554557800292969,
545
+ 0.8999999761581421
546
+ ],
547
+ "ori": [
548
+ 0.9982203245162964,
549
+ -3.1033096092869528e-09,
550
+ -3.0799530037484146e-08,
551
+ 0.059635065495967865
552
+ ],
553
+ "scale": [
554
+ 1.0,
555
+ 1.0,
556
+ 1.0
557
+ ]
558
+ },
559
+ "dr": {
560
+ "visual": {
561
+ "kind": null,
562
+ "value": null,
563
+ "visible": true
564
+ },
565
+ "physics": {
566
+ "type": "rigid",
567
+ "mass": 0.5,
568
+ "physics_material": {
569
+ "static_friction": 0.9,
570
+ "dynamic_friction": 0.9,
571
+ "restitution": 0.0
572
+ },
573
+ "ratio": 1.0
574
+ },
575
+ "primitive_params": null
576
+ },
577
+ "type_specific": {
578
+ "linear_velocity": [
579
+ 2.4570177004079596e-09,
580
+ 3.190723418811103e-08,
581
+ -3.725290298461914e-09
582
+ ],
583
+ "angular_velocity": [
584
+ -5.544522991840495e-07,
585
+ -4.054743385495385e-08,
586
+ 2.8987943778702174e-07
587
+ ]
588
+ }
589
+ },
590
+ {
591
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
592
+ "pose": {
593
+ "pos": [
594
+ -1.2473773956298828,
595
+ 1.0851573944091797,
596
+ 0.8999999761581421
597
+ ],
598
+ "ori": [
599
+ -0.2985188663005829,
600
+ -1.2993180575904262e-07,
601
+ 3.759014433057928e-08,
602
+ 0.9544037580490112
603
+ ],
604
+ "scale": [
605
+ 1.0,
606
+ 1.0,
607
+ 1.0
608
+ ]
609
+ },
610
+ "dr": {
611
+ "visual": {
612
+ "kind": null,
613
+ "value": null,
614
+ "visible": true
615
+ },
616
+ "physics": {
617
+ "type": "rigid",
618
+ "mass": 0.5,
619
+ "physics_material": {
620
+ "static_friction": 0.9,
621
+ "dynamic_friction": 0.9,
622
+ "restitution": 0.0
623
+ },
624
+ "ratio": 1.0
625
+ },
626
+ "primitive_params": null
627
+ },
628
+ "type_specific": {
629
+ "linear_velocity": [
630
+ 3.646005719559753e-11,
631
+ -9.83360726181104e-10,
632
+ 3.725290298461914e-09
633
+ ],
634
+ "angular_velocity": [
635
+ 7.493598275232216e-08,
636
+ 1.6796946056274464e-08,
637
+ 3.144081217598682e-09
638
+ ]
639
+ }
640
+ },
641
+ {
642
+ "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda",
643
+ "pose": {
644
+ "pos": [
645
+ 0.5180530548095703,
646
+ 1.1499958038330078,
647
+ 0.8999999761581421
648
+ ],
649
+ "ori": [
650
+ -3.051161183975637e-05,
651
+ -3.498992207084939e-10,
652
+ -1.9502839343488176e-09,
653
+ 1.0
654
+ ],
655
+ "scale": [
656
+ 1.0,
657
+ 1.0,
658
+ 1.0
659
+ ]
660
+ },
661
+ "dr": {
662
+ "visual": {
663
+ "kind": null,
664
+ "value": null,
665
+ "visible": true
666
+ },
667
+ "physics": {
668
+ "type": "rigid",
669
+ "mass": 0.5,
670
+ "physics_material": {
671
+ "static_friction": 0.9,
672
+ "dynamic_friction": 0.9,
673
+ "restitution": 0.0
674
+ },
675
+ "ratio": 1.0
676
+ },
677
+ "primitive_params": null
678
+ },
679
+ "type_specific": {
680
+ "linear_velocity": [
681
+ 8.74602168465799e-10,
682
+ 1.5201209180304431e-09,
683
+ 3.725290298461914e-09
684
+ ],
685
+ "angular_velocity": [
686
+ 3.971351247855637e-09,
687
+ 4.8376605832345376e-08,
688
+ -3.7567019717243966e-08
689
+ ]
690
+ }
691
+ }
692
+ ],
693
+ "plate": [
694
+ {
695
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd",
696
+ "pose": {
697
+ "pos": [
698
+ -0.0827474594116211,
699
+ 0.44318199157714844,
700
+ 0.9180000424385071
701
+ ],
702
+ "ori": [
703
+ 0.9954530000686646,
704
+ 5.91694004015153e-07,
705
+ 1.14076243562522e-07,
706
+ -0.09525472670793533
707
+ ],
708
+ "scale": [
709
+ 1.0,
710
+ 1.0,
711
+ 1.0
712
+ ]
713
+ },
714
+ "dr": {
715
+ "visual": {
716
+ "kind": null,
717
+ "value": null,
718
+ "visible": true
719
+ },
720
+ "physics": {
721
+ "type": "rigid",
722
+ "collision": true,
723
+ "mass": "asset",
724
+ "max_depenetration_velocity": 1.0,
725
+ "physics_material": {
726
+ "static_friction": 0.5,
727
+ "dynamic_friction": 0.45,
728
+ "restitution": 0.0,
729
+ "friction_combine_mode": "average"
730
+ },
731
+ "ratio": 1.0
732
+ },
733
+ "primitive_params": null
734
+ },
735
+ "type_specific": {
736
+ "linear_velocity": [
737
+ -1.7470429156674072e-06,
738
+ 3.941192517231684e-06,
739
+ -5.364418029785156e-07
740
+ ],
741
+ "angular_velocity": [
742
+ -8.205846097553149e-05,
743
+ -6.672871677437797e-08,
744
+ 3.2717580324970186e-05
745
+ ]
746
+ }
747
+ },
748
+ {
749
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd",
750
+ "pose": {
751
+ "pos": [
752
+ 1.4062166213989258,
753
+ 0.46889781951904297,
754
+ 0.9180000424385071
755
+ ],
756
+ "ori": [
757
+ 0.9977826476097107,
758
+ 3.292168457846856e-07,
759
+ -6.432699706238054e-09,
760
+ 0.06655725836753845
761
+ ],
762
+ "scale": [
763
+ 1.0,
764
+ 1.0,
765
+ 1.0
766
+ ]
767
+ },
768
+ "dr": {
769
+ "visual": {
770
+ "kind": null,
771
+ "value": null,
772
+ "visible": true
773
+ },
774
+ "physics": {
775
+ "type": "rigid",
776
+ "collision": true,
777
+ "mass": "asset",
778
+ "max_depenetration_velocity": 1.0,
779
+ "physics_material": {
780
+ "static_friction": 0.5,
781
+ "dynamic_friction": 0.45,
782
+ "restitution": 0.0,
783
+ "friction_combine_mode": "average"
784
+ },
785
+ "ratio": 1.0
786
+ },
787
+ "primitive_params": null
788
+ },
789
+ "type_specific": {
790
+ "linear_velocity": [
791
+ -2.255614617752144e-06,
792
+ 1.1988231563009322e-06,
793
+ -9.015202522277832e-07
794
+ ],
795
+ "angular_velocity": [
796
+ -4.738442657981068e-05,
797
+ -1.7074380593840033e-06,
798
+ 3.074145206483081e-05
799
+ ]
800
+ }
801
+ },
802
+ {
803
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd",
804
+ "pose": {
805
+ "pos": [
806
+ -1.2407045364379883,
807
+ 1.0822429656982422,
808
+ 0.9179999828338623
809
+ ],
810
+ "ori": [
811
+ -0.3715180456638336,
812
+ -1.267998186449404e-07,
813
+ 4.727106528434888e-08,
814
+ 0.9284257888793945
815
+ ],
816
+ "scale": [
817
+ 1.0,
818
+ 1.0,
819
+ 1.0
820
+ ]
821
+ },
822
+ "dr": {
823
+ "visual": {
824
+ "kind": null,
825
+ "value": null,
826
+ "visible": true
827
+ },
828
+ "physics": {
829
+ "type": "rigid",
830
+ "collision": true,
831
+ "mass": "asset",
832
+ "max_depenetration_velocity": 1.0,
833
+ "physics_material": {
834
+ "static_friction": 0.5,
835
+ "dynamic_friction": 0.45,
836
+ "restitution": 0.0,
837
+ "friction_combine_mode": "average"
838
+ },
839
+ "ratio": 1.0
840
+ },
841
+ "primitive_params": null
842
+ },
843
+ "type_specific": {
844
+ "linear_velocity": [
845
+ -3.76469522223033e-09,
846
+ -1.0492486879343232e-09,
847
+ -5.044043064117432e-06
848
+ ],
849
+ "angular_velocity": [
850
+ -1.238653112523025e-06,
851
+ 9.737275377119659e-07,
852
+ -7.916575128774639e-08
853
+ ]
854
+ }
855
+ },
856
+ {
857
+ "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd",
858
+ "pose": {
859
+ "pos": [
860
+ 0.5125017166137695,
861
+ 1.1466150283813477,
862
+ 0.9179999828338623
863
+ ],
864
+ "ori": [
865
+ 0.08963333815336227,
866
+ -2.1246502335259265e-09,
867
+ -4.5759742661743985e-09,
868
+ 0.9959748387336731
869
+ ],
870
+ "scale": [
871
+ 1.0,
872
+ 1.0,
873
+ 1.0
874
+ ]
875
+ },
876
+ "dr": {
877
+ "visual": {
878
+ "kind": null,
879
+ "value": null,
880
+ "visible": true
881
+ },
882
+ "physics": {
883
+ "type": "rigid",
884
+ "collision": true,
885
+ "mass": "asset",
886
+ "max_depenetration_velocity": 1.0,
887
+ "physics_material": {
888
+ "static_friction": 0.5,
889
+ "dynamic_friction": 0.45,
890
+ "restitution": 0.0,
891
+ "friction_combine_mode": "average"
892
+ },
893
+ "ratio": 1.0
894
+ },
895
+ "primitive_params": null
896
+ },
897
+ "type_specific": {
898
+ "linear_velocity": [
899
+ 9.598736738780644e-08,
900
+ 4.435086964349466e-08,
901
+ 1.9371509552001953e-07
902
+ ],
903
+ "angular_velocity": [
904
+ -1.033327862387523e-06,
905
+ 4.134610662731575e-06,
906
+ 2.4392559083707965e-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": 7.13999999999987,
1105
+ "step": 1428,
1106
+ "counter": 0,
1107
+ "devices": {
1108
+ "a4s_sealer_1": {
1109
+ "mode": "auto",
1110
+ "units": {
1111
+ "drawer": {
1112
+ "state": "at_out",
1113
+ "active": null,
1114
+ "target": 0.0,
1115
+ "goal_name": "out",
1116
+ "profile": null,
1117
+ "q_start": null,
1118
+ "reversing": false,
1119
+ "blocked_for": 0.0,
1120
+ "settled_for": 0.0,
1121
+ "last_q": 0.0
1122
+ },
1123
+ "heater": {
1124
+ "state": "ready",
1125
+ "active": null,
1126
+ "duration": 0.0,
1127
+ "t_start": null,
1128
+ "elapsed": 0.0
1129
+ }
1130
+ },
1131
+ "queues": {},
1132
+ "program": null,
1133
+ "sensors": {
1134
+ "plate_present": {
1135
+ "occupants": [],
1136
+ "pending": {}
1137
+ }
1138
+ },
1139
+ "interlocks": {}
1140
+ },
1141
+ "conveyor_1": {
1142
+ "mode": "auto",
1143
+ "units": {
1144
+ "belt": {
1145
+ "state": "at_station",
1146
+ "active": null,
1147
+ "controller": {
1148
+ "speed": 0.15519088388612118,
1149
+ "holds": [],
1150
+ "station": "pick",
1151
+ "rider": "carrier_1",
1152
+ "arrived": true,
1153
+ "settle_count": 1328,
1154
+ "released": {
1155
+ "pick": []
1156
+ },
1157
+ "last_pos": {
1158
+ "carrier_1": [
1159
+ -0.24640598893165588,
1160
+ 1.7285346984863281e-06,
1161
+ 0.0
1162
+ ],
1163
+ "carrier_2": [
1164
+ 1.244104951620102,
1165
+ 0.00545579195022583,
1166
+ 0.0
1167
+ ],
1168
+ "carrier_3": [
1169
+ -1.3973774015903473,
1170
+ 0.6351574063301086,
1171
+ 0.0
1172
+ ],
1173
+ "carrier_4": [
1174
+ 0.36805304884910583,
1175
+ 0.6999958157539368,
1176
+ 0.0
1177
+ ]
1178
+ },
1179
+ "command": 0.0
1180
+ },
1181
+ "belt": {
1182
+ "target_speed": 0.0,
1183
+ "command_speed": 0.0
1184
+ },
1185
+ "seen": {
1186
+ "state": "at_station",
1187
+ "station": "pick",
1188
+ "rider": "carrier_1",
1189
+ "arrived": true
1190
+ }
1191
+ }
1192
+ },
1193
+ "queues": {},
1194
+ "program": null,
1195
+ "sensors": {},
1196
+ "interlocks": {}
1197
+ }
1198
+ },
1199
+ "zones": {},
1200
+ "labware": {
1201
+ "plate_1": {
1202
+ "sealed": false
1203
+ },
1204
+ "plate_2": {
1205
+ "sealed": false
1206
+ },
1207
+ "plate_3": {
1208
+ "sealed": false
1209
+ },
1210
+ "plate_4": {
1211
+ "sealed": false
1212
+ }
1213
+ },
1214
+ "rules": {},
1215
+ "records": [],
1216
+ "bus": {
1217
+ "seq": 3,
1218
+ "queue": []
1219
+ }
1220
+ },
1221
+ null,
1222
+ null
1223
+ ],
1224
+ "drives": [
1225
+ null,
1226
+ {},
1227
+ null,
1228
+ null
1229
+ ]
1230
+ },
1231
+ "artifacts": [
1232
+ {},
1233
+ {
1234
+ "ceiling": {
1235
+ "type": "rect",
1236
+ "pose": {
1237
+ "pos": [
1238
+ 0.05389825064901965,
1239
+ 0.5396565112623786,
1240
+ 3.1572131817203797
1241
+ ],
1242
+ "ori": [
1243
+ -5.2056913840733525,
1244
+ -1.3183309616907621,
1245
+ -16.261941241473508
1246
+ ],
1247
+ "scale": [
1248
+ 1.0,
1249
+ 1.0,
1250
+ 1.0
1251
+ ]
1252
+ },
1253
+ "dr": {
1254
+ "color_temperature": 6968.312859917415,
1255
+ "color": [
1256
+ 0.9768385549622078,
1257
+ 0.8898345657358719,
1258
+ 0.925224430907091
1259
+ ],
1260
+ "intensity": 5250.668907532277,
1261
+ "width": 1.6828180571348175,
1262
+ "height": 1.543134840581972
1263
+ }
1264
+ },
1265
+ "key": {
1266
+ "type": "sphere",
1267
+ "pose": {
1268
+ "pos": [
1269
+ -0.04544974788641376,
1270
+ 0.7781700132752252,
1271
+ 2.1192311333442855
1272
+ ],
1273
+ "ori": [
1274
+ -11.931705419162057,
1275
+ -30.31530650840577,
1276
+ -0.005758170776402949
1277
+ ],
1278
+ "scale": [
1279
+ 1.0,
1280
+ 1.0,
1281
+ 1.0
1282
+ ]
1283
+ },
1284
+ "dr": {
1285
+ "color_temperature": 5602.217945583847,
1286
+ "color": [
1287
+ 0.8242881379705627,
1288
+ 0.9427048026297888,
1289
+ 0.9561290965226599
1290
+ ],
1291
+ "intensity": 9195.356137631683,
1292
+ "radius": 0.06367613199393321
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": 1056.6062134895242,
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
+ 0.7488459944725037,
1394
+ -1.1854159832000732,
1395
+ 2.095763683319092,
1396
+ -2.4811034202575684,
1397
+ -1.5708492994308472,
1398
+ 2.328979730606079,
1399
+ 0.007175962440669537,
1400
+ 0.006579442881047726
1401
+ ],
1402
+ [
1403
+ 0.9141013026237488,
1404
+ -1.719399094581604,
1405
+ 2.0904998779296875,
1406
+ -1.941900610923767,
1407
+ -1.5707999467849731,
1408
+ 2.4849002361297607,
1409
+ 0.01799999736249447,
1410
+ 0.018000001087784767
1411
+ ],
1412
+ [
1413
+ 1.0197159051895142,
1414
+ -1.3616912364959717,
1415
+ 2.1028149127960205,
1416
+ -2.3118746280670166,
1417
+ -1.5707963705062866,
1418
+ 2.39211368560791,
1419
+ 0.0180000439286232,
1420
+ 0.017999954521656036
1421
+ ],
1422
+ [
1423
+ 0.9736605286598206,
1424
+ -1.2931379079818726,
1425
+ 2.2680976390838623,
1426
+ -2.545754909515381,
1427
+ -1.5708004236221313,
1428
+ 2.6929447650909424,
1429
+ 0.00776674272492528,
1430
+ 0.007193702273070812
1431
+ ]
1432
+ ],
1433
+ "joint_vel": [
1434
+ [
1435
+ -7.089046266628429e-05,
1436
+ 2.9216724215075374e-05,
1437
+ -0.00028344924794510007,
1438
+ -0.0012881932780146599,
1439
+ 0.0018616118468344212,
1440
+ 0.005551285110414028,
1441
+ -0.008391343988478184,
1442
+ 0.00022792225354351103
1443
+ ],
1444
+ [
1445
+ -2.561200847394255e-38,
1446
+ 2.955124903375076e-38,
1447
+ 2.948814015611143e-38,
1448
+ 7.019193242489217e-37,
1449
+ -7.28138089352723e-37,
1450
+ 2.525459777178695e-37,
1451
+ 2.5990399166175848e-08,
1452
+ -2.5990386731677972e-08
1453
+ ],
1454
+ [
1455
+ -0.00010451547132106498,
1456
+ 0.015117397531867027,
1457
+ 0.008507199585437775,
1458
+ -0.02235213667154312,
1459
+ -1.034707293001702e-05,
1460
+ -2.0863742975052446e-05,
1461
+ -6.565666808455717e-06,
1462
+ 6.567029231518973e-06
1463
+ ],
1464
+ [
1465
+ -0.00044940656516700983,
1466
+ -6.560392648680136e-05,
1467
+ -1.3063097867416218e-05,
1468
+ -0.0012227189727127552,
1469
+ 0.0007160419481806457,
1470
+ 0.003416016697883606,
1471
+ -0.007162624038755894,
1472
+ 0.0003088151279371232
1473
+ ]
1474
+ ]
1475
+ }
1476
+ },
1477
+ "cameras": {
1478
+ "cameras": {
1479
+ "camera0": [
1480
+ [
1481
+ 0.04855528473854065,
1482
+ 3.883444514940493e-05,
1483
+ -0.032427407801151276,
1484
+ -0.2894572913646698,
1485
+ 0.6450873017311096,
1486
+ 0.6508029103279114,
1487
+ -0.27664482593536377
1488
+ ],
1489
+ [
1490
+ 0.051117803901433945,
1491
+ -0.0011244156630709767,
1492
+ -0.027423474937677383,
1493
+ -0.27908623218536377,
1494
+ 0.6479540467262268,
1495
+ 0.6507287621498108,
1496
+ -0.28074634075164795
1497
+ ],
1498
+ [
1499
+ 0.05123758316040039,
1500
+ 2.8448233933886513e-05,
1501
+ -0.03276698663830757,
1502
+ -0.2730695307254791,
1503
+ 0.6546615958213806,
1504
+ 0.6411032676696777,
1505
+ -0.29298093914985657
1506
+ ],
1507
+ [
1508
+ 0.04977375641465187,
1509
+ 0.0027144262567162514,
1510
+ -0.03183445334434509,
1511
+ -0.28403085470199585,
1512
+ 0.6548551321029663,
1513
+ 0.6438411474227905,
1514
+ -0.2756081521511078
1515
+ ]
1516
+ ],
1517
+ "camera1": [
1518
+ [
1519
+ 0.05821666121482849,
1520
+ 0.5740291476249695,
1521
+ 1.9427893161773682,
1522
+ 0.05137203633785248,
1523
+ -0.008627895265817642,
1524
+ 0.27488696575164795,
1525
+ 0.9600644111633301
1526
+ ],
1527
+ [
1528
+ 0.033452101051807404,
1529
+ 0.5873380303382874,
1530
+ 1.9316346645355225,
1531
+ 0.04941113293170929,
1532
+ 0.002314594341441989,
1533
+ 0.2584032416343689,
1534
+ 0.9647698998451233
1535
+ ],
1536
+ [
1537
+ 0.06627560406923294,
1538
+ 0.5807642340660095,
1539
+ 1.9613794088363647,
1540
+ 0.04226279258728027,
1541
+ 0.009617375209927559,
1542
+ 0.27623435854911804,
1543
+ 0.960112452507019
1544
+ ],
1545
+ [
1546
+ 0.025376426056027412,
1547
+ 0.597843587398529,
1548
+ 1.9589900970458984,
1549
+ 0.035491205751895905,
1550
+ 0.014250198379158974,
1551
+ 0.25589719414711,
1552
+ 0.965947151184082
1553
+ ]
1554
+ ]
1555
+ }
1556
+ }
1557
+ }
1558
+ }
episodes/c9_p026_e039/wrist.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d2e472ab47cfe15f2c617af0304618d7fb95f13a7635acdf992cfe4b8b2ac35d
3
+ size 7495189
index/episodes.csv CHANGED
@@ -4942,3 +4942,7 @@ c9_p026_e032,2,True,-0.048336029052734375,0.4499959945678711,0.00563238618704771
4942
  c9_p026_e033,1,True,-0.1474618911743164,0.4499969482421875,0.006944799867847178,0.01059618128299818,-8.587325051770193,deep_well_96_1ml,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.17443657967909282,742.6665514244719,rect,-0.5197906758724646,0.3877400729561673,2.995523653994887,8607.925376491898,4956.777546792591,sphere,-0.43012857572111307,0.37661405592290986,2.1302946050866343,2573.298542355415,3565.409763353815,0.05078183487057686,0.00044263116433285177,-0.031070856377482414,-0.2831323742866516,0.6476491689682007,0.6484440565109253,-0.2826782166957855,0.03235698863863945,0.5767231583595276,1.9365270137786865,0.049301207065582275,0.026373431086540222,0.2730037569999695,0.9603868126869202,1293,1,,2.078752279281616,0.31352727122239243,0.0,0.007473898120224476,0.5359628770301624,12,release,0.04245281219482422,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4943
  c9_p026_e034,0,True,0.10654163360595703,0.45000362396240234,-0.014844098354958233,0.005986319800536026,-0.11321329692216864,deep_well_96_2ml,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.2814587357715256,742.6665514244719,rect,0.6486153604144539,-0.013230032820426285,2.836443485474081,5976.543851237802,3786.8933268554356,disk,-0.851319275774655,-0.011356431865647387,1.822288586321041,2401.9097567626586,5642.487185554028,0.04902215301990509,0.0016240113181993365,-0.02784472517669201,-0.2705715000629425,0.6464611887931824,0.651008129119873,-0.29166319966316223,0.07094647735357285,0.5730860233306885,1.9322422742843628,0.033137403428554535,0.005607329774647951,0.26611611247062683,0.9633548855781555,1230,1,,2.064602851867676,0.3358383367283635,0.0,0.007505940273404121,0.5195121951219512,12,release,0.043074607849121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4944
  c9_p026_e035,3,True,0.0867929458618164,0.4473838806152344,0.00819303766901037,-0.004987457875725807,5.063893395473713,reservoir_12ch,0.5189428329467773,0.05177879333496094,-94.80259495649898,0.2479013293420112,742.6665514244719,rect,-0.1219289583460994,0.024926485507387297,2.7966564653520063,15645.486610529757,3942.8021241278425,sphere,0.017735144915208778,-0.07183911368049012,2.4482576721320135,5824.470769380139,5695.9016628430445,0.05102749541401863,0.00204477715305984,-0.027913950383663177,-0.28082045912742615,0.6526190042495728,0.6415057182312012,-0.28930729627609253,0.03381813317537308,0.5925320982933044,1.9397156238555908,0.045434802770614624,0.027548057958483696,0.2570559084415436,0.964934766292572,1177,1,,2.1292991638183594,0.33381046824836913,0.0,0.007442707195878029,0.536108751062022,12,release,0.04291701316833496,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
 
 
 
 
 
4942
  c9_p026_e033,1,True,-0.1474618911743164,0.4499969482421875,0.006944799867847178,0.01059618128299818,-8.587325051770193,deep_well_96_1ml,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.17443657967909282,742.6665514244719,rect,-0.5197906758724646,0.3877400729561673,2.995523653994887,8607.925376491898,4956.777546792591,sphere,-0.43012857572111307,0.37661405592290986,2.1302946050866343,2573.298542355415,3565.409763353815,0.05078183487057686,0.00044263116433285177,-0.031070856377482414,-0.2831323742866516,0.6476491689682007,0.6484440565109253,-0.2826782166957855,0.03235698863863945,0.5767231583595276,1.9365270137786865,0.049301207065582275,0.026373431086540222,0.2730037569999695,0.9603868126869202,1293,1,,2.078752279281616,0.31352727122239243,0.0,0.007473898120224476,0.5359628770301624,12,release,0.04245281219482422,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4943
  c9_p026_e034,0,True,0.10654163360595703,0.45000362396240234,-0.014844098354958233,0.005986319800536026,-0.11321329692216864,deep_well_96_2ml,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.2814587357715256,742.6665514244719,rect,0.6486153604144539,-0.013230032820426285,2.836443485474081,5976.543851237802,3786.8933268554356,disk,-0.851319275774655,-0.011356431865647387,1.822288586321041,2401.9097567626586,5642.487185554028,0.04902215301990509,0.0016240113181993365,-0.02784472517669201,-0.2705715000629425,0.6464611887931824,0.651008129119873,-0.29166319966316223,0.07094647735357285,0.5730860233306885,1.9322422742843628,0.033137403428554535,0.005607329774647951,0.26611611247062683,0.9633548855781555,1230,1,,2.064602851867676,0.3358383367283635,0.0,0.007505940273404121,0.5195121951219512,12,release,0.043074607849121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4944
  c9_p026_e035,3,True,0.0867929458618164,0.4473838806152344,0.00819303766901037,-0.004987457875725807,5.063893395473713,reservoir_12ch,0.5189428329467773,0.05177879333496094,-94.80259495649898,0.2479013293420112,742.6665514244719,rect,-0.1219289583460994,0.024926485507387297,2.7966564653520063,15645.486610529757,3942.8021241278425,sphere,0.017735144915208778,-0.07183911368049012,2.4482576721320135,5824.470769380139,5695.9016628430445,0.05102749541401863,0.00204477715305984,-0.027913950383663177,-0.28082045912742615,0.6526190042495728,0.6415057182312012,-0.28930729627609253,0.03381813317537308,0.5925320982933044,1.9397156238555908,0.045434802770614624,0.027548057958483696,0.2570559084415436,0.964934766292572,1177,1,,2.1292991638183594,0.33381046824836913,0.0,0.007442707195878029,0.536108751062022,12,release,0.04291701316833496,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4945
+ c9_p026_e036,0,True,0.1496877670288086,0.4500007629394531,-0.01414305205024825,-0.010588563205588838,-0.5444300686465624,pcr_96_blue,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.24666202611506274,1056.6062134895242,rect,-0.04010888147825764,0.39040999576584257,2.6646701847644043,5176.23020994519,3284.368064571909,disk,-1.0600021913968298,-0.8262284045237618,2.2847237179294067,9915.267807536127,3675.6684878564847,0.0513402484357357,-0.0026144064031541348,-0.0313003808259964,-0.28581786155700684,0.6482633948326111,0.6499364972114563,-0.27503684163093567,0.05821666121482849,0.5740291476249695,1.9427893161773682,0.05137203633785248,-0.008627895265817642,0.27488696575164795,0.9600644111633301,1239,1,,2.0395145416259766,0.27747288782505464,0.0,0.006855192594230175,0.5141242937853108,12,release,0.042142271995544434,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4946
+ c9_p026_e037,3,True,-0.010960578918457031,0.44738006591796875,0.007778427263145257,0.008927075535213436,-9.671772627411627,reservoir_12ch,0.5189428329467773,0.05177879333496094,-94.80259495649898,0.2619707761073893,1056.6062134895242,rect,0.2509089502860439,-0.1112736034611504,3.1388495121022695,8389.9461607478,5320.388850270665,sphere,0.016854584567206787,-0.6255019008744468,1.9331674416533666,2948.0453646251676,4550.261801274188,0.04941631853580475,0.003421830479055643,-0.03143475949764252,-0.2826170027256012,0.6505617499351501,0.6488373875617981,-0.2755123972892761,0.025376426056027412,0.597843587398529,1.9589900970458984,0.035491205751895905,0.014250198379158974,0.25589719414711,0.965947151184082,1259,1,,2.095170497894287,0.2818723609039299,0.0,0.007447117008268833,0.5615567911040509,12,release,0.0428164005279541,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4947
+ c9_p026_e038,2,True,0.008493423461914062,0.4499940872192383,-0.009561508861507726,-0.0012972169950866252,11.391762623633952,deep_well_24_10ml,0.5164613723754883,0.08666610717773438,-88.19643052055247,0.1571665682891885,1056.6062134895242,rect,0.7805055154290131,0.47405147642592105,2.9700967936763654,8608.546047213153,6196.80586352607,disk,0.4937372963411244,0.7116803572655355,1.6395934445088094,9052.320629819184,4773.835987002787,0.05112917348742485,-0.0012733991025015712,-0.03172910213470459,-0.2795286476612091,0.65751051902771,0.6377828121185303,-0.28770947456359863,0.06627560406923294,0.5807642340660095,1.9613794088363647,0.04226279258728027,0.009617375209927559,0.27623435854911804,0.960112452507019,1259,1,,2.0965285301208496,0.26329905823886385,0.0,0.007479162886738777,0.5631453534551231,12,release,0.042528390884399414,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
4948
+ c9_p026_e039,1,True,-0.0964059829711914,0.45000171661376953,0.01365876297380325,-0.006819245517497906,-10.929951369891114,plate_12_clear,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.15519088388612118,1056.6062134895242,rect,0.05389825064901965,0.5396565112623786,3.1572131817203797,5250.668907532277,6968.312859917415,sphere,-0.04544974788641376,0.7781700132752252,2.1192311333442855,9195.356137631683,5602.217945583847,0.051117803901433945,-0.0011244156630709767,-0.027423474937677383,-0.27908623218536377,0.6479540467262268,0.6507287621498108,-0.28074634075164795,0.033452101051807404,0.5873380303382874,1.9316346645355225,0.04941113293170929,0.002314594341441989,0.2584032416343689,0.9647698998451233,1247,1,,2.076496124267578,0.2978489172001317,0.0,0.007367354352027178,0.5100240577385726,12,release,0.04216116666793823,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False