add 1 episodes (c6_p017_e008 .. c6_p017_e008); total 4749 {'v1': 1088, 'v2': 3661}
Browse files
episodes/c6_p017_e008/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:830e1ccc12f3d9cc06145cf36b656a094bac06ff3a1555796505681c0e63e635
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| 3 |
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size 190863
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episodes/c6_p017_e008/device_events.jsonl
ADDED
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| 1 |
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{"env_id": 1, "seq": 1, "step": 104, "t": 0.52, "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": 104, "t": 0.52, "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": 109, "t": 0.545, "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": 6463, "t": 32.315, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 7076, "t": 35.38, "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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| 6 |
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{"env_id": 1, "seq": 6, "step": 7076, "t": 35.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7297429747287656}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 7076, "t": 35.38, "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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| 8 |
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{"env_id": 1, "seq": 8, "step": 7076, "t": 35.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
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{"env_id": 1, "seq": 9, "step": 7076, "t": 35.38, "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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| 10 |
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{"env_id": 1, "seq": 10, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
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{"env_id": 1, "seq": 11, "step": 7495, "t": 37.475, "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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| 12 |
+
{"env_id": 1, "seq": 12, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
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| 13 |
+
{"env_id": 1, "seq": 13, "step": 7495, "t": 37.475, "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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| 14 |
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{"env_id": 1, "seq": 14, "step": 7495, "t": 37.475, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 15 |
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{"env_id": 1, "seq": 15, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 7495, "t": 37.475, "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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| 17 |
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{"env_id": 1, "seq": 17, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
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{"env_id": 1, "seq": 18, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7297429747287656}, "cause": "program-1-3"}
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| 19 |
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{"env_id": 1, "seq": 19, "step": 8241, "t": 41.205, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
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{"env_id": 1, "seq": 20, "step": 8241, "t": 41.205, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7300000000019082}, "cause": "program-1-3"}
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| 21 |
+
{"env_id": 1, "seq": 21, "step": 8241, "t": 41.205, "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": 3.7300000000019082}}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 8241, "t": 41.205, "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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| 23 |
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{"env_id": 1, "seq": 23, "step": 8241, "t": 41.205, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
+
{"env_id": 1, "seq": 24, "step": 8241, "t": 41.205, "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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| 25 |
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{"env_id": 1, "seq": 25, "step": 8661, "t": 43.305, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 8661, "t": 43.305, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.741944780230824e-09}, "cause": "program-1-4"}
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| 27 |
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{"env_id": 1, "seq": 27, "step": 8661, "t": 43.305, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.741944780230824e-09}, "cause": "program-1-4"}
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| 28 |
+
{"env_id": 1, "seq": 28, "step": 8661, "t": 43.305, "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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| 29 |
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{"env_id": 1, "seq": 29, "step": 8661, "t": 43.305, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 30 |
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{"env_id": 1, "seq": 30, "step": 8661, "t": 43.305, "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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| 31 |
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{"env_id": 1, "seq": 31, "step": 9242, "t": 46.21, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 32 |
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{"env_id": 1, "seq": 32, "step": 10948, "t": 54.74, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
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| 33 |
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{"env_id": 1, "seq": 33, "step": 10948, "t": 54.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
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| 34 |
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{"env_id": 1, "seq": 34, "step": 10948, "t": 54.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 10948, "t": 54.74, "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"}
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episodes/c6_p017_e008/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:060a335f8eb28322b31983c30d4e5c6ba8883fd2101cd5ba98675d831cae797a
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| 3 |
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size 1333236
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episodes/c6_p017_e008/meta.json
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{
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| 2 |
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"source": "raw/c6_p017/magicsim/8",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1247,
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| 5 |
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"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1247,
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| 8 |
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"env": 1247
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| 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 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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| 20 |
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"joint_order": [
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| 21 |
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"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 |
+
"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/c6_p017_e008/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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|
| 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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| 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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},
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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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| 79 |
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| 82 |
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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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|
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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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|
| 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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| 131 |
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| 132 |
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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 |
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}
|
| 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_24_clear/plate_24_clear.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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| 160 |
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|
| 161 |
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],
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| 162 |
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| 163 |
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|
| 164 |
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0.0,
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| 165 |
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0.0,
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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1.0
|
| 172 |
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]
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| 173 |
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},
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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 |
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},
|
| 187 |
+
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|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 191 |
+
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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},
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| 216 |
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| 217 |
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| 219 |
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},
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| 220 |
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| 221 |
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},
|
| 222 |
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|
| 223 |
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},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 226 |
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| 227 |
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| 228 |
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| 229 |
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],
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],
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},
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},
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},
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|
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},
|
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{
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| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 261 |
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| 294 |
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{
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episodes/c6_p017_e008/wrist.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:86203d7c380c94a1ecad959737b5ae5c5c35f91eefe0c93042c6eafa0077d7ed
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| 3 |
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size 7762255
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index/episodes.csv
CHANGED
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@@ -4747,3 +4747,4 @@ c9_p022_e024,0,True,0.0739593505859375,0.4473686218261719,-0.0051339598809768934
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| 4747 |
c6_p017_e007,0,True,0.043636322021484375,0.4473447799682617,-0.0029105145553365176,0.009238531335836785,8.399642704482744,plate_6_clear,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.19666528218099769,1401.5209225641065,rect,0.7243029073183552,0.32312779052538776,2.953199752038206,13115.789093986363,6871.765574406902,disk,0.794188151802369,1.1827280973530196,1.900869478304444,4382.181829347688,5822.951001192858,0.047615546733140945,-6.631845462834463e-05,-0.028589587658643723,-0.27502018213272095,0.6575405597686768,0.6393031477928162,-0.28861019015312195,0.0723164975643158,0.5647048354148865,1.9380991458892822,0.03415731340646744,0.009109364822506905,0.28641724586486816,0.9574525952339172,1246,1,,2.1104063987731934,0.2933171726610785,0.0,0.007377265021204948,0.5136436597110754,12,release,0.04239702224731445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4748 |
c9_p022_e025,3,True,-0.06237316131591797,0.4474525451660156,0.0034490825168976627,0.011759490998177954,-7.540438087028377,plate_48_clear,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.16056478076858197,551.5777465754155,rect,0.2758104302169193,0.46169875235994184,2.8207013356769948,6812.445542916428,3471.811575283677,sphere,1.2358660284249927,-0.4957590606520794,2.7395447502473367,2910.652484134488,5502.514913491681,0.0503578744828701,0.0008668330847285688,-0.027903292328119278,-0.27777934074401855,0.6611003279685974,0.6327460408210754,-0.2922625243663788,0.036873217672109604,0.5918641090393066,1.9382654428482056,0.0576510988175869,0.017332512885332108,0.26109325885772705,0.9634345769882202,1261,1,,2.05717396736145,0.3020044305807087,0.0,0.007342474535107613,0.5574940523394132,12,release,0.04232645034790039,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4749 |
c9_p022_e026,2,True,-0.0030927658081054688,0.4499988555908203,-0.009600690562677141,0.010194730207728903,-5.408019430068521,plate_24_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.24870626790933412,551.5777465754155,rect,0.7546267180746505,0.1688223592752891,2.656361111967029,11818.266084551655,5846.096605321853,disk,0.41715428092744,1.339727121722426,1.9175612353776135,4838.482862208357,7497.765806184975,0.04979394003748894,-0.0007223781431093812,-0.029945382848381996,-0.27483710646629333,0.6492900252342224,0.6502533555030823,-0.2829445004463196,0.061515551060438156,0.5797198414802551,1.935595154762268,0.04469513148069382,0.02520553395152092,0.28294360637664795,0.9577630162239075,1327,1,,2.072091817855835,0.3408526142219449,0.0,0.0073397196829319,0.5275056518462697,12,release,0.04232025146484375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4747 |
c6_p017_e007,0,True,0.043636322021484375,0.4473447799682617,-0.0029105145553365176,0.009238531335836785,8.399642704482744,plate_6_clear,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.19666528218099769,1401.5209225641065,rect,0.7243029073183552,0.32312779052538776,2.953199752038206,13115.789093986363,6871.765574406902,disk,0.794188151802369,1.1827280973530196,1.900869478304444,4382.181829347688,5822.951001192858,0.047615546733140945,-6.631845462834463e-05,-0.028589587658643723,-0.27502018213272095,0.6575405597686768,0.6393031477928162,-0.28861019015312195,0.0723164975643158,0.5647048354148865,1.9380991458892822,0.03415731340646744,0.009109364822506905,0.28641724586486816,0.9574525952339172,1246,1,,2.1104063987731934,0.2933171726610785,0.0,0.007377265021204948,0.5136436597110754,12,release,0.04239702224731445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4748 |
c9_p022_e025,3,True,-0.06237316131591797,0.4474525451660156,0.0034490825168976627,0.011759490998177954,-7.540438087028377,plate_48_clear,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.16056478076858197,551.5777465754155,rect,0.2758104302169193,0.46169875235994184,2.8207013356769948,6812.445542916428,3471.811575283677,sphere,1.2358660284249927,-0.4957590606520794,2.7395447502473367,2910.652484134488,5502.514913491681,0.0503578744828701,0.0008668330847285688,-0.027903292328119278,-0.27777934074401855,0.6611003279685974,0.6327460408210754,-0.2922625243663788,0.036873217672109604,0.5918641090393066,1.9382654428482056,0.0576510988175869,0.017332512885332108,0.26109325885772705,0.9634345769882202,1261,1,,2.05717396736145,0.3020044305807087,0.0,0.007342474535107613,0.5574940523394132,12,release,0.04232645034790039,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4749 |
c9_p022_e026,2,True,-0.0030927658081054688,0.4499988555908203,-0.009600690562677141,0.010194730207728903,-5.408019430068521,plate_24_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.24870626790933412,551.5777465754155,rect,0.7546267180746505,0.1688223592752891,2.656361111967029,11818.266084551655,5846.096605321853,disk,0.41715428092744,1.339727121722426,1.9175612353776135,4838.482862208357,7497.765806184975,0.04979394003748894,-0.0007223781431093812,-0.029945382848381996,-0.27483710646629333,0.6492900252342224,0.6502533555030823,-0.2829445004463196,0.061515551060438156,0.5797198414802551,1.935595154762268,0.04469513148069382,0.02520553395152092,0.28294360637664795,0.9577630162239075,1327,1,,2.072091817855835,0.3408526142219449,0.0,0.0073397196829319,0.5275056518462697,12,release,0.04232025146484375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4750 |
+
c6_p017_e008,1,True,0.10743236541748047,0.4499969482421875,-0.0055563549980848,-0.008959616141745655,-6.108715330553736,plate_12_clear,0.5134105682373047,0.059731483459472656,-92.1737064442935,0.1792720032181125,1401.5209225641065,rect,0.7441323078302838,0.009699413370587107,2.8403248060137964,14768.361042888593,3349.9718050832726,sphere,-0.6376323429769947,-0.8982424596526556,1.6022137340073572,5426.489597949576,4176.072187877656,0.04791167005896568,-0.0005710481200367212,-0.029420796781778336,-0.2870218753814697,0.6446529626846313,0.6542807221412659,-0.2719516456127167,0.0511692576110363,0.6042181849479675,1.9528707265853882,0.04502755403518677,0.007133845239877701,0.2636474370956421,0.9635412096977234,1247,1,,2.0749969482421875,0.2715859578092584,0.0,0.0073679969646036625,0.5132317562149158,12,release,0.04227912425994873,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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