add 3 episodes (c6_p015_e002 .. c9_p020_e031); total 4422 {'v1': 1088, 'v2': 3334}
Browse files- episodes/c6_p015_e002/data.npz +3 -0
- episodes/c6_p015_e002/device_events.jsonl +35 -0
- episodes/c6_p015_e002/env.mp4 +3 -0
- episodes/c6_p015_e002/meta.json +32 -0
- episodes/c6_p015_e002/scene_snapshot.json +1558 -0
- episodes/c6_p015_e002/wrist.mp4 +3 -0
- episodes/c9_p020_e030/data.npz +3 -0
- episodes/c9_p020_e030/device_events.jsonl +36 -0
- episodes/c9_p020_e030/env.mp4 +3 -0
- episodes/c9_p020_e030/meta.json +32 -0
- episodes/c9_p020_e030/scene_snapshot.json +1558 -0
- episodes/c9_p020_e030/wrist.mp4 +3 -0
- episodes/c9_p020_e031/data.npz +3 -0
- episodes/c9_p020_e031/device_events.jsonl +35 -0
- episodes/c9_p020_e031/env.mp4 +3 -0
- episodes/c9_p020_e031/meta.json +32 -0
- episodes/c9_p020_e031/scene_snapshot.json +1558 -0
- episodes/c9_p020_e031/wrist.mp4 +3 -0
- index/episodes.csv +3 -0
episodes/c6_p015_e002/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:2aa1783425fb3ef54e9413fca1bc0f37caa297911893bdc85c2035fb4d4c5551
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size 205044
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episodes/c6_p015_e002/device_events.jsonl
ADDED
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| 1 |
+
{"env_id": 2, "seq": 1, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 2, "seq": 2, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 2, "seq": 3, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 6971, "t": 34.855, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 7584, "t": 37.92, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 7584, "t": 37.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9060000611279957}, "cause": "task-2-1"}
|
| 7 |
+
{"env_id": 2, "seq": 7, "step": 7584, "t": 37.92, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
|
| 8 |
+
{"env_id": 2, "seq": 8, "step": 7584, "t": 37.92, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 2, "seq": 9, "step": 7584, "t": 37.92, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
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| 10 |
+
{"env_id": 2, "seq": 10, "step": 8003, "t": 40.015, "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 |
+
{"env_id": 2, "seq": 11, "step": 8003, "t": 40.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-2-2"}
|
| 12 |
+
{"env_id": 2, "seq": 12, "step": 8003, "t": 40.015, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-2-2"}
|
| 13 |
+
{"env_id": 2, "seq": 13, "step": 8003, "t": 40.015, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
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| 14 |
+
{"env_id": 2, "seq": 14, "step": 8003, "t": 40.015, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
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| 15 |
+
{"env_id": 2, "seq": 15, "step": 8003, "t": 40.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"}
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| 16 |
+
{"env_id": 2, "seq": 16, "step": 8003, "t": 40.015, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
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| 17 |
+
{"env_id": 2, "seq": 17, "step": 8003, "t": 40.015, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
+
{"env_id": 2, "seq": 18, "step": 8003, "t": 40.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9060000611279957}, "cause": "program-2-3"}
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| 19 |
+
{"env_id": 2, "seq": 19, "step": 8585, "t": 42.925, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
+
{"env_id": 2, "seq": 20, "step": 8585, "t": 42.925, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9100000000014887}, "cause": "program-2-3"}
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| 21 |
+
{"env_id": 2, "seq": 21, "step": 8585, "t": 42.925, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.9100000000014887}}, "cause": "program-2-3"}
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| 22 |
+
{"env_id": 2, "seq": 22, "step": 8585, "t": 42.925, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
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| 23 |
+
{"env_id": 2, "seq": 23, "step": 8585, "t": 42.925, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
+
{"env_id": 2, "seq": 24, "step": 8585, "t": 42.925, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
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| 25 |
+
{"env_id": 2, "seq": 25, "step": 9004, "t": 45.02, "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 |
+
{"env_id": 2, "seq": 26, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.4995639336111708e-08}, "cause": "program-2-4"}
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| 27 |
+
{"env_id": 2, "seq": 27, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.4995639336111708e-08}, "cause": "program-2-4"}
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| 28 |
+
{"env_id": 2, "seq": 28, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
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| 29 |
+
{"env_id": 2, "seq": 29, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
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| 30 |
+
{"env_id": 2, "seq": 30, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 31 |
+
{"env_id": 2, "seq": 31, "step": 9586, "t": 47.93, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 32 |
+
{"env_id": 2, "seq": 32, "step": 11836, "t": 59.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
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| 33 |
+
{"env_id": 2, "seq": 33, "step": 11836, "t": 59.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"}
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| 34 |
+
{"env_id": 2, "seq": 34, "step": 11836, "t": 59.18, "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": 2, "seq": 35, "step": 11836, "t": 59.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
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episodes/c6_p015_e002/env.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:145de56bca3583e1f383281206ad972c8f51e3c7a7bc4883995dbcd380ded2a4
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size 1297401
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episodes/c6_p015_e002/meta.json
ADDED
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{
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| 2 |
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"source": "raw/c6_p015/magicsim/2",
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| 3 |
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"fps": 25,
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| 4 |
+
"frames": 1290,
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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": 1290,
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| 8 |
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"env": 1290
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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 |
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"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 |
+
"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
+
],
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| 20 |
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"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
+
"shoulder_lift",
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| 23 |
+
"elbow",
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| 24 |
+
"wrist_1",
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| 25 |
+
"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
+
"finger_left",
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| 28 |
+
"finger_right"
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| 29 |
+
],
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| 30 |
+
"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 |
+
"dr_version": "v2"
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| 32 |
+
}
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episodes/c6_p015_e002/scene_snapshot.json
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c6_p015",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
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"success": true,
|
| 7 |
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"timing": {
|
| 8 |
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"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
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"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
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"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
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0.0
|
| 31 |
+
],
|
| 32 |
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|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
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0.0,
|
| 36 |
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0.0
|
| 37 |
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],
|
| 38 |
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|
| 39 |
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|
| 40 |
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1.0,
|
| 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 |
+
},
|
| 50 |
+
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|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
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|
| 59 |
+
},
|
| 60 |
+
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|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
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"pos": [
|
| 70 |
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0.0,
|
| 71 |
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0.0,
|
| 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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0.0,
|
| 77 |
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0.0,
|
| 78 |
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0.0
|
| 79 |
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],
|
| 80 |
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|
| 81 |
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|
| 82 |
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1.0,
|
| 83 |
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|
| 84 |
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]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
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|
| 88 |
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|
| 89 |
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|
| 90 |
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0.55,
|
| 91 |
+
0.56,
|
| 92 |
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0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
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"primitive_params": {
|
| 102 |
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"size": [
|
| 103 |
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0.2,
|
| 104 |
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0.2,
|
| 105 |
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0.015
|
| 106 |
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]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
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|
| 118 |
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0.02,
|
| 119 |
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|
| 120 |
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],
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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0.0,
|
| 125 |
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| 126 |
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],
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| 127 |
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| 128 |
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|
| 129 |
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1.0,
|
| 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 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
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|
| 148 |
+
},
|
| 149 |
+
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|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
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-0.6,
|
| 160 |
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0.02,
|
| 161 |
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0.9605
|
| 162 |
+
],
|
| 163 |
+
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|
| 164 |
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1.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0
|
| 168 |
+
],
|
| 169 |
+
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|
| 170 |
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1.0,
|
| 171 |
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1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
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|
| 177 |
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|
| 178 |
+
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|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
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-0.6,
|
| 195 |
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0.02,
|
| 196 |
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1.0285
|
| 197 |
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],
|
| 198 |
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|
| 199 |
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6.123234262925839e-17,
|
| 200 |
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0.0,
|
| 201 |
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0.0,
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| 202 |
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1.0
|
| 203 |
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],
|
| 204 |
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|
| 205 |
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1.0,
|
| 206 |
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1.0,
|
| 207 |
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1.0
|
| 208 |
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]
|
| 209 |
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},
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
+
},
|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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"ratio": 1.0
|
| 220 |
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},
|
| 221 |
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"primitive_params": null
|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 227 |
+
"pose": {
|
| 228 |
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"pos": [
|
| 229 |
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-0.6,
|
| 230 |
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0.02,
|
| 231 |
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1.0965
|
| 232 |
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],
|
| 233 |
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|
| 234 |
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1.0,
|
| 235 |
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0.0,
|
| 236 |
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0.0,
|
| 237 |
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0.0
|
| 238 |
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],
|
| 239 |
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"scale": [
|
| 240 |
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1.0,
|
| 241 |
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1.0,
|
| 242 |
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1.0
|
| 243 |
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]
|
| 244 |
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},
|
| 245 |
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|
| 246 |
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|
| 247 |
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"kind": null,
|
| 248 |
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|
| 249 |
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"visible": true
|
| 250 |
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},
|
| 251 |
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"physics": {
|
| 252 |
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"type": "geometry",
|
| 253 |
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"collision": false,
|
| 254 |
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"ratio": 1.0
|
| 255 |
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},
|
| 256 |
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|
| 257 |
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},
|
| 258 |
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"type_specific": {}
|
| 259 |
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},
|
| 260 |
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{
|
| 261 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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0.02,
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| 266 |
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1.1645
|
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],
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6.123234262925839e-17,
|
| 270 |
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0.0,
|
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0.02200309745967388,
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0.0010426464723423123,
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| 1542 |
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0.2806589603424072,
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| 1543 |
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0.9595547318458557
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| 1544 |
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[
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| 1546 |
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1.9336611032485962,
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0.03394005447626114,
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0.009690145961940289,
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0.28156721591949463,
|
| 1552 |
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|
| 1553 |
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|
| 1554 |
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|
| 1555 |
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}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c6_p015_e002/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 6833244
|
episodes/c9_p020_e030/data.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 187102
|
episodes/c9_p020_e030/device_events.jsonl
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 2, "seq": 1, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 2 |
+
{"env_id": 2, "seq": 2, "step": 51, "t": 0.255, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 2, "seq": 3, "step": 56, "t": 0.28, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 1319, "t": 6.595, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 6338, "t": 31.69, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 6952, "t": 34.76, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 7 |
+
{"env_id": 2, "seq": 7, "step": 6952, "t": 34.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.74996354712989}, "cause": "task-2-1"}
|
| 8 |
+
{"env_id": 2, "seq": 8, "step": 6952, "t": 34.76, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
|
| 9 |
+
{"env_id": 2, "seq": 9, "step": 6952, "t": 34.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 10 |
+
{"env_id": 2, "seq": 10, "step": 6952, "t": 34.76, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 11 |
+
{"env_id": 2, "seq": 11, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 12 |
+
{"env_id": 2, "seq": 12, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 13 |
+
{"env_id": 2, "seq": 13, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 14 |
+
{"env_id": 2, "seq": 14, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
|
| 15 |
+
{"env_id": 2, "seq": 15, "step": 7371, "t": 36.855, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
|
| 16 |
+
{"env_id": 2, "seq": 16, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
|
| 17 |
+
{"env_id": 2, "seq": 17, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
|
| 18 |
+
{"env_id": 2, "seq": 18, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 19 |
+
{"env_id": 2, "seq": 19, "step": 7371, "t": 36.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.74996354712989}, "cause": "program-2-3"}
|
| 20 |
+
{"env_id": 2, "seq": 20, "step": 7921, "t": 39.605, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 21 |
+
{"env_id": 2, "seq": 21, "step": 7921, "t": 39.605, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.750000000001407}, "cause": "program-2-3"}
|
| 22 |
+
{"env_id": 2, "seq": 22, "step": 7921, "t": 39.605, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.750000000001407}}, "cause": "program-2-3"}
|
| 23 |
+
{"env_id": 2, "seq": 23, "step": 7921, "t": 39.605, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
|
| 24 |
+
{"env_id": 2, "seq": 24, "step": 7921, "t": 39.605, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 25 |
+
{"env_id": 2, "seq": 25, "step": 7921, "t": 39.605, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 26 |
+
{"env_id": 2, "seq": 26, "step": 8341, "t": 41.705, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 27 |
+
{"env_id": 2, "seq": 27, "step": 8341, "t": 41.705, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.431588843256122e-10}, "cause": "program-2-4"}
|
| 28 |
+
{"env_id": 2, "seq": 28, "step": 8341, "t": 41.705, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.431588843256122e-10}, "cause": "program-2-4"}
|
| 29 |
+
{"env_id": 2, "seq": 29, "step": 8341, "t": 41.705, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
|
| 30 |
+
{"env_id": 2, "seq": 30, "step": 8341, "t": 41.705, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 31 |
+
{"env_id": 2, "seq": 31, "step": 8341, "t": 41.705, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 32 |
+
{"env_id": 2, "seq": 32, "step": 8913, "t": 44.565, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 33 |
+
{"env_id": 2, "seq": 33, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 34 |
+
{"env_id": 2, "seq": 34, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
|
| 35 |
+
{"env_id": 2, "seq": 35, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 36 |
+
{"env_id": 2, "seq": 36, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
|
episodes/c9_p020_e030/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:c068cdd4f18af6bf7e41a7b5472fd3070115aeb36143ec1912fbcbdb742b5c07
|
| 3 |
+
size 1223777
|
episodes/c9_p020_e030/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c9_p020/magicsim/30",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1233,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1233,
|
| 8 |
+
"env": 1233
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c9_p020_e030/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 30,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c9_p020",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
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|
| 39 |
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1.0,
|
| 40 |
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1.0,
|
| 41 |
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1.0
|
| 42 |
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]
|
| 43 |
+
},
|
| 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 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
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0.9075
|
| 73 |
+
],
|
| 74 |
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|
| 75 |
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1.0,
|
| 76 |
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0.0,
|
| 77 |
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0.0,
|
| 78 |
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0.0
|
| 79 |
+
],
|
| 80 |
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|
| 81 |
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1.0,
|
| 82 |
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1.0,
|
| 83 |
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1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
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0.02,
|
| 119 |
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0.9
|
| 120 |
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],
|
| 121 |
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|
| 122 |
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|
| 123 |
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0.0,
|
| 124 |
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0.0,
|
| 125 |
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|
| 126 |
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],
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| 127 |
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|
| 128 |
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|
| 129 |
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1.0,
|
| 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 |
+
},
|
| 139 |
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|
| 140 |
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"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
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0.9605
|
| 162 |
+
],
|
| 163 |
+
"ori": [
|
| 164 |
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1.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0
|
| 168 |
+
],
|
| 169 |
+
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|
| 170 |
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1.0,
|
| 171 |
+
1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
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|
| 177 |
+
"kind": null,
|
| 178 |
+
"value": null,
|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
+
-0.6,
|
| 195 |
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0.02,
|
| 196 |
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1.0285
|
| 197 |
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],
|
| 198 |
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|
| 199 |
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6.123234262925839e-17,
|
| 200 |
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0.0,
|
| 201 |
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0.0,
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| 202 |
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1.0
|
| 203 |
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],
|
| 204 |
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|
| 205 |
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1.0,
|
| 206 |
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1.0,
|
| 207 |
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1.0
|
| 208 |
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]
|
| 209 |
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},
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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"visible": true
|
| 215 |
+
},
|
| 216 |
+
"physics": {
|
| 217 |
+
"type": "geometry",
|
| 218 |
+
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|
| 219 |
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"ratio": 1.0
|
| 220 |
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},
|
| 221 |
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"primitive_params": null
|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 227 |
+
"pose": {
|
| 228 |
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"pos": [
|
| 229 |
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-0.6,
|
| 230 |
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0.02,
|
| 231 |
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1.0965
|
| 232 |
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],
|
| 233 |
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|
| 234 |
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1.0,
|
| 235 |
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0.0,
|
| 236 |
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0.0,
|
| 237 |
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0.0
|
| 238 |
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],
|
| 239 |
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"scale": [
|
| 240 |
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1.0,
|
| 241 |
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1.0,
|
| 242 |
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1.0
|
| 243 |
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]
|
| 244 |
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},
|
| 245 |
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|
| 246 |
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|
| 247 |
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"kind": null,
|
| 248 |
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|
| 249 |
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"visible": true
|
| 250 |
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},
|
| 251 |
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"physics": {
|
| 252 |
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"type": "geometry",
|
| 253 |
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"collision": false,
|
| 254 |
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"ratio": 1.0
|
| 255 |
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},
|
| 256 |
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|
| 257 |
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},
|
| 258 |
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"type_specific": {}
|
| 259 |
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},
|
| 260 |
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{
|
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| 1555 |
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|
| 1556 |
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|
| 1557 |
+
}
|
| 1558 |
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}
|
episodes/c9_p020_e030/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 7247081
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episodes/c9_p020_e031/data.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 199493
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episodes/c9_p020_e031/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 1, "seq": 1, "step": 263, "t": 1.315, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 263, "t": 1.315, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 1, "seq": 3, "step": 268, "t": 1.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 5466, "t": 27.33, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 1, "seq": 5, "step": 6080, "t": 30.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 6 |
+
{"env_id": 1, "seq": 6, "step": 6080, "t": 30.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.534284333947379}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 6080, "t": 30.4, "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"}
|
| 8 |
+
{"env_id": 1, "seq": 8, "step": 6080, "t": 30.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 1, "seq": 9, "step": 6080, "t": 30.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
|
| 10 |
+
{"env_id": 1, "seq": 10, "step": 6499, "t": 32.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 1, "seq": 11, "step": 6499, "t": 32.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 12 |
+
{"env_id": 1, "seq": 12, "step": 6499, "t": 32.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 13 |
+
{"env_id": 1, "seq": 13, "step": 6499, "t": 32.495, "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"}
|
| 14 |
+
{"env_id": 1, "seq": 14, "step": 6499, "t": 32.495, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
|
| 15 |
+
{"env_id": 1, "seq": 15, "step": 6499, "t": 32.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"}
|
| 16 |
+
{"env_id": 1, "seq": 16, "step": 6499, "t": 32.495, "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"}
|
| 17 |
+
{"env_id": 1, "seq": 17, "step": 6499, "t": 32.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 1, "seq": 18, "step": 6499, "t": 32.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.534284333947379}, "cause": "program-1-3"}
|
| 19 |
+
{"env_id": 1, "seq": 19, "step": 6806, "t": 34.03, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 1, "seq": 20, "step": 6806, "t": 34.03, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5350000000007853}, "cause": "program-1-3"}
|
| 21 |
+
{"env_id": 1, "seq": 21, "step": 6806, "t": 34.03, "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": 1.5350000000007853}}, "cause": "program-1-3"}
|
| 22 |
+
{"env_id": 1, "seq": 22, "step": 6806, "t": 34.03, "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"}
|
| 23 |
+
{"env_id": 1, "seq": 23, "step": 6806, "t": 34.03, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 1, "seq": 24, "step": 6806, "t": 34.03, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
|
| 25 |
+
{"env_id": 1, "seq": 25, "step": 7226, "t": 36.13, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 1, "seq": 26, "step": 7226, "t": 36.13, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4665842151817543e-10}, "cause": "program-1-4"}
|
| 27 |
+
{"env_id": 1, "seq": 27, "step": 7226, "t": 36.13, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4665842151817543e-10}, "cause": "program-1-4"}
|
| 28 |
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{"env_id": 1, "seq": 28, "step": 7226, "t": 36.13, "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"}
|
| 29 |
+
{"env_id": 1, "seq": 29, "step": 7226, "t": 36.13, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 30 |
+
{"env_id": 1, "seq": 30, "step": 7226, "t": 36.13, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 31 |
+
{"env_id": 1, "seq": 31, "step": 7806, "t": 39.03, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
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{"env_id": 1, "seq": 32, "step": 9988, "t": 49.94, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 33 |
+
{"env_id": 1, "seq": 33, "step": 9988, "t": 49.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"}
|
| 34 |
+
{"env_id": 1, "seq": 34, "step": 9988, "t": 49.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 1, "seq": 35, "step": 9988, "t": 49.94, "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"}
|
episodes/c9_p020_e031/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:1c9f30ea0a536664cad80307f9c270d3404cfc461764793d8755d1a6d7999441
|
| 3 |
+
size 1356209
|
episodes/c9_p020_e031/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
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|
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|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c9_p020/magicsim/31",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1216,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1216,
|
| 8 |
+
"env": 1216
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c9_p020_e031/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 31,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c9_p020",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
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1.0,
|
| 40 |
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1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
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0.0,
|
| 71 |
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0.9075
|
| 72 |
+
],
|
| 73 |
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|
| 74 |
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1.0,
|
| 75 |
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0.0,
|
| 76 |
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0.0,
|
| 77 |
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0.0
|
| 78 |
+
],
|
| 79 |
+
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|
| 80 |
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1.0,
|
| 81 |
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1.0,
|
| 82 |
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1.0
|
| 83 |
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]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
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0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
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0.02,
|
| 118 |
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0.9
|
| 119 |
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],
|
| 120 |
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|
| 121 |
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|
| 122 |
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0.0,
|
| 123 |
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0.0,
|
| 124 |
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1.0
|
| 125 |
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],
|
| 126 |
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|
| 127 |
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|
| 128 |
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1.0,
|
| 129 |
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1.0
|
| 130 |
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]
|
| 131 |
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},
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
+
},
|
| 138 |
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|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0
|
| 167 |
+
],
|
| 168 |
+
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|
| 169 |
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1.0,
|
| 170 |
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1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
"value": null,
|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
+
1.0285
|
| 196 |
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],
|
| 197 |
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"ori": [
|
| 198 |
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6.123234262925839e-17,
|
| 199 |
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0.0,
|
| 200 |
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0.0,
|
| 201 |
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1.0
|
| 202 |
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],
|
| 203 |
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"scale": [
|
| 204 |
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1.0,
|
| 205 |
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1.0,
|
| 206 |
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1.0
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
"dr": {
|
| 210 |
+
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|
| 211 |
+
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|
| 212 |
+
"value": null,
|
| 213 |
+
"visible": true
|
| 214 |
+
},
|
| 215 |
+
"physics": {
|
| 216 |
+
"type": "geometry",
|
| 217 |
+
"collision": false,
|
| 218 |
+
"ratio": 1.0
|
| 219 |
+
},
|
| 220 |
+
"primitive_params": null
|
| 221 |
+
},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 226 |
+
"pose": {
|
| 227 |
+
"pos": [
|
| 228 |
+
-0.6,
|
| 229 |
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0.02,
|
| 230 |
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1.0965
|
| 231 |
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],
|
| 232 |
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"ori": [
|
| 233 |
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1.0,
|
| 234 |
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0.0,
|
| 235 |
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0.0,
|
| 236 |
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0.0
|
| 237 |
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],
|
| 238 |
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"scale": [
|
| 239 |
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1.0,
|
| 240 |
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1.0,
|
| 241 |
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1.0
|
| 242 |
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]
|
| 243 |
+
},
|
| 244 |
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"dr": {
|
| 245 |
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"visual": {
|
| 246 |
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"kind": null,
|
| 247 |
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"value": null,
|
| 248 |
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"visible": true
|
| 249 |
+
},
|
| 250 |
+
"physics": {
|
| 251 |
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"type": "geometry",
|
| 252 |
+
"collision": false,
|
| 253 |
+
"ratio": 1.0
|
| 254 |
+
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0.04849667102098465,
|
| 1529 |
+
0.5868494510650635,
|
| 1530 |
+
1.9629344940185547,
|
| 1531 |
+
0.03001278080046177,
|
| 1532 |
+
-0.00024354978813789785,
|
| 1533 |
+
0.27634623646736145,
|
| 1534 |
+
0.9605893492698669
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.03791326656937599,
|
| 1538 |
+
0.5993285179138184,
|
| 1539 |
+
1.9424707889556885,
|
| 1540 |
+
0.03320356830954552,
|
| 1541 |
+
0.0016834393609315157,
|
| 1542 |
+
0.2853269875049591,
|
| 1543 |
+
0.9578534364700317
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.05912776291370392,
|
| 1547 |
+
0.5940860509872437,
|
| 1548 |
+
1.9451004266738892,
|
| 1549 |
+
0.047169800847768784,
|
| 1550 |
+
0.020298752933740616,
|
| 1551 |
+
0.2559977173805237,
|
| 1552 |
+
0.9653124809265137
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p020_e031/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7400c602850ebd03a167f3c7bb00e57f8d7b213e108e12fa3f5a7cb023cc326e
|
| 3 |
+
size 8805234
|
index/episodes.csv
CHANGED
|
@@ -4418,3 +4418,6 @@ c6_p015_e001,0,True,-0.11103343963623047,0.45000267028808594,-0.0001923937179252
|
|
| 4418 |
c8_p016_e019,0,True,-0.1029806137084961,0.45000171661376953,-0.008613746692439556,-0.007990738774696327,-4.473085611485288,pcr_96_blue,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.2983063466511231,666.5123110769258,rect,-0.49490994364094837,0.21198469552678556,2.7004344076071076,10476.084860089493,3648.0268535557198,disk,-0.2801622598008857,1.2386117617805323,2.3741666421796985,6595.725933141412,5684.417891749505,0.05375588685274124,-0.0012091752141714096,-0.02917376346886158,-0.27280309796333313,0.6464284062385559,0.6555615663528442,-0.2791914939880371,0.047767844051122665,0.5669065117835999,1.971086859703064,0.027424108237028122,0.0113064581528306,0.2825613021850586,0.9587904810905457,1275,1,,2.0781805515289307,0.30763448395615106,0.0,0.0068719713017344475,0.5435294117647059,12,release,0.04226088523864746,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4419 |
c9_p020_e028,0,True,0.08748912811279297,0.45000267028808594,-0.012717924940134195,-0.0034914525734064624,7.916587488626391,plate_6_clear,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.29231676807869184,1124.4610833329311,rect,0.010816856571651212,-0.25185234549479824,2.7427791622691204,6146.33198404553,3991.9606540611803,sphere,0.12759934669036066,-0.31203977125650284,1.8926212269667364,5545.042124803477,5124.562121068355,0.04674166813492775,1.0559053407632746e-05,-0.03151609003543854,-0.2626582682132721,0.657460629940033,0.6482362151145935,-0.28026047348976135,0.04013833403587341,0.5560927987098694,1.9588472843170166,0.03746596351265907,0.010062716901302338,0.25822335481643677,0.9653060436248779,1213,1,,2.0729146003723145,0.3254670043875345,0.0,0.007342217490077019,0.5243198680956307,12,release,0.0425105094909668,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4420 |
c9_p020_e029,3,True,-0.13479042053222656,0.45000362396240234,0.004446545825575238,0.006881659299404207,6.854521347458814,reservoir_12ch,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.2882347772037589,1124.4610833329311,rect,-0.28773824348364596,0.09136357689392549,2.6958007556663945,8869.088846508273,4699.9802742175125,disk,1.7799380134187968,0.05609217490222851,2.124691345748574,5607.575994068495,2971.615027529174,0.04736733436584473,0.0032619345001876354,-0.03175439313054085,-0.27355751395225525,0.6477571725845337,0.6577665209770203,-0.27003729343414307,0.05912776291370392,0.5940860509872437,1.9451004266738892,0.047169800847768784,0.020298752933740616,0.2559977173805237,0.9653124809265137,1246,1,,2.1594457626342773,0.28881726867339474,0.0,0.007464926224201918,0.5080256821829856,12,release,0.04275941848754883,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
|
|
|
|
|
|
| 4418 |
c8_p016_e019,0,True,-0.1029806137084961,0.45000171661376953,-0.008613746692439556,-0.007990738774696327,-4.473085611485288,pcr_96_blue,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.2983063466511231,666.5123110769258,rect,-0.49490994364094837,0.21198469552678556,2.7004344076071076,10476.084860089493,3648.0268535557198,disk,-0.2801622598008857,1.2386117617805323,2.3741666421796985,6595.725933141412,5684.417891749505,0.05375588685274124,-0.0012091752141714096,-0.02917376346886158,-0.27280309796333313,0.6464284062385559,0.6555615663528442,-0.2791914939880371,0.047767844051122665,0.5669065117835999,1.971086859703064,0.027424108237028122,0.0113064581528306,0.2825613021850586,0.9587904810905457,1275,1,,2.0781805515289307,0.30763448395615106,0.0,0.0068719713017344475,0.5435294117647059,12,release,0.04226088523864746,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4419 |
c9_p020_e028,0,True,0.08748912811279297,0.45000267028808594,-0.012717924940134195,-0.0034914525734064624,7.916587488626391,plate_6_clear,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.29231676807869184,1124.4610833329311,rect,0.010816856571651212,-0.25185234549479824,2.7427791622691204,6146.33198404553,3991.9606540611803,sphere,0.12759934669036066,-0.31203977125650284,1.8926212269667364,5545.042124803477,5124.562121068355,0.04674166813492775,1.0559053407632746e-05,-0.03151609003543854,-0.2626582682132721,0.657460629940033,0.6482362151145935,-0.28026047348976135,0.04013833403587341,0.5560927987098694,1.9588472843170166,0.03746596351265907,0.010062716901302338,0.25822335481643677,0.9653060436248779,1213,1,,2.0729146003723145,0.3254670043875345,0.0,0.007342217490077019,0.5243198680956307,12,release,0.0425105094909668,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4420 |
c9_p020_e029,3,True,-0.13479042053222656,0.45000362396240234,0.004446545825575238,0.006881659299404207,6.854521347458814,reservoir_12ch,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.2882347772037589,1124.4610833329311,rect,-0.28773824348364596,0.09136357689392549,2.6958007556663945,8869.088846508273,4699.9802742175125,disk,1.7799380134187968,0.05609217490222851,2.124691345748574,5607.575994068495,2971.615027529174,0.04736733436584473,0.0032619345001876354,-0.03175439313054085,-0.27355751395225525,0.6477571725845337,0.6577665209770203,-0.27003729343414307,0.05912776291370392,0.5940860509872437,1.9451004266738892,0.047169800847768784,0.020298752933740616,0.2559977173805237,0.9653124809265137,1246,1,,2.1594457626342773,0.28881726867339474,0.0,0.007464926224201918,0.5080256821829856,12,release,0.04275941848754883,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4421 |
+
c6_p015_e002,2,True,-0.007053375244140625,0.4499969482421875,0.0073938882801091975,-0.007963132904827603,-4.523153289924949,deep_well_24_10ml,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.2605470112595413,1355.1423269590487,rect,-0.22229006686476377,0.14589831083359928,3.162609814892051,6860.799806692192,5262.231211398723,disk,1.7873810587166634,0.9458709200484641,2.3783172924613796,10234.815871279612,6964.691597337129,0.04838196560740471,0.0007392451516352594,-0.03264151141047478,-0.2710839807987213,0.6552239656448364,0.6473811864852905,-0.27945050597190857,0.041594769805669785,0.5792303681373596,1.9674186706542969,0.02200309745967388,0.0010426464723423123,0.2806589603424072,0.9595547318458557,1290,1,,2.1127266883850098,0.2823187233020762,0.0,0.007483484223484993,0.5465116279069767,12,release,0.04283642768859863,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4422 |
+
c9_p020_e030,2,True,-0.10841846466064453,0.4499988555908203,0.005982783533823245,-0.010467309511321991,1.5829405663924945,plate_24_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.20412243575807726,1124.4610833329311,rect,-0.08358301731529416,0.26593666182343123,3.007583198345716,7373.505176888576,5481.470249063963,disk,-1.0023873765833458,0.2710741222139448,2.1637583817908164,6487.738212983545,4432.7249295240235,0.051905401051044464,0.0011053759371861815,-0.029209142550826073,-0.2797815501689911,0.644468367099762,0.6504585146903992,-0.2885940670967102,0.03791326656937599,0.5993285179138184,1.9424707889556885,0.03320356830954552,0.0016834393609315157,0.2853269875049591,0.9578534364700317,1233,1,,2.09269380569458,0.29850131366766863,0.0,0.0073441388085484505,0.5158150851581509,12,release,0.042757511138916016,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4423 |
+
c9_p020_e031,1,True,-0.124481201171875,0.4476804733276367,0.008980483483472726,-0.0006594261836771019,0.29611345879413875,pcr_384_red,0.526087760925293,0.08208084106445312,-87.08310295375541,0.1542087323452543,1124.4610833329311,rect,0.8114238936173935,-0.4847970186999271,3.119373632868511,11895.625159777255,3498.8126869997577,sphere,0.558565787590398,1.5216866457716007,1.9950472312447327,3675.0766269822725,3141.849127463665,0.05282394215464592,-0.0014472587499767542,-0.030312269926071167,-0.2869213819503784,0.6375696063041687,0.6598576903343201,-0.27526164054870605,0.04849667102098465,0.5868494510650635,1.9629344940185547,0.03001278080046177,-0.00024354978813789785,0.27634623646736145,0.9605893492698669,1216,1,,2.052215576171875,0.33122987176919494,0.0,0.006816036067903042,0.569078947368421,12,release,0.04217672348022461,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|