add 1 episodes (c9_p022_e020 .. c9_p022_e020); total 4738 {'v1': 1088, 'v2': 3650}
Browse files
episodes/c9_p022_e020/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:786cccf300b0cbde4b84dc1a60c8b246dea101c6fc09a50933e3cef94e14b5a0
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size 200796
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episodes/c9_p022_e020/device_events.jsonl
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| 1 |
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{"env_id": 1, "seq": 1, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 2 |
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{"env_id": 1, "seq": 2, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 1, "seq": 3, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 813, "t": 4.065, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 5415, "t": 27.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 6028, "t": 30.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 6028, "t": 30.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.258426408760912}, "cause": "task-1-1"}
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| 8 |
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{"env_id": 1, "seq": 8, "step": 6028, "t": 30.14, "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"}
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| 9 |
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{"env_id": 1, "seq": 9, "step": 6028, "t": 30.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 10 |
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{"env_id": 1, "seq": 10, "step": 6028, "t": 30.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
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| 11 |
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{"env_id": 1, "seq": 11, "step": 6447, "t": 32.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 12 |
+
{"env_id": 1, "seq": 12, "step": 6447, "t": 32.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
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| 13 |
+
{"env_id": 1, "seq": 13, "step": 6447, "t": 32.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
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| 14 |
+
{"env_id": 1, "seq": 14, "step": 6447, "t": 32.235, "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"}
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| 15 |
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{"env_id": 1, "seq": 15, "step": 6447, "t": 32.235, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 6447, "t": 32.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
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| 17 |
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{"env_id": 1, "seq": 17, "step": 6447, "t": 32.235, "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"}
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| 18 |
+
{"env_id": 1, "seq": 18, "step": 6447, "t": 32.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
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{"env_id": 1, "seq": 19, "step": 6447, "t": 32.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.258426408760912}, "cause": "program-1-3"}
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| 20 |
+
{"env_id": 1, "seq": 20, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 21 |
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{"env_id": 1, "seq": 21, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.260000000001668}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.260000000001668}}, "cause": "program-1-3"}
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| 23 |
+
{"env_id": 1, "seq": 23, "step": 7099, "t": 35.495, "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"}
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| 24 |
+
{"env_id": 1, "seq": 24, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 25 |
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{"env_id": 1, "seq": 25, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 7519, "t": 37.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 27 |
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{"env_id": 1, "seq": 27, "step": 7519, "t": 37.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.454200006724477e-09}, "cause": "program-1-4"}
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| 28 |
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{"env_id": 1, "seq": 28, "step": 7519, "t": 37.595, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.454200006724477e-09}, "cause": "program-1-4"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 7519, "t": 37.595, "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"}
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| 30 |
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{"env_id": 1, "seq": 30, "step": 7519, "t": 37.595, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 31 |
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{"env_id": 1, "seq": 31, "step": 7519, "t": 37.595, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 32 |
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{"env_id": 1, "seq": 32, "step": 8093, "t": 40.465, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 33 |
+
{"env_id": 1, "seq": 33, "step": 10332, "t": 51.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
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| 34 |
+
{"env_id": 1, "seq": 34, "step": 10332, "t": 51.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 10332, "t": 51.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 36 |
+
{"env_id": 1, "seq": 36, "step": 10332, "t": 51.66, "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"}
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episodes/c9_p022_e020/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:42a6921dce6b0bf61c9107d7f63c0bff08c0ccf874883e88789b74851ad6d11a
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| 3 |
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size 1304179
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episodes/c9_p022_e020/meta.json
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@@ -0,0 +1,32 @@
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{
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| 2 |
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"source": "raw/c9_p022/magicsim/20",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1252,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
+
"video_frames": {
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| 7 |
+
"wrist": 1252,
|
| 8 |
+
"env": 1252
|
| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
+
"wrist_2_joint",
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| 18 |
+
"wrist_3_joint"
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| 19 |
+
],
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| 20 |
+
"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
+
"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c9_p022_e020/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
"run_id": "c9_p022",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 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 |
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"snapshot": {
|
| 17 |
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|
| 18 |
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|
| 19 |
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"objects": [
|
| 20 |
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{},
|
| 21 |
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{
|
| 22 |
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|
| 23 |
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{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
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"pos": [
|
| 27 |
+
0.0,
|
| 28 |
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| 29 |
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| 30 |
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],
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| 31 |
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| 32 |
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1.0,
|
| 33 |
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0.0,
|
| 34 |
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|
| 35 |
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0.0
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| 36 |
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],
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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]
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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},
|
| 49 |
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|
| 50 |
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|
| 51 |
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"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
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|
| 56 |
+
},
|
| 57 |
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|
| 58 |
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},
|
| 59 |
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|
| 60 |
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},
|
| 61 |
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|
| 62 |
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}
|
| 63 |
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],
|
| 64 |
+
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|
| 65 |
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{
|
| 66 |
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"asset": "Cube",
|
| 67 |
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|
| 68 |
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|
| 69 |
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0.0,
|
| 70 |
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| 71 |
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|
| 72 |
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],
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| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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| 78 |
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],
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| 79 |
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| 80 |
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| 81 |
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|
| 82 |
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| 83 |
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]
|
| 84 |
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},
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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0.58
|
| 92 |
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],
|
| 93 |
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"visible": true
|
| 94 |
+
},
|
| 95 |
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|
| 96 |
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"type": "geometry",
|
| 97 |
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|
| 98 |
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"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
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|
| 101 |
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"size": [
|
| 102 |
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|
| 103 |
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0.2,
|
| 104 |
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|
| 105 |
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]
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
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"plate_rack": [
|
| 112 |
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{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
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|
| 115 |
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|
| 116 |
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|
| 117 |
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| 118 |
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|
| 119 |
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],
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| 120 |
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| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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|
| 130 |
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]
|
| 131 |
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},
|
| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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},
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
+
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|
| 142 |
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|
| 143 |
+
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|
| 144 |
+
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|
| 145 |
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},
|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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},
|
| 150 |
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|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
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|
| 159 |
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0.02,
|
| 160 |
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0.9605
|
| 161 |
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],
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| 162 |
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|
| 163 |
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1.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0
|
| 167 |
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],
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| 168 |
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| 169 |
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|
| 170 |
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1.0,
|
| 171 |
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1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
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|
| 181 |
+
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|
| 182 |
+
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|
| 183 |
+
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|
| 184 |
+
},
|
| 185 |
+
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|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
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|
| 193 |
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-0.6,
|
| 194 |
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0.02,
|
| 195 |
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|
| 196 |
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],
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| 197 |
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| 198 |
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| 199 |
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1.0
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],
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| 204 |
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| 205 |
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1.0,
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1.0
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| 207 |
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]
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| 208 |
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},
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| 209 |
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| 210 |
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| 211 |
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|
| 212 |
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| 213 |
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|
| 214 |
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},
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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},
|
| 220 |
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|
| 221 |
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},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 226 |
+
"pose": {
|
| 227 |
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"pos": [
|
| 228 |
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|
| 229 |
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0.02,
|
| 230 |
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|
| 231 |
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],
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| 232 |
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| 233 |
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1.0,
|
| 234 |
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0.0,
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| 235 |
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0.0,
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| 236 |
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0.0
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],
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| 239 |
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1.0,
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1.0,
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1.0
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]
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| 243 |
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},
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| 244 |
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| 246 |
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|
| 247 |
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| 249 |
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},
|
| 250 |
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|
| 251 |
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"type": "geometry",
|
| 252 |
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|
| 253 |
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"ratio": 1.0
|
| 254 |
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},
|
| 255 |
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|
| 256 |
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},
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 261 |
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| 262 |
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|
| 263 |
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0.02,
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1.1645
|
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],
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6.123234262925839e-17,
|
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],
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},
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|
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episodes/c9_p022_e020/wrist.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e4dc0f618c96645adf6cbe91b5c43708bc6f0575c74cb70e3325a4fcb124414e
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| 3 |
+
size 7573203
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index/episodes.csv
CHANGED
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@@ -4736,3 +4736,4 @@ c6_p017_e000,1,True,-0.0040416717529296875,0.45000267028808594,0.002310807191140
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| 4736 |
c6_p017_e001,2,True,-0.14075660705566406,0.44731616973876953,0.003212862759578364,-0.0015225479583732646,-10.029879970926544,plate_1536_black,0.46005821228027344,0.07340621948242188,-91.66042404353601,0.16240738374365557,915.7558575110756,rect,-0.16417358037993818,0.17446070216100495,2.748536374807253,4860.896298637237,5410.826654461404,sphere,1.6732781853565077,1.0239601886185434,1.6959206381815237,5383.057532077881,6635.431573529154,0.04953736066818237,0.002062586136162281,-0.03120136819779873,-0.26712262630462646,0.6559041142463684,0.6440472602844238,-0.2892029881477356,0.030808432027697563,0.5912094116210938,1.9667481184005737,0.024457568302750587,0.008636804297566414,0.2667560577392578,0.9634149670600891,1182,1,,2.096160650253296,0.28225304298869935,0.0,0.007386094890534878,0.5346869712351946,12,release,0.042221665382385254,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4737 |
c6_p017_e002,3,True,0.09951972961425781,0.45005226135253906,-0.01525096821347011,-0.004729674858650753,0.2069239229186337,plate_384_white,0.4978609085083008,0.0513916015625,-85.55150535356483,0.271395261146081,915.7558575110756,rect,0.601744220313131,-0.068731514857364,2.617611318016332,14454.68654986228,3273.3823674272653,sphere,0.6592986558992666,1.3473010980659559,2.2230381558336694,6337.494535853024,6321.0445371749975,0.051717888563871384,-0.0018643529620021582,-0.030659960582852364,-0.28951945900917053,0.6463112235069275,0.6480430364608765,-0.2801794111728668,0.027022117748856544,0.569667398929596,1.9267551898956299,0.05952133983373642,0.015767082571983337,0.2552434504032135,0.9649142026901245,1245,1,,2.058833360671997,0.299355853051499,0.0,0.007378352805972099,0.5044176706827309,12,release,0.04230141639709473,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4738 |
c6_p017_e003,0,True,-0.0069122314453125,0.4499979019165039,0.005212813875352643,-0.0038680625146344377,5.023147155544024,pcr_96_blue,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.2605470112595413,915.7558575110756,rect,-0.22229006686476377,0.14589831083359928,3.162609814892051,6860.799806692192,5262.231211398723,disk,1.7873810587166634,0.9458709200484641,2.3783172924613796,10234.815871279612,6964.691597337129,0.049673277884721756,0.0006042747991159558,-0.02954789437353611,-0.2715971767902374,0.6534487009048462,0.6519196033477783,-0.2724713683128357,0.072755828499794,0.5994625687599182,1.9498906135559082,0.05146879702806473,-0.00718203978613019,0.2794228494167328,0.9587607979774475,1323,1,,2.0571556091308594,0.2618191903290263,0.0,0.006854213774204254,0.5328798185941043,12,release,0.04228639602661133,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4736 |
c6_p017_e001,2,True,-0.14075660705566406,0.44731616973876953,0.003212862759578364,-0.0015225479583732646,-10.029879970926544,plate_1536_black,0.46005821228027344,0.07340621948242188,-91.66042404353601,0.16240738374365557,915.7558575110756,rect,-0.16417358037993818,0.17446070216100495,2.748536374807253,4860.896298637237,5410.826654461404,sphere,1.6732781853565077,1.0239601886185434,1.6959206381815237,5383.057532077881,6635.431573529154,0.04953736066818237,0.002062586136162281,-0.03120136819779873,-0.26712262630462646,0.6559041142463684,0.6440472602844238,-0.2892029881477356,0.030808432027697563,0.5912094116210938,1.9667481184005737,0.024457568302750587,0.008636804297566414,0.2667560577392578,0.9634149670600891,1182,1,,2.096160650253296,0.28225304298869935,0.0,0.007386094890534878,0.5346869712351946,12,release,0.042221665382385254,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4737 |
c6_p017_e002,3,True,0.09951972961425781,0.45005226135253906,-0.01525096821347011,-0.004729674858650753,0.2069239229186337,plate_384_white,0.4978609085083008,0.0513916015625,-85.55150535356483,0.271395261146081,915.7558575110756,rect,0.601744220313131,-0.068731514857364,2.617611318016332,14454.68654986228,3273.3823674272653,sphere,0.6592986558992666,1.3473010980659559,2.2230381558336694,6337.494535853024,6321.0445371749975,0.051717888563871384,-0.0018643529620021582,-0.030659960582852364,-0.28951945900917053,0.6463112235069275,0.6480430364608765,-0.2801794111728668,0.027022117748856544,0.569667398929596,1.9267551898956299,0.05952133983373642,0.015767082571983337,0.2552434504032135,0.9649142026901245,1245,1,,2.058833360671997,0.299355853051499,0.0,0.007378352805972099,0.5044176706827309,12,release,0.04230141639709473,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4738 |
c6_p017_e003,0,True,-0.0069122314453125,0.4499979019165039,0.005212813875352643,-0.0038680625146344377,5.023147155544024,pcr_96_blue,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.2605470112595413,915.7558575110756,rect,-0.22229006686476377,0.14589831083359928,3.162609814892051,6860.799806692192,5262.231211398723,disk,1.7873810587166634,0.9458709200484641,2.3783172924613796,10234.815871279612,6964.691597337129,0.049673277884721756,0.0006042747991159558,-0.02954789437353611,-0.2715971767902374,0.6534487009048462,0.6519196033477783,-0.2724713683128357,0.072755828499794,0.5994625687599182,1.9498906135559082,0.05146879702806473,-0.00718203978613019,0.2794228494167328,0.9587607979774475,1323,1,,2.0571556091308594,0.2618191903290263,0.0,0.006854213774204254,0.5328798185941043,12,release,0.04228639602661133,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4739 |
+
c9_p022_e020,1,True,-0.05861663818359375,0.4499979019165039,0.007125836563204955,0.006780643231421,-9.88490796962708,plate_12_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.23675684390213095,910.8524335437402,rect,0.1365171773955779,-0.29905073649443425,3.029672483886692,7570.684218190375,5442.731111942117,disk,1.1684526506784767,0.8275472934279409,2.548274062664444,6776.458322266292,6013.3851441160405,0.05135880038142204,0.0031096450984477997,-0.03307770937681198,-0.28790411353111267,0.6495689749717712,0.6470882892608643,-0.27649247646331787,0.07096070051193237,0.5888572931289673,1.9690749645233154,0.027995720505714417,0.014385326765477657,0.27791112661361694,0.9600909948348999,1252,1,,2.0881621837615967,0.25683181599965854,0.0,0.007304733153432608,0.5567092651757188,12,release,0.042670249938964844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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