add 1 episodes (c6_p017_e016 .. c6_p017_e016); total 4769 {'v1': 1088, 'v2': 3681}
Browse files
episodes/c6_p017_e016/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:f6b2ad4b2e4447b210cc2edab9b787e3d06933089159ef8727bbc248f82879e8
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size 186729
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episodes/c6_p017_e016/device_events.jsonl
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| 1 |
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{"env_id": 3, "seq": 1, "step": 44, "t": 0.22, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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| 2 |
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{"env_id": 3, "seq": 2, "step": 44, "t": 0.22, "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": 3, "seq": 3, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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| 4 |
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{"env_id": 3, "seq": 4, "step": 5431, "t": 27.155, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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| 5 |
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{"env_id": 3, "seq": 5, "step": 6040, "t": 30.2, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 6 |
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{"env_id": 3, "seq": 6, "step": 6040, "t": 30.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.888711202669446}, "cause": "task-3-1"}
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| 7 |
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{"env_id": 3, "seq": 7, "step": 6040, "t": 30.2, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
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| 8 |
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{"env_id": 3, "seq": 8, "step": 6040, "t": 30.2, "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": 3, "seq": 9, "step": 6040, "t": 30.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
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| 10 |
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{"env_id": 3, "seq": 10, "step": 6459, "t": 32.295, "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": 3, "seq": 11, "step": 6459, "t": 32.295, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
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| 12 |
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{"env_id": 3, "seq": 12, "step": 6459, "t": 32.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
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| 13 |
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{"env_id": 3, "seq": 13, "step": 6459, "t": 32.295, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
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| 14 |
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{"env_id": 3, "seq": 14, "step": 6459, "t": 32.295, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
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| 15 |
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{"env_id": 3, "seq": 15, "step": 6459, "t": 32.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"}
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| 16 |
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{"env_id": 3, "seq": 16, "step": 6459, "t": 32.295, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
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| 17 |
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{"env_id": 3, "seq": 17, "step": 6459, "t": 32.295, "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": 3, "seq": 18, "step": 6459, "t": 32.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.888711202669446}, "cause": "program-3-3"}
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| 19 |
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{"env_id": 3, "seq": 19, "step": 7437, "t": 37.185, "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": 3, "seq": 20, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.890000000002502}, "cause": "program-3-3"}
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| 21 |
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{"env_id": 3, "seq": 21, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.890000000002502}}, "cause": "program-3-3"}
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| 22 |
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{"env_id": 3, "seq": 22, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
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| 23 |
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{"env_id": 3, "seq": 23, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
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{"env_id": 3, "seq": 24, "step": 7437, "t": 37.185, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
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| 25 |
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{"env_id": 3, "seq": 25, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 3, "seq": 26, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.336695340600687e-13}, "cause": "program-3-4"}
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| 27 |
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{"env_id": 3, "seq": 27, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.336695340600687e-13}, "cause": "program-3-4"}
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| 28 |
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{"env_id": 3, "seq": 28, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
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| 29 |
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{"env_id": 3, "seq": 29, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
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| 30 |
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{"env_id": 3, "seq": 30, "step": 7857, "t": 39.285, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 31 |
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{"env_id": 3, "seq": 31, "step": 8439, "t": 42.195, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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| 32 |
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{"env_id": 3, "seq": 32, "step": 10136, "t": 50.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
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| 33 |
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{"env_id": 3, "seq": 33, "step": 10136, "t": 50.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"}
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| 34 |
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{"env_id": 3, "seq": 34, "step": 10136, "t": 50.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
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{"env_id": 3, "seq": 35, "step": 10136, "t": 50.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
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episodes/c6_p017_e016/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:138707d240dd63b60d569ff24b9355603bc1db89a26ebf1b325db3045b4e2222
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size 1264435
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episodes/c6_p017_e016/meta.json
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{
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| 2 |
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"source": "raw/c6_p017/magicsim/16",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1245,
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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": 1245,
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| 8 |
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"env": 1245
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| 9 |
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},
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| 10 |
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"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
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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/c6_p017_e016/scene_snapshot.json
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| 1 |
+
{
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| 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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},
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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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{
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| 24 |
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|
| 25 |
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{
|
| 26 |
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| 27 |
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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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| 39 |
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| 44 |
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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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}
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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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| 75 |
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| 86 |
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| 87 |
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| 90 |
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| 93 |
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| 94 |
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],
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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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| 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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],
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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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| 140 |
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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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],
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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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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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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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},
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| 191 |
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{
|
| 192 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
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| 193 |
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| 194 |
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},
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| 226 |
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{
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| 227 |
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| 228 |
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},
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{
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
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| 263 |
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episodes/c6_p017_e016/wrist.mp4
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:a050216d8f95cdcfa05b1d164735ba55e462f13d1f4b0d8014ed55117ad4088b
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| 3 |
+
size 7368931
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index/episodes.csv
CHANGED
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@@ -4767,3 +4767,4 @@ c9_p023_e008,1,True,0.11774444580078125,0.44723987579345703,-0.00241237300801029
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| 4767 |
c9_p023_e009,0,True,0.13760948181152344,0.4474782943725586,-0.008144029245838319,-0.002844526862881121,0.6212224989136814,plate_6_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.27471260730774827,1545.1091004382308,rect,-0.008018504831503237,-0.057909204558939664,2.731397996223472,10797.067611580376,4045.6413963839314,disk,-0.9928347614658066,0.8338154921496097,1.7122584892345236,5910.833119617196,3038.846849457311,0.05065751448273659,0.0013777444837614894,-0.031062696129083633,-0.28055310249328613,0.6471854448318481,0.6509419679641724,-0.28056278824806213,0.0365166999399662,0.5554502010345459,1.9417327642440796,0.02454376220703125,0.0037495603319257498,0.28519687056541443,0.9581473469734192,1222,1,,2.028761148452759,0.3051770579202062,0.0,0.007382860407233238,0.5155482815057283,12,release,0.04236447811126709,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4768 |
c9_p023_e010,3,True,-0.13135528564453125,0.45000171661376953,0.008909191140813344,0.006300021072495787,2.2105384928735248,plate_48_clear,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.29216761130535773,1545.1091004382308,rect,-0.2952775460498397,0.37005658169113786,2.919821083127755,15840.538857559353,4411.959257046989,disk,1.4642592137957635,0.5448324095824564,2.491254666135567,4261.201368577365,5940.780706635918,0.050490546971559525,0.0005625574267469347,-0.029416203498840332,-0.28075850009918213,0.64664626121521,0.6493299603462219,-0.28529614210128784,0.0647987425327301,0.5734643340110779,1.9643690586090088,0.02785509079694748,0.013602646999061108,0.2712424695491791,0.9620117545127869,1252,1,,2.0567245483398438,0.27561940901265214,0.0,0.007289636414498091,0.5527156549520766,12,release,0.0423276424407959,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4769 |
c9_p023_e011,2,True,-0.11356925964355469,0.44799041748046875,-0.00027574392628083633,0.009321232280564078,9.443949001683848,deep_well_24_10ml,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.2895852217680385,1545.1091004382308,rect,0.7591772154265689,0.21378328521788081,2.6226965886427247,15603.450778078775,6596.892533151997,sphere,0.34380428230286797,0.8817215232153439,2.7677308104048635,5856.934726992684,2884.466907552146,0.05178258195519447,0.0009336663060821593,-0.02879352681338787,-0.27522510290145874,0.6547538042068481,0.646884560585022,-0.27764892578125,0.07190226018428802,0.5911674499511719,1.953795075416565,0.034344617277383804,-0.002129884669557214,0.25796225666999817,0.9655420184135437,1245,1,,2.1379950046539307,0.2815314000471872,0.0,0.007478336803615093,0.5124497991967871,12,release,0.042522430419921875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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|
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| 4767 |
c9_p023_e009,0,True,0.13760948181152344,0.4474782943725586,-0.008144029245838319,-0.002844526862881121,0.6212224989136814,plate_6_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.27471260730774827,1545.1091004382308,rect,-0.008018504831503237,-0.057909204558939664,2.731397996223472,10797.067611580376,4045.6413963839314,disk,-0.9928347614658066,0.8338154921496097,1.7122584892345236,5910.833119617196,3038.846849457311,0.05065751448273659,0.0013777444837614894,-0.031062696129083633,-0.28055310249328613,0.6471854448318481,0.6509419679641724,-0.28056278824806213,0.0365166999399662,0.5554502010345459,1.9417327642440796,0.02454376220703125,0.0037495603319257498,0.28519687056541443,0.9581473469734192,1222,1,,2.028761148452759,0.3051770579202062,0.0,0.007382860407233238,0.5155482815057283,12,release,0.04236447811126709,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4768 |
c9_p023_e010,3,True,-0.13135528564453125,0.45000171661376953,0.008909191140813344,0.006300021072495787,2.2105384928735248,plate_48_clear,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.29216761130535773,1545.1091004382308,rect,-0.2952775460498397,0.37005658169113786,2.919821083127755,15840.538857559353,4411.959257046989,disk,1.4642592137957635,0.5448324095824564,2.491254666135567,4261.201368577365,5940.780706635918,0.050490546971559525,0.0005625574267469347,-0.029416203498840332,-0.28075850009918213,0.64664626121521,0.6493299603462219,-0.28529614210128784,0.0647987425327301,0.5734643340110779,1.9643690586090088,0.02785509079694748,0.013602646999061108,0.2712424695491791,0.9620117545127869,1252,1,,2.0567245483398438,0.27561940901265214,0.0,0.007289636414498091,0.5527156549520766,12,release,0.0423276424407959,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4769 |
c9_p023_e011,2,True,-0.11356925964355469,0.44799041748046875,-0.00027574392628083633,0.009321232280564078,9.443949001683848,deep_well_24_10ml,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.2895852217680385,1545.1091004382308,rect,0.7591772154265689,0.21378328521788081,2.6226965886427247,15603.450778078775,6596.892533151997,sphere,0.34380428230286797,0.8817215232153439,2.7677308104048635,5856.934726992684,2884.466907552146,0.05178258195519447,0.0009336663060821593,-0.02879352681338787,-0.27522510290145874,0.6547538042068481,0.646884560585022,-0.27764892578125,0.07190226018428802,0.5911674499511719,1.953795075416565,0.034344617277383804,-0.002129884669557214,0.25796225666999817,0.9655420184135437,1245,1,,2.1379950046539307,0.2815314000471872,0.0,0.007478336803615093,0.5124497991967871,12,release,0.042522430419921875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4770 |
+
c6_p017_e016,3,True,0.055060386657714844,0.4500007629394531,-0.0012965905044761933,0.006823617000098424,-4.058137847499353,plate_96_clear,0.4978609085083008,0.0513916015625,-85.55150535356483,0.21179521763533507,1280.3500069956362,rect,0.7970769360595412,0.45366152638836044,2.830925562790228,4829.643845699084,4315.744150360064,sphere,1.6644771112754628,0.16707436745583926,2.2886265191321686,5990.25424914331,5429.98670916612,0.05101442337036133,0.003987350035458803,-0.03217153623700142,-0.2781430780887604,0.6425621509552002,0.656910240650177,-0.27967697381973267,0.02828567661345005,0.5721386075019836,1.935610294342041,0.049544163048267365,0.006435363087803125,0.2800840735435486,0.9586745500564575,1245,1,,2.0382423400878906,0.3247226788740542,0.0,0.007257114164531231,0.5084337349397591,12,release,0.04213356971740723,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|