add 1 episodes (c9_p024_e024 .. c9_p024_e024); total 4850 {'v1': 1088, 'v2': 3762}
Browse files
episodes/c9_p024_e024/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:f3a2cf6351a092b79b74886f592028ffc455e57f83fa44a1cf9b644d3b004792
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size 190903
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episodes/c9_p024_e024/device_events.jsonl
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| 1 |
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{"env_id": 1, "seq": 1, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
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{"env_id": 1, "seq": 2, "step": 82, "t": 0.41, "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": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 1871, "t": 9.355, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 6434, "t": 32.17, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 7048, "t": 35.24, "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": 7048, "t": 35.24, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.845808694228234}, "cause": "task-1-1"}
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| 8 |
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{"env_id": 1, "seq": 8, "step": 7048, "t": 35.24, "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": 7048, "t": 35.24, "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": 7048, "t": 35.24, "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": 7467, "t": 37.335, "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": 7467, "t": 37.335, "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": 7467, "t": 37.335, "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": 7467, "t": 37.335, "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": 7467, "t": 37.335, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"}
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| 17 |
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{"env_id": 1, "seq": 17, "step": 7467, "t": 37.335, "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 |
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{"env_id": 1, "seq": 18, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
+
{"env_id": 1, "seq": 19, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.845808694228234}, "cause": "program-1-3"}
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| 20 |
+
{"env_id": 1, "seq": 20, "step": 8437, "t": 42.185, "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": 8437, "t": 42.185, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.850000000002481}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 8437, "t": 42.185, "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": 4.850000000002481}}, "cause": "program-1-3"}
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| 23 |
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{"env_id": 1, "seq": 23, "step": 8437, "t": 42.185, "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": 8437, "t": 42.185, "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": 8437, "t": 42.185, "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": 8857, "t": 44.285, "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": 8857, "t": 44.285, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.2827498571964533e-11}, "cause": "program-1-4"}
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| 28 |
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{"env_id": 1, "seq": 28, "step": 8857, "t": 44.285, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.2827498571964533e-11}, "cause": "program-1-4"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 8857, "t": 44.285, "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": 8857, "t": 44.285, "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": 8857, "t": 44.285, "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": 9438, "t": 47.19, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 33 |
+
{"env_id": 1, "seq": 33, "step": 11228, "t": 56.14, "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": 11228, "t": 56.14, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 11228, "t": 56.14, "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": 11228, "t": 56.14, "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_p024_e024/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:2d8908182d3ddbf40c2214f0c0112a3c1ac26e2f7e372676aae189dee7b49d2f
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| 3 |
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size 1316964
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episodes/c9_p024_e024/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_p024/magicsim/24",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1230,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
+
"wrist": 1230,
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| 8 |
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"env": 1230
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| 9 |
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},
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| 10 |
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"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 |
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"wrist_3_joint"
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| 19 |
+
],
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| 20 |
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"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 |
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"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_p024_e024/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
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| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"decimation": 4
|
| 11 |
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},
|
| 12 |
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"restore_interface": {
|
| 13 |
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"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
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"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
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},
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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{},
|
| 21 |
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{
|
| 22 |
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|
| 23 |
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{
|
| 24 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
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|
| 26 |
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|
| 27 |
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0.0,
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| 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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| 33 |
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| 34 |
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| 35 |
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| 36 |
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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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| 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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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
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| 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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|
| 67 |
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|
| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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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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| 79 |
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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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| 92 |
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],
|
| 93 |
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|
| 94 |
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},
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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},
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 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 |
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}
|
| 110 |
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],
|
| 111 |
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|
| 112 |
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{
|
| 113 |
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"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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| 120 |
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| 121 |
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| 122 |
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| 124 |
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| 126 |
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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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},
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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 |
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],
|
| 153 |
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| 154 |
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{
|
| 155 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
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| 156 |
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| 157 |
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|
| 158 |
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| 159 |
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0.02,
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| 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,
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| 166 |
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0.0
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| 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 |
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},
|
| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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},
|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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},
|
| 185 |
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|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 191 |
+
"pose": {
|
| 192 |
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|
| 193 |
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|
| 194 |
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| 195 |
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| 196 |
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]
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| 209 |
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},
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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 |
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},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 226 |
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"pose": {
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| 227 |
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"pos": [
|
| 228 |
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| 229 |
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0.02,
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],
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| 232 |
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| 233 |
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0.0,
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0.0,
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0.0
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],
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1.0
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},
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},
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},
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|
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},
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 261 |
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| 262 |
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|
| 1558 |
+
}
|
episodes/c9_p024_e024/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07e8962dfd218acbf5bb3e5cfb743bd92e54f1618ee1de7f37fb79687e36a98b
|
| 3 |
+
size 6527074
|
index/episodes.csv
CHANGED
|
@@ -4848,3 +4848,4 @@ c9_p024_e021,3,True,-0.03723621368408203,0.4500007629394531,0.010554641997952838
|
|
| 4848 |
c9_p024_e022,2,True,-0.05274391174316406,0.4474821090698242,-0.006881767642435271,-0.0036871733142695142,7.610368544222496,plate_24_clear,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.2337778109729764,489.3574832957959,rect,0.8334232308166728,0.5641167041028177,2.6430142736860955,10093.612344768237,3224.1308955931718,disk,1.372661756261886,0.001249283524099809,2.547255273423649,7050.980065841008,6467.035763445207,0.049884647130966187,-0.0008221594616770744,-0.033581577241420746,-0.2885931134223938,0.6432220935821533,0.6548379063606262,-0.27233561873435974,0.04392336308956146,0.5580258369445801,1.950664758682251,0.029954640194773674,0.0018965448252856731,0.27176374197006226,0.9618958234786987,1261,1,,2.0900843143463135,0.28650175436732495,0.0,0.007321340497583151,0.555908009516257,12,release,0.04243612289428711,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4849 |
c6_p018_e024,2,True,0.008011817932128906,0.4500112533569336,-0.006849691411216368,-0.007875674101208542,-9.807362430073198,plate_1536_black,0.4978609085083008,0.0513916015625,-85.55150535356483,0.2670482958690573,1388.2298826094752,rect,-0.011555438133772022,-0.46673948026338274,3.072602316997576,10195.870319825863,3706.264495816552,sphere,-1.1714139800090233,1.3556003857656973,2.7071106880813782,2280.2381229352404,6012.921883629824,0.04976863041520119,-0.001062406925484538,-0.03259241208434105,-0.266469806432724,0.6485205292701721,0.6579910516738892,-0.27470484375953674,0.038996800780296326,0.5615062713623047,1.9605759382247925,0.03131698817014694,0.003283504629507661,0.27660679817199707,0.9604671597480774,1155,1,,2.0489494800567627,0.24699807982104205,0.0,0.007385135628283024,0.5523809523809524,12,release,0.04222184419631958,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4850 |
c9_p024_e023,0,True,0.030533790588378906,0.4466581344604492,0.012759939785801415,0.0028338485141875857,5.990416114904917,plate_96_black,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22957592271792665,489.3574832957959,rect,-0.16246897842752822,0.42488921336518914,2.7353594111421047,13271.586758393289,3452.395539967942,disk,0.13175403070411051,0.08922751220343583,2.2423652565510235,9930.626713014277,6579.178165062476,0.051473893225193024,-0.0018149592215195298,-0.030019452795386314,-0.2723913788795471,0.6512502431869507,0.6580121517181396,-0.26209932565689087,0.037911344319581985,0.5821765661239624,1.9547768831253052,0.03326854482293129,0.004680151119828224,0.28407716751098633,0.9582126140594482,1251,1,,2.163403272628784,0.33318457535782225,0.0,0.007287235930562019,0.518784972022382,12,release,0.04235363006591797,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4848 |
c9_p024_e022,2,True,-0.05274391174316406,0.4474821090698242,-0.006881767642435271,-0.0036871733142695142,7.610368544222496,plate_24_clear,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.2337778109729764,489.3574832957959,rect,0.8334232308166728,0.5641167041028177,2.6430142736860955,10093.612344768237,3224.1308955931718,disk,1.372661756261886,0.001249283524099809,2.547255273423649,7050.980065841008,6467.035763445207,0.049884647130966187,-0.0008221594616770744,-0.033581577241420746,-0.2885931134223938,0.6432220935821533,0.6548379063606262,-0.27233561873435974,0.04392336308956146,0.5580258369445801,1.950664758682251,0.029954640194773674,0.0018965448252856731,0.27176374197006226,0.9618958234786987,1261,1,,2.0900843143463135,0.28650175436732495,0.0,0.007321340497583151,0.555908009516257,12,release,0.04243612289428711,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4849 |
c6_p018_e024,2,True,0.008011817932128906,0.4500112533569336,-0.006849691411216368,-0.007875674101208542,-9.807362430073198,plate_1536_black,0.4978609085083008,0.0513916015625,-85.55150535356483,0.2670482958690573,1388.2298826094752,rect,-0.011555438133772022,-0.46673948026338274,3.072602316997576,10195.870319825863,3706.264495816552,sphere,-1.1714139800090233,1.3556003857656973,2.7071106880813782,2280.2381229352404,6012.921883629824,0.04976863041520119,-0.001062406925484538,-0.03259241208434105,-0.266469806432724,0.6485205292701721,0.6579910516738892,-0.27470484375953674,0.038996800780296326,0.5615062713623047,1.9605759382247925,0.03131698817014694,0.003283504629507661,0.27660679817199707,0.9604671597480774,1155,1,,2.0489494800567627,0.24699807982104205,0.0,0.007385135628283024,0.5523809523809524,12,release,0.04222184419631958,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4850 |
c9_p024_e023,0,True,0.030533790588378906,0.4466581344604492,0.012759939785801415,0.0028338485141875857,5.990416114904917,plate_96_black,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22957592271792665,489.3574832957959,rect,-0.16246897842752822,0.42488921336518914,2.7353594111421047,13271.586758393289,3452.395539967942,disk,0.13175403070411051,0.08922751220343583,2.2423652565510235,9930.626713014277,6579.178165062476,0.051473893225193024,-0.0018149592215195298,-0.030019452795386314,-0.2723913788795471,0.6512502431869507,0.6580121517181396,-0.26209932565689087,0.037911344319581985,0.5821765661239624,1.9547768831253052,0.03326854482293129,0.004680151119828224,0.28407716751098633,0.9582126140594482,1251,1,,2.163403272628784,0.33318457535782225,0.0,0.007287235930562019,0.518784972022382,12,release,0.04235363006591797,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4851 |
+
c9_p024_e024,1,True,-0.06312751770019531,0.4499979019165039,0.0009573985275446642,0.0022440342738126707,-2.0584330315822683,plate_96_white,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.16056478076858197,489.3574832957959,rect,0.2758104302169193,0.46169875235994184,2.8207013356769948,6812.445542916428,3471.811575283677,sphere,1.2358660284249927,-0.4957590606520794,2.7395447502473367,2910.652484134488,5502.514913491681,0.046537645161151886,-0.0005834797048009932,-0.03220096230506897,-0.2863234877586365,0.641485333442688,0.6518890857696533,-0.2855801582336426,0.03995291516184807,0.5648645758628845,1.968230962753296,0.05680802837014198,0.0022687576711177826,0.2821601927280426,0.9576812386512756,1230,1,,2.096472978591919,0.30361211420451256,0.0,0.007251125294715166,0.5195121951219512,12,release,0.042148739099502563,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|