add 1 episodes (c8_p016_e015 .. c8_p016_e015); total 4387 {'v1': 1088, 'v2': 3299}
Browse files
episodes/c8_p016_e015/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:cc7bca16a82f2a006b2c9c037a4e78dbc77c38ae126aabdae29db0e4a2d7d74f
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| 3 |
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size 203720
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episodes/c8_p016_e015/device_events.jsonl
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| 1 |
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{"env_id": 0, "seq": 1, "step": 83, "t": 0.415, "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": 0, "seq": 2, "step": 83, "t": 0.415, "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": 0, "seq": 3, "step": 88, "t": 0.44, "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": 0, "seq": 4, "step": 5563, "t": 27.815, "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": 0, "seq": 5, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 6 |
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{"env_id": 0, "seq": 6, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.363751082326972}, "cause": "task-0-1"}
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| 7 |
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{"env_id": 0, "seq": 7, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
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| 8 |
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{"env_id": 0, "seq": 8, "step": 6176, "t": 30.88, "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": 0, "seq": 9, "step": 6176, "t": 30.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
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| 10 |
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{"env_id": 0, "seq": 10, "step": 6595, "t": 32.975, "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": 0, "seq": 11, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
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| 12 |
+
{"env_id": 0, "seq": 12, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
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| 13 |
+
{"env_id": 0, "seq": 13, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
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| 14 |
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{"env_id": 0, "seq": 14, "step": 6595, "t": 32.975, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
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| 15 |
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{"env_id": 0, "seq": 15, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"}
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| 16 |
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{"env_id": 0, "seq": 16, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
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| 17 |
+
{"env_id": 0, "seq": 17, "step": 6595, "t": 32.975, "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": 0, "seq": 18, "step": 6595, "t": 32.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.363751082326972}, "cause": "program-0-3"}
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| 19 |
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{"env_id": 0, "seq": 19, "step": 7468, "t": 37.34, "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": 0, "seq": 20, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.365000000002233}, "cause": "program-0-3"}
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| 21 |
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{"env_id": 0, "seq": 21, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.365000000002233}}, "cause": "program-0-3"}
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| 22 |
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{"env_id": 0, "seq": 22, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"}
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| 23 |
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{"env_id": 0, "seq": 23, "step": 7468, "t": 37.34, "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 |
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{"env_id": 0, "seq": 24, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
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| 25 |
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{"env_id": 0, "seq": 25, "step": 7888, "t": 39.44, "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": 0, "seq": 26, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.339924223970229e-09}, "cause": "program-0-4"}
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| 27 |
+
{"env_id": 0, "seq": 27, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.339924223970229e-09}, "cause": "program-0-4"}
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| 28 |
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{"env_id": 0, "seq": 28, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"}
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| 29 |
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{"env_id": 0, "seq": 29, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
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| 30 |
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{"env_id": 0, "seq": 30, "step": 7888, "t": 39.44, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 31 |
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{"env_id": 0, "seq": 31, "step": 8466, "t": 42.33, "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": 0, "seq": 32, "step": 10772, "t": 53.86, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
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| 33 |
+
{"env_id": 0, "seq": 33, "step": 10772, "t": 53.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"}
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| 34 |
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{"env_id": 0, "seq": 34, "step": 10772, "t": 53.86, "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": 0, "seq": 35, "step": 10772, "t": 53.86, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
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episodes/c8_p016_e015/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:0f92f6367a7714892f884f73b8118ca6f81bee06a54e285545459531c510904a
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| 3 |
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size 1361094
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episodes/c8_p016_e015/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/c8_p016/magicsim/15",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1320,
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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": 1320,
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| 8 |
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"env": 1320
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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 |
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"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 |
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"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 |
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"wrist_1",
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| 25 |
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"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/c8_p016_e015/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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{
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| 23 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
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| 25 |
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|
| 26 |
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0.0,
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| 27 |
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| 28 |
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| 29 |
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],
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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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},
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| 56 |
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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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| 78 |
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| 81 |
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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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],
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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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| 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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| 121 |
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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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},
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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 |
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| 153 |
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{
|
| 154 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
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| 155 |
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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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],
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| 161 |
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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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| 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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1.0
|
| 171 |
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]
|
| 172 |
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},
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| 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 |
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|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 190 |
+
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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| 197 |
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},
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| 214 |
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|
| 216 |
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|
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|
| 218 |
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},
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| 219 |
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|
| 220 |
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},
|
| 221 |
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|
| 222 |
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},
|
| 223 |
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{
|
| 224 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 225 |
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"pose": {
|
| 226 |
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"pos": [
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| 227 |
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| 228 |
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0.02,
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| 229 |
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|
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],
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| 231 |
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| 232 |
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0.0,
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0.0,
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| 235 |
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0.0
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],
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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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},
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},
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| 249 |
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|
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|
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},
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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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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 260 |
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|
| 261 |
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|
| 262 |
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],
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},
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| 293 |
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{
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episodes/c8_p016_e015/wrist.mp4
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2adca78bfe8e462ba674151f4d76b12e08a97398432e021ccfcaec2de91001f4
|
| 3 |
+
size 7665061
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index/episodes.csv
CHANGED
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@@ -4385,3 +4385,4 @@ c6_p014_e023,0,True,0.03115081787109375,0.4499979019165039,0.0010349242197186521
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| 4385 |
c8_p016_e013,2,True,-0.04566669464111328,0.4472827911376953,0.007279835788677795,-0.002775273003617282,-5.022987574754836,plate_384_black,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.27865431259618223,1408.4834887873128,rect,0.2777717957804159,-0.23954532569229942,3.1913564541205393,5618.663687481755,6398.974126551714,disk,1.1535189890560056,0.3849536443320023,1.7277041228689392,10237.892122765516,3609.907969818011,0.04888761416077614,0.0003194010932929814,-0.030308283865451813,-0.2843858301639557,0.6540927886962891,0.6437909007072449,-0.2771652340888977,0.026128100231289864,0.5750399231910706,1.9432088136672974,0.0468006432056427,0.027181169018149376,0.2766508162021637,0.9594452381134033,1300,1,,2.0452916622161865,0.2801436825980499,0.0,0.007376058958470821,0.5384615384615384,12,release,0.04238629341125488,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4386 |
c8_p016_e014,3,True,0.04970073699951172,0.44667625427246094,0.004468878674887268,0.0035373478596303185,9.362541568735764,plate_48_clear,0.4881591796875,0.12302112579345703,-86.54485987223711,0.252379261182899,1408.4834887873128,rect,-0.5757989931313481,0.19503676105705048,3.1089381933858684,13706.429198345833,3961.463519830966,sphere,0.14807579741840127,-0.2771245532380201,1.6241748490881256,5285.623079544246,4525.691758155021,0.0508284755051136,0.0009166093077510595,-0.03500664606690407,-0.2893074154853821,0.6405185461044312,0.6533242464065552,-0.28143322467803955,0.0626130998134613,0.5788944959640503,1.947912573814392,0.0528409443795681,-0.007174348458647728,0.2699078321456909,0.9614083766937256,1217,1,,2.1064858436584473,0.2988595050972553,0.0,0.007288942113518715,0.5258833196384552,12,release,0.04218316078186035,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4387 |
c9_p020_e023,1,True,0.009256362915039062,0.4500112533569336,-0.015130544714666216,0.010018564573556397,-3.8323036173442233,pcr_384_red,0.526087760925293,0.08208084106445312,-87.08310295375541,0.22711972141205936,1002.1186509631927,rect,-0.541760766350925,0.5603056951607976,3.109648200350187,10721.204210539792,7157.104138579252,sphere,-1.07839631876964,1.2927251314188475,1.6943151229856412,7081.779181285042,7244.269557188259,0.04540153220295906,0.0026874428149312735,-0.033051129430532455,-0.27265939116477966,0.6488116383552551,0.6527103781700134,-0.2804807424545288,0.03530824929475784,0.5660786628723145,1.9469326734542847,0.04257352277636528,0.0066232322715222836,0.2853781580924988,0.9574460387229919,1236,1,,2.051110029220581,0.3049696034993724,0.0,0.006761569529771805,0.5703883495145631,12,release,0.04266953468322754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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|
|
|
|
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| 4385 |
c8_p016_e013,2,True,-0.04566669464111328,0.4472827911376953,0.007279835788677795,-0.002775273003617282,-5.022987574754836,plate_384_black,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.27865431259618223,1408.4834887873128,rect,0.2777717957804159,-0.23954532569229942,3.1913564541205393,5618.663687481755,6398.974126551714,disk,1.1535189890560056,0.3849536443320023,1.7277041228689392,10237.892122765516,3609.907969818011,0.04888761416077614,0.0003194010932929814,-0.030308283865451813,-0.2843858301639557,0.6540927886962891,0.6437909007072449,-0.2771652340888977,0.026128100231289864,0.5750399231910706,1.9432088136672974,0.0468006432056427,0.027181169018149376,0.2766508162021637,0.9594452381134033,1300,1,,2.0452916622161865,0.2801436825980499,0.0,0.007376058958470821,0.5384615384615384,12,release,0.04238629341125488,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4386 |
c8_p016_e014,3,True,0.04970073699951172,0.44667625427246094,0.004468878674887268,0.0035373478596303185,9.362541568735764,plate_48_clear,0.4881591796875,0.12302112579345703,-86.54485987223711,0.252379261182899,1408.4834887873128,rect,-0.5757989931313481,0.19503676105705048,3.1089381933858684,13706.429198345833,3961.463519830966,sphere,0.14807579741840127,-0.2771245532380201,1.6241748490881256,5285.623079544246,4525.691758155021,0.0508284755051136,0.0009166093077510595,-0.03500664606690407,-0.2893074154853821,0.6405185461044312,0.6533242464065552,-0.28143322467803955,0.0626130998134613,0.5788944959640503,1.947912573814392,0.0528409443795681,-0.007174348458647728,0.2699078321456909,0.9614083766937256,1217,1,,2.1064858436584473,0.2988595050972553,0.0,0.007288942113518715,0.5258833196384552,12,release,0.04218316078186035,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4387 |
c9_p020_e023,1,True,0.009256362915039062,0.4500112533569336,-0.015130544714666216,0.010018564573556397,-3.8323036173442233,pcr_384_red,0.526087760925293,0.08208084106445312,-87.08310295375541,0.22711972141205936,1002.1186509631927,rect,-0.541760766350925,0.5603056951607976,3.109648200350187,10721.204210539792,7157.104138579252,sphere,-1.07839631876964,1.2927251314188475,1.6943151229856412,7081.779181285042,7244.269557188259,0.04540153220295906,0.0026874428149312735,-0.033051129430532455,-0.27265939116477966,0.6488116383552551,0.6527103781700134,-0.2804807424545288,0.03530824929475784,0.5660786628723145,1.9469326734542847,0.04257352277636528,0.0066232322715222836,0.2853781580924988,0.9574460387229919,1236,1,,2.051110029220581,0.3049696034993724,0.0,0.006761569529771805,0.5703883495145631,12,release,0.04266953468322754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4388 |
+
c8_p016_e015,0,True,-0.021402359008789062,0.4499998092651367,-0.002104831914724386,-0.008274059875784948,2.761645874647087,plate_6_clear,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.2606720321117549,456.0105538894585,rect,0.7827329464231952,0.26882053553853735,3.052810391542974,15445.218495386378,6910.796172112041,disk,-1.325953392023162,-1.179344983535451,2.217266186032634,2499.6275340165303,4210.670812751232,0.05081941932439804,-0.0016481186030432582,-0.02857844904065132,-0.2761925756931305,0.6482876539230347,0.6509267687797546,-0.2823740839958191,0.07087632268667221,0.5564964413642883,1.9551609754562378,0.028960460796952248,0.02382369339466095,0.2773054242134094,0.9600496888160706,1320,1,,2.056830406188965,0.29034833291228923,0.0,0.007329909130930901,0.5333333333333333,12,release,0.04255688190460205,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|