add 1 episodes (c9_p022_e016 .. c9_p022_e016); total 4730 {'v1': 1088, 'v2': 3642}
Browse files
episodes/c9_p022_e016/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:149ea2a85a3d71bbbce69750eb053b36bb7c09064abebdb84e81a9b8c7e8802b
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size 187668
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episodes/c9_p022_e016/device_events.jsonl
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| 1 |
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{"env_id": 1, "seq": 1, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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| 2 |
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{"env_id": 1, "seq": 2, "step": 168, "t": 0.84, "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": 173, "t": 0.865, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 2088, "t": 10.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 6819, "t": 34.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.2520194651088445}, "cause": "task-1-1"}
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| 8 |
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{"env_id": 1, "seq": 8, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"}
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| 9 |
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{"env_id": 1, "seq": 9, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 10 |
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{"env_id": 1, "seq": 10, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
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| 11 |
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{"env_id": 1, "seq": 11, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 12 |
+
{"env_id": 1, "seq": 12, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
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| 13 |
+
{"env_id": 1, "seq": 13, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
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| 14 |
+
{"env_id": 1, "seq": 14, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
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| 15 |
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{"env_id": 1, "seq": 15, "step": 7847, "t": 39.235, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
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| 17 |
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{"env_id": 1, "seq": 17, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
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| 18 |
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{"env_id": 1, "seq": 18, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
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{"env_id": 1, "seq": 19, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.2520194651088445}, "cause": "program-1-3"}
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| 20 |
+
{"env_id": 1, "seq": 20, "step": 8698, "t": 43.49, "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": 8698, "t": 43.49, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.255000000002177}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 8698, "t": 43.49, "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": 4.255000000002177}}, "cause": "program-1-3"}
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| 23 |
+
{"env_id": 1, "seq": 23, "step": 8698, "t": 43.49, "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": 8698, "t": 43.49, "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": 8698, "t": 43.49, "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": 9118, "t": 45.59, "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": 9118, "t": 45.59, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
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| 28 |
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{"env_id": 1, "seq": 28, "step": 9118, "t": 45.59, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 9118, "t": 45.59, "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": 9118, "t": 45.59, "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": 9118, "t": 45.59, "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": 9699, "t": 48.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 33 |
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{"env_id": 1, "seq": 33, "step": 11420, "t": 57.1, "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 |
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{"env_id": 1, "seq": 34, "step": 11420, "t": 57.1, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 11420, "t": 57.1, "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": 11420, "t": 57.1, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
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episodes/c9_p022_e016/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:9abba893ff67d618161eb6178d4ffbc7b6024c71e9f03059d1f32c4e2908fd0f
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| 3 |
+
size 1302424
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episodes/c9_p022_e016/meta.json
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@@ -0,0 +1,32 @@
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{
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| 2 |
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"source": "raw/c9_p022/magicsim/16",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1224,
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| 5 |
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"kept_ticks": "even",
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| 6 |
+
"video_frames": {
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| 7 |
+
"wrist": 1224,
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| 8 |
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"env": 1224
|
| 9 |
+
},
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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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| 20 |
+
"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
+
"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c9_p022_e016/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 |
+
"decimation": 4
|
| 11 |
+
},
|
| 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,
|
| 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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},
|
| 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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]
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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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| 122 |
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| 124 |
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| 126 |
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| 129 |
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]
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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},
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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},
|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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},
|
| 150 |
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|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 156 |
+
"pose": {
|
| 157 |
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"pos": [
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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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1.0,
|
| 164 |
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0.0,
|
| 165 |
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| 166 |
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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 |
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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 |
+
},
|
| 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 |
+
{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.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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]
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},
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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},
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
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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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 226 |
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"pose": {
|
| 227 |
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"pos": [
|
| 228 |
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|
| 229 |
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0.02,
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| 230 |
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| 231 |
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],
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| 232 |
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| 233 |
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0.0,
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0.0,
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0.0
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],
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]
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},
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| 250 |
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| 251 |
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},
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| 256 |
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},
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 261 |
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],
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| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p022_e016/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3667d6a83553b942b74015c0c91daa5087c044befc22a852531d7355dc86b9b1
|
| 3 |
+
size 6473993
|
index/episodes.csv
CHANGED
|
@@ -4728,3 +4728,4 @@ c2_p019_e033,2,True,0.0833425521850586,0.45000171661376953,0.007059111048765505,
|
|
| 4728 |
c7_p017_e009,1,True,-0.050201416015625,0.4499988555908203,-0.009083759532311216,-0.0026063512394137265,-5.346692204577863,pcr_384_red,0.5025548934936523,0.05330467224121094,-93.69862331648446,0.2723044306403687,1147.9338130431793,rect,0.3527295378972922,0.1519195775383535,3.131188380274814,10377.330169458426,5622.513495875373,sphere,0.8669635417506316,0.020113890656014766,2.7609735175975088,2309.5244132591297,4274.197743685838,0.05209324136376381,0.0024047037586569786,-0.025759819895029068,-0.2827647924423218,0.6495679020881653,0.645127534866333,-0.28620994091033936,0.06668241322040558,0.5950438976287842,1.9433468580245972,0.025198446586728096,0.01673242263495922,0.276438444852829,0.9605554938316345,1181,1,,1.9903448820114136,0.26973695146298593,0.0,0.006770377978682518,0.5402201524132092,12,release,0.04218631982803345,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4729 |
c7_p017_e010,2,True,-0.11401939392089844,0.44803714752197266,-0.002600942911821868,-0.0015023946662168187,9.426093160344436,deep_well_24_10ml,0.5249652862548828,0.08799362182617188,-85.69333309748369,0.1982646014800963,1147.9338130431793,rect,-0.4786525165616401,0.3003765454734152,2.9063248018036356,15002.977549860381,6477.629122240707,disk,-1.5296044934196968,0.469593921041348,2.77202951773945,8651.252334028779,7027.908908498758,0.048282090574502945,-0.0019154557958245277,-0.03165533393621445,-0.27813753485679626,0.6491491198539734,0.6548547148704529,-0.26909154653549194,0.05006523057818413,0.5637229084968567,1.9291114807128906,0.03521127626299858,0.018498025834560394,0.2684616148471832,0.9624688625335693,1317,1,,2.0786681175231934,0.25881993208143944,0.0,0.007527792826294899,0.5292331055429005,12,release,0.0444793701171875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4730 |
c7_p017_e011,3,True,0.055995941162109375,0.44728660583496094,-0.008160319767672302,-0.0025082694282374924,5.865548941264393,plate_384_white,0.4643421173095703,0.09485149383544922,-90.33507851020677,0.17491840782832654,1147.9338130431793,rect,0.8063332023669935,0.5322718114108085,2.8688162610300676,10406.460249209646,6082.6000801726,disk,-0.6365951558886641,-0.4083621015747355,1.6826935932906415,4074.602726229324,6617.016069361468,0.0482865609228611,-0.0036906618624925613,-0.030567863956093788,-0.26663392782211304,0.6517595648765564,0.6521493792533875,-0.28074368834495544,0.03383839130401611,0.5616859197616577,1.9472358226776123,0.04294122755527496,0.025806371122598648,0.2737720310688019,0.9604889154434204,1285,1,,2.0748164653778076,0.31314839680435835,0.0,0.0074202921241521835,0.4933852140077821,12,release,0.04217243194580078,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4728 |
c7_p017_e009,1,True,-0.050201416015625,0.4499988555908203,-0.009083759532311216,-0.0026063512394137265,-5.346692204577863,pcr_384_red,0.5025548934936523,0.05330467224121094,-93.69862331648446,0.2723044306403687,1147.9338130431793,rect,0.3527295378972922,0.1519195775383535,3.131188380274814,10377.330169458426,5622.513495875373,sphere,0.8669635417506316,0.020113890656014766,2.7609735175975088,2309.5244132591297,4274.197743685838,0.05209324136376381,0.0024047037586569786,-0.025759819895029068,-0.2827647924423218,0.6495679020881653,0.645127534866333,-0.28620994091033936,0.06668241322040558,0.5950438976287842,1.9433468580245972,0.025198446586728096,0.01673242263495922,0.276438444852829,0.9605554938316345,1181,1,,1.9903448820114136,0.26973695146298593,0.0,0.006770377978682518,0.5402201524132092,12,release,0.04218631982803345,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4729 |
c7_p017_e010,2,True,-0.11401939392089844,0.44803714752197266,-0.002600942911821868,-0.0015023946662168187,9.426093160344436,deep_well_24_10ml,0.5249652862548828,0.08799362182617188,-85.69333309748369,0.1982646014800963,1147.9338130431793,rect,-0.4786525165616401,0.3003765454734152,2.9063248018036356,15002.977549860381,6477.629122240707,disk,-1.5296044934196968,0.469593921041348,2.77202951773945,8651.252334028779,7027.908908498758,0.048282090574502945,-0.0019154557958245277,-0.03165533393621445,-0.27813753485679626,0.6491491198539734,0.6548547148704529,-0.26909154653549194,0.05006523057818413,0.5637229084968567,1.9291114807128906,0.03521127626299858,0.018498025834560394,0.2684616148471832,0.9624688625335693,1317,1,,2.0786681175231934,0.25881993208143944,0.0,0.007527792826294899,0.5292331055429005,12,release,0.0444793701171875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4730 |
c7_p017_e011,3,True,0.055995941162109375,0.44728660583496094,-0.008160319767672302,-0.0025082694282374924,5.865548941264393,plate_384_white,0.4643421173095703,0.09485149383544922,-90.33507851020677,0.17491840782832654,1147.9338130431793,rect,0.8063332023669935,0.5322718114108085,2.8688162610300676,10406.460249209646,6082.6000801726,disk,-0.6365951558886641,-0.4083621015747355,1.6826935932906415,4074.602726229324,6617.016069361468,0.0482865609228611,-0.0036906618624925613,-0.030567863956093788,-0.26663392782211304,0.6517595648765564,0.6521493792533875,-0.28074368834495544,0.03383839130401611,0.5616859197616577,1.9472358226776123,0.04294122755527496,0.025806371122598648,0.2737720310688019,0.9604889154434204,1285,1,,2.0748164653778076,0.31314839680435835,0.0,0.0074202921241521835,0.4933852140077821,12,release,0.04217243194580078,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4731 |
+
c9_p022_e016,1,True,0.040119171142578125,0.447479248046875,-0.00043310353198177233,-0.01286345034373339,11.525769235421876,deep_well_96_1ml,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,610.619660942696,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.05115027353167534,-0.002868625335395336,-0.02982167899608612,-0.2832815945148468,0.6407174468040466,0.653171718120575,-0.28740108013153076,0.05499199032783508,0.5999197363853455,1.9292263984680176,0.04200049489736557,0.021999020129442215,0.2800644040107727,0.9588096737861633,1224,1,,2.125641107559204,0.291215594707858,0.0,0.007493919692933559,0.5228758169934641,12,release,0.042135536670684814,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|