add 3 episodes (c2_p016_e028 .. c7_p015_e024); total 4124 {'v1': 1088, 'v2': 3036}
Browse files- episodes/c2_p016_e028/data.npz +3 -0
- episodes/c2_p016_e028/device_events.jsonl +36 -0
- episodes/c2_p016_e028/env.mp4 +3 -0
- episodes/c2_p016_e028/meta.json +32 -0
- episodes/c2_p016_e028/scene_snapshot.json +1558 -0
- episodes/c2_p016_e028/wrist.mp4 +3 -0
- episodes/c5_p013_e000/data.npz +3 -0
- episodes/c5_p013_e000/device_events.jsonl +35 -0
- episodes/c5_p013_e000/env.mp4 +3 -0
- episodes/c5_p013_e000/meta.json +32 -0
- episodes/c5_p013_e000/scene_snapshot.json +1558 -0
- episodes/c5_p013_e000/wrist.mp4 +3 -0
- episodes/c7_p015_e024/data.npz +3 -0
- episodes/c7_p015_e024/device_events.jsonl +35 -0
- episodes/c7_p015_e024/env.mp4 +3 -0
- episodes/c7_p015_e024/meta.json +32 -0
- episodes/c7_p015_e024/scene_snapshot.json +1558 -0
- episodes/c7_p015_e024/wrist.mp4 +3 -0
- index/episodes.csv +3 -0
episodes/c2_p016_e028/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:3ca49b7c2cfe82dc898cd5ccf7531b5d3bb71b73cb9f178f0c482b5f56cc5290
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size 199268
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episodes/c2_p016_e028/device_events.jsonl
ADDED
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| 1 |
+
{"env_id": 1, "seq": 1, "step": 178, "t": 0.89, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 178, "t": 0.89, "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": 183, "t": 0.915, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 1212, "t": 6.06, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 5 |
+
{"env_id": 1, "seq": 5, "step": 5814, "t": 29.07, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 6 |
+
{"env_id": 1, "seq": 6, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.487941873367552}, "cause": "task-1-1"}
|
| 8 |
+
{"env_id": 1, "seq": 8, "step": 6424, "t": 32.12, "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"}
|
| 9 |
+
{"env_id": 1, "seq": 9, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 10 |
+
{"env_id": 1, "seq": 10, "step": 6424, "t": 32.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
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| 11 |
+
{"env_id": 1, "seq": 11, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 12 |
+
{"env_id": 1, "seq": 12, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 13 |
+
{"env_id": 1, "seq": 13, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 14 |
+
{"env_id": 1, "seq": 14, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
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| 15 |
+
{"env_id": 1, "seq": 15, "step": 6843, "t": 34.215, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 16 |
+
{"env_id": 1, "seq": 16, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"}
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| 17 |
+
{"env_id": 1, "seq": 17, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
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| 18 |
+
{"env_id": 1, "seq": 18, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
+
{"env_id": 1, "seq": 19, "step": 6843, "t": 34.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.487941873367552}, "cause": "program-1-3"}
|
| 20 |
+
{"env_id": 1, "seq": 20, "step": 7341, "t": 36.705, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 21 |
+
{"env_id": 1, "seq": 21, "step": 7341, "t": 36.705, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.490000000001274}, "cause": "program-1-3"}
|
| 22 |
+
{"env_id": 1, "seq": 22, "step": 7341, "t": 36.705, "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": 2.490000000001274}}, "cause": "program-1-3"}
|
| 23 |
+
{"env_id": 1, "seq": 23, "step": 7341, "t": 36.705, "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"}
|
| 24 |
+
{"env_id": 1, "seq": 24, "step": 7341, "t": 36.705, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 25 |
+
{"env_id": 1, "seq": 25, "step": 7341, "t": 36.705, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 26 |
+
{"env_id": 1, "seq": 26, "step": 7761, "t": 38.805, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 27 |
+
{"env_id": 1, "seq": 27, "step": 7761, "t": 38.805, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
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| 28 |
+
{"env_id": 1, "seq": 28, "step": 7761, "t": 38.805, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
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| 29 |
+
{"env_id": 1, "seq": 29, "step": 7761, "t": 38.805, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
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| 30 |
+
{"env_id": 1, "seq": 30, "step": 7761, "t": 38.805, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 31 |
+
{"env_id": 1, "seq": 31, "step": 7761, "t": 38.805, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 32 |
+
{"env_id": 1, "seq": 32, "step": 8343, "t": 41.715, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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| 33 |
+
{"env_id": 1, "seq": 33, "step": 10604, "t": 53.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
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| 34 |
+
{"env_id": 1, "seq": 34, "step": 10604, "t": 53.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 10604, "t": 53.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 36 |
+
{"env_id": 1, "seq": 36, "step": 10604, "t": 53.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
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episodes/c2_p016_e028/env.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:16cd931d9227151ece4a4f41ad1362551a1cbaf4dcffbd6c0d46254f71e85324
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| 3 |
+
size 1256291
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episodes/c2_p016_e028/meta.json
ADDED
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@@ -0,0 +1,32 @@
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{
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| 2 |
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"source": "raw/c2_p016/magicsim/28",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1232,
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| 5 |
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"kept_ticks": "even",
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| 6 |
+
"video_frames": {
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| 7 |
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"wrist": 1232,
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| 8 |
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"env": 1232
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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 |
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"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
+
"wrist_2_joint",
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| 18 |
+
"wrist_3_joint"
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| 19 |
+
],
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| 20 |
+
"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
+
"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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}
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episodes/c2_p016_e028/scene_snapshot.json
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
"run_id": "c2_p016",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
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"success": true,
|
| 7 |
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|
| 8 |
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"fps": 50.0,
|
| 9 |
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|
| 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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|
| 18 |
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"scene": {
|
| 19 |
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"objects": [
|
| 20 |
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{},
|
| 21 |
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{
|
| 22 |
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"rac_cell": [
|
| 23 |
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{
|
| 24 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
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"pos": [
|
| 27 |
+
0.0,
|
| 28 |
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0.0,
|
| 29 |
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|
| 30 |
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],
|
| 31 |
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|
| 32 |
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1.0,
|
| 33 |
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0.0,
|
| 34 |
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0.0,
|
| 35 |
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0.0
|
| 36 |
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],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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]
|
| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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},
|
| 49 |
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|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
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|
| 58 |
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},
|
| 59 |
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|
| 60 |
+
},
|
| 61 |
+
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|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
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{
|
| 66 |
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"asset": "Cube",
|
| 67 |
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|
| 68 |
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|
| 69 |
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0.0,
|
| 70 |
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|
| 71 |
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|
| 72 |
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],
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| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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| 78 |
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],
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| 79 |
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| 80 |
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| 81 |
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|
| 82 |
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| 83 |
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]
|
| 84 |
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},
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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0.58
|
| 92 |
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],
|
| 93 |
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"visible": true
|
| 94 |
+
},
|
| 95 |
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|
| 96 |
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"type": "geometry",
|
| 97 |
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|
| 98 |
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"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
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|
| 101 |
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"size": [
|
| 102 |
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|
| 103 |
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0.2,
|
| 104 |
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|
| 105 |
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]
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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"type_specific": {}
|
| 109 |
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}
|
| 110 |
+
],
|
| 111 |
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"plate_rack": [
|
| 112 |
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{
|
| 113 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
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|
| 115 |
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|
| 116 |
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|
| 117 |
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| 118 |
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|
| 119 |
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],
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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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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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|
| 130 |
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]
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| 131 |
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},
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| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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},
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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},
|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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},
|
| 150 |
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"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
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|
| 154 |
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{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
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-0.6,
|
| 159 |
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0.02,
|
| 160 |
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0.9605
|
| 161 |
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],
|
| 162 |
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|
| 163 |
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1.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0
|
| 167 |
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],
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| 168 |
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| 169 |
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|
| 170 |
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1.0,
|
| 171 |
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1.0
|
| 172 |
+
]
|
| 173 |
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},
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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"visible": true
|
| 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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"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
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|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 191 |
+
"pose": {
|
| 192 |
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|
| 193 |
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|
| 194 |
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0.02,
|
| 195 |
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|
| 196 |
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],
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| 197 |
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| 198 |
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|
| 199 |
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],
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| 203 |
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| 204 |
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| 205 |
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1.0,
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| 206 |
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]
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| 208 |
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},
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| 209 |
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| 210 |
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| 211 |
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|
| 212 |
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| 213 |
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| 214 |
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},
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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},
|
| 220 |
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|
| 221 |
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},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 226 |
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"pose": {
|
| 227 |
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"pos": [
|
| 228 |
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|
| 229 |
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0.02,
|
| 230 |
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|
| 231 |
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],
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| 232 |
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| 233 |
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|
| 234 |
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0.0,
|
| 235 |
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0.0,
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| 236 |
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0.0
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| 237 |
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],
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| 238 |
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| 239 |
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1.0,
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1.0,
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1.0
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]
|
| 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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},
|
| 250 |
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|
| 251 |
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"type": "geometry",
|
| 252 |
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|
| 253 |
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"ratio": 1.0
|
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},
|
| 255 |
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|
| 256 |
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},
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 261 |
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| 262 |
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|
| 263 |
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|
| 264 |
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0.02,
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| 265 |
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1.1645
|
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|
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0.03145524486899376,
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0.27792903780937195,
|
| 1543 |
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|
| 1544 |
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|
| 1545 |
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[
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| 1546 |
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|
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0.026583613827824593,
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|
| 1553 |
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|
| 1554 |
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|
| 1555 |
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}
|
| 1556 |
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}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c2_p016_e028/wrist.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:d9642baea134f2d84d533b105d77d74632f6571675cc37778d916b8b03d22d91
|
| 3 |
+
size 7885077
|
episodes/c5_p013_e000/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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|
| 3 |
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size 189869
|
episodes/c5_p013_e000/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 1, "seq": 1, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 88, "t": 0.44, "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": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 5703, "t": 28.515, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 5 |
+
{"env_id": 1, "seq": 5, "step": 6316, "t": 31.58, "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": 6316, "t": 31.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.822156866858832}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 6316, "t": 31.58, "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": 6316, "t": 31.58, "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": 6316, "t": 31.58, "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": 6735, "t": 33.675, "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": 6735, "t": 33.675, "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": 6735, "t": 33.675, "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": 6735, "t": 33.675, "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": 6735, "t": 33.675, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
|
| 15 |
+
{"env_id": 1, "seq": 15, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"}
|
| 16 |
+
{"env_id": 1, "seq": 16, "step": 6735, "t": 33.675, "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": 6735, "t": 33.675, "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": 6735, "t": 33.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.822156866858832}, "cause": "program-1-3"}
|
| 19 |
+
{"env_id": 1, "seq": 19, "step": 7700, "t": 38.5, "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": 7700, "t": 38.5, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.825000000002468}, "cause": "program-1-3"}
|
| 21 |
+
{"env_id": 1, "seq": 21, "step": 7700, "t": 38.5, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.825000000002468}}, "cause": "program-1-3"}
|
| 22 |
+
{"env_id": 1, "seq": 22, "step": 7700, "t": 38.5, "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": 7700, "t": 38.5, "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": 7700, "t": 38.5, "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": 8120, "t": 40.6, "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": 8120, "t": 40.6, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0123787358716783e-10}, "cause": "program-1-4"}
|
| 27 |
+
{"env_id": 1, "seq": 27, "step": 8120, "t": 40.6, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0123787358716783e-10}, "cause": "program-1-4"}
|
| 28 |
+
{"env_id": 1, "seq": 28, "step": 8120, "t": 40.6, "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": 8120, "t": 40.6, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 30 |
+
{"env_id": 1, "seq": 30, "step": 8120, "t": 40.6, "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": 8699, "t": 43.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 32 |
+
{"env_id": 1, "seq": 32, "step": 10416, "t": 52.08, "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": 10416, "t": 52.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"}
|
| 34 |
+
{"env_id": 1, "seq": 34, "step": 10416, "t": 52.08, "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": 10416, "t": 52.08, "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/c5_p013_e000/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:214f307a64dd54dcf61268baf61aa6b718e1c9dba46dfde205cc793b416cb74a
|
| 3 |
+
size 1318118
|
episodes/c5_p013_e000/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/c5_p013/magicsim/0",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1266,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1266,
|
| 8 |
+
"env": 1266
|
| 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/c5_p013_e000/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 0,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c5_p013",
|
| 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 |
+
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|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
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|
| 38 |
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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 |
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"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 |
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"pos": [
|
| 69 |
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0.0,
|
| 70 |
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0.0,
|
| 71 |
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0.9075
|
| 72 |
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],
|
| 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 |
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],
|
| 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 |
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|
| 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 |
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0.2,
|
| 103 |
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0.2,
|
| 104 |
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0.015
|
| 105 |
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]
|
| 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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|
| 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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0.0,
|
| 124 |
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|
| 125 |
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],
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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 |
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},
|
| 138 |
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|
| 139 |
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|
| 140 |
+
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|
| 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
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|
| 163 |
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1.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0
|
| 167 |
+
],
|
| 168 |
+
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| 169 |
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1.0,
|
| 170 |
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1.0,
|
| 171 |
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1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
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|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
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1.0285
|
| 196 |
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],
|
| 197 |
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|
| 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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|
| 204 |
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1.0,
|
| 205 |
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1.0,
|
| 206 |
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1.0
|
| 207 |
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]
|
| 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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"visible": true
|
| 214 |
+
},
|
| 215 |
+
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|
| 216 |
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"type": "geometry",
|
| 217 |
+
"collision": false,
|
| 218 |
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"ratio": 1.0
|
| 219 |
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},
|
| 220 |
+
"primitive_params": null
|
| 221 |
+
},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 226 |
+
"pose": {
|
| 227 |
+
"pos": [
|
| 228 |
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-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 |
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},
|
| 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 |
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},
|
| 250 |
+
"physics": {
|
| 251 |
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"type": "geometry",
|
| 252 |
+
"collision": false,
|
| 253 |
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"ratio": 1.0
|
| 254 |
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},
|
| 255 |
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"primitive_params": null
|
| 256 |
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},
|
| 257 |
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"type_specific": {}
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 261 |
+
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| 1545 |
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|
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|
| 1554 |
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|
| 1555 |
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|
| 1556 |
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}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c5_p013_e000/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 6294888
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episodes/c7_p015_e024/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 187370
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episodes/c7_p015_e024/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 1, "seq": 1, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 109, "t": 0.545, "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": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 6859, "t": 34.295, "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": 7472, "t": 37.36, "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": 7472, "t": 37.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.831695881736449}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 7472, "t": 37.36, "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": 7472, "t": 37.36, "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": 7472, "t": 37.36, "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": 7891, "t": 39.455, "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": 7891, "t": 39.455, "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": 7891, "t": 39.455, "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": 7891, "t": 39.455, "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": 7891, "t": 39.455, "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": 7891, "t": 39.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"}
|
| 16 |
+
{"env_id": 1, "seq": 16, "step": 7891, "t": 39.455, "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": 7891, "t": 39.455, "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": 7891, "t": 39.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.831695881736449}, "cause": "program-1-3"}
|
| 19 |
+
{"env_id": 1, "seq": 19, "step": 8658, "t": 43.29, "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": 8658, "t": 43.29, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.835000000001962}, "cause": "program-1-3"}
|
| 21 |
+
{"env_id": 1, "seq": 21, "step": 8658, "t": 43.29, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.835000000001962}}, "cause": "program-1-3"}
|
| 22 |
+
{"env_id": 1, "seq": 22, "step": 8658, "t": 43.29, "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": 8658, "t": 43.29, "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": 8658, "t": 43.29, "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": 9078, "t": 45.39, "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": 9078, "t": 45.39, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.474397303193655e-08}, "cause": "program-1-4"}
|
| 27 |
+
{"env_id": 1, "seq": 27, "step": 9078, "t": 45.39, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.474397303193655e-08}, "cause": "program-1-4"}
|
| 28 |
+
{"env_id": 1, "seq": 28, "step": 9078, "t": 45.39, "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": 9078, "t": 45.39, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 30 |
+
{"env_id": 1, "seq": 30, "step": 9078, "t": 45.39, "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": 9655, "t": 48.275, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
+
{"env_id": 1, "seq": 32, "step": 11356, "t": 56.78, "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": 11356, "t": 56.78, "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": 11356, "t": 56.78, "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": 11356, "t": 56.78, "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/c7_p015_e024/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e4a2832a6d48bbfe4cb697adc652aa8a854f36fc0adfb1fa23bd07c18cb89098
|
| 3 |
+
size 1290512
|
episodes/c7_p015_e024/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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c7_p015/magicsim/24",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1227,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1227,
|
| 8 |
+
"env": 1227
|
| 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/c7_p015_e024/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"decimation": 4
|
| 11 |
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},
|
| 12 |
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"restore_interface": {
|
| 13 |
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"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
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"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
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},
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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{},
|
| 21 |
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{
|
| 22 |
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|
| 23 |
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{
|
| 24 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
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|
| 26 |
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|
| 27 |
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0.0,
|
| 28 |
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| 29 |
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| 30 |
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],
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| 31 |
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| 32 |
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|
| 33 |
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| 34 |
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|
| 35 |
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| 36 |
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],
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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]
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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},
|
| 49 |
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|
| 50 |
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|
| 51 |
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"collision": false,
|
| 52 |
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|
| 53 |
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"static_friction": 0.6,
|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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|
| 58 |
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},
|
| 59 |
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|
| 60 |
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},
|
| 61 |
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|
| 62 |
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}
|
| 63 |
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],
|
| 64 |
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|
| 65 |
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{
|
| 66 |
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"asset": "Cube",
|
| 67 |
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|
| 68 |
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|
| 69 |
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| 70 |
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| 71 |
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| 72 |
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],
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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],
|
| 93 |
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|
| 94 |
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},
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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},
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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]
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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|
| 109 |
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}
|
| 110 |
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],
|
| 111 |
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|
| 112 |
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{
|
| 113 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 124 |
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| 126 |
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| 127 |
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| 129 |
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| 130 |
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]
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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},
|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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},
|
| 150 |
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|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
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|
| 154 |
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{
|
| 155 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 156 |
+
"pose": {
|
| 157 |
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"pos": [
|
| 158 |
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|
| 159 |
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0.02,
|
| 160 |
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|
| 161 |
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],
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| 162 |
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| 163 |
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1.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0
|
| 167 |
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],
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| 168 |
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| 169 |
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|
| 170 |
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1.0,
|
| 171 |
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1.0
|
| 172 |
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]
|
| 173 |
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},
|
| 174 |
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|
| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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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 |
+
},
|
| 185 |
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|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 191 |
+
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|
| 192 |
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|
| 193 |
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|
| 194 |
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0.02,
|
| 195 |
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|
| 196 |
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],
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| 198 |
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],
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| 204 |
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| 205 |
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1.0,
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| 206 |
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]
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| 208 |
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},
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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},
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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},
|
| 220 |
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|
| 221 |
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},
|
| 222 |
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"type_specific": {}
|
| 223 |
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},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 226 |
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"pose": {
|
| 227 |
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"pos": [
|
| 228 |
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|
| 229 |
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0.02,
|
| 230 |
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|
| 231 |
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],
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| 232 |
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| 233 |
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1.0,
|
| 234 |
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0.0,
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| 235 |
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0.0,
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| 236 |
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0.0
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],
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| 238 |
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| 239 |
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1.0,
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1.0,
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1.0
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]
|
| 243 |
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},
|
| 244 |
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| 246 |
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|
| 247 |
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| 249 |
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},
|
| 250 |
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|
| 251 |
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"type": "geometry",
|
| 252 |
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|
| 253 |
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"ratio": 1.0
|
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},
|
| 255 |
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|
| 256 |
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},
|
| 257 |
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"type_specific": {}
|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 261 |
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| 262 |
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| 263 |
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0.02,
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6.123234262925839e-17,
|
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0.0,
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0.5952988266944885,
|
| 1539 |
+
1.9673422574996948,
|
| 1540 |
+
0.04814846068620682,
|
| 1541 |
+
0.00875834934413433,
|
| 1542 |
+
0.2878819406032562,
|
| 1543 |
+
0.9564146399497986
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06671426445245743,
|
| 1547 |
+
0.5839920043945312,
|
| 1548 |
+
1.9592188596725464,
|
| 1549 |
+
0.03813035041093826,
|
| 1550 |
+
0.023655222728848457,
|
| 1551 |
+
0.26060906052589417,
|
| 1552 |
+
0.9644010663032532
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c7_p015_e024/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a6d39916f1b5085ad988de62aa4dfa666d9e523690fb068a255d1305bd864a55
|
| 3 |
+
size 8319904
|
index/episodes.csv
CHANGED
|
@@ -4120,3 +4120,6 @@ c9_p019_e008,0,True,0.02643299102783203,0.45000171661376953,0.005167126340740229
|
|
| 4120 |
c9_p019_e009,2,True,-0.10400199890136719,0.4471397399902344,-0.0027951468183339823,-0.006305972027083715,1.4154387934349302,plate_24_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.22417855429179506,526.3395730628298,rect,0.5177262071403418,0.5550069594769682,2.7895288246239702,14948.577315743596,6319.641659246757,sphere,-0.3377818811224993,-1.1696483499771757,1.9343811455449345,2549.3706486481306,4290.434498936367,0.046908631920814514,0.00030292486189864576,-0.026355013251304626,-0.2670961320400238,0.6536597609519958,0.6489945650100708,-0.28318658471107483,0.05651431530714035,0.5935235619544983,1.9483001232147217,0.03187085688114166,0.0024376828223466873,0.2657139003276825,0.9635218977928162,1252,1,,2.1359076499938965,0.27709129212117795,0.0,0.007289275527000427,0.5559105431309904,12,release,0.0422402024269104,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4121 |
c9_p019_e010,1,True,0.06787300109863281,0.4471254348754883,-0.004686206926613696,-0.0009952362674737199,4.339100559601519,plate_96_white,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.1782038867262001,1486.622596738123,rect,0.21012376863577964,-0.2101573550344309,2.7482654747093713,4285.954450312351,4130.938781664295,sphere,-1.5228956199253008,0.34928058901543335,1.8021768051405234,8882.22826813664,2875.998059791124,0.04942247271537781,0.00025340256979689,-0.030471496284008026,-0.2735835909843445,0.6530983448028564,0.647704541683197,-0.2812355160713196,0.036351870745420456,0.5736538767814636,1.9610047340393066,0.03151782602071762,0.021825838834047318,0.26110976934432983,0.9645475149154663,1274,1,,2.0645525455474854,0.32885886645620194,0.0,0.007304077036678791,0.5039246467817896,12,release,0.04228627681732178,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4122 |
c9_p019_e011,3,True,0.043807029724121094,0.4499998092651367,-0.006301836697135377,0.004950578350148561,-3.1571101957150347,plate_96_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1978919052952422,526.3395730628298,rect,-0.3811550000947325,0.06432049911797189,2.854549975657394,12340.678628980528,3996.221899471383,disk,1.169084636560442,-0.4470299504023064,2.5724452898892136,10507.563367072818,3281.261836681907,0.05082060024142265,0.001961727859452367,-0.030531296506524086,-0.29099947214126587,0.6368880271911621,0.6570717096328735,-0.2791946828365326,0.04504140838980675,0.5629408955574036,1.9512664079666138,0.054843444377183914,0.015525765717029572,0.28039854764938354,0.958189845085144,1202,1,,2.0952324867248535,0.26234100968492685,0.0,0.007307898718863726,0.5374376039933444,12,release,0.04230010509490967,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
|
|
|
|
|
|
| 4120 |
c9_p019_e009,2,True,-0.10400199890136719,0.4471397399902344,-0.0027951468183339823,-0.006305972027083715,1.4154387934349302,plate_24_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.22417855429179506,526.3395730628298,rect,0.5177262071403418,0.5550069594769682,2.7895288246239702,14948.577315743596,6319.641659246757,sphere,-0.3377818811224993,-1.1696483499771757,1.9343811455449345,2549.3706486481306,4290.434498936367,0.046908631920814514,0.00030292486189864576,-0.026355013251304626,-0.2670961320400238,0.6536597609519958,0.6489945650100708,-0.28318658471107483,0.05651431530714035,0.5935235619544983,1.9483001232147217,0.03187085688114166,0.0024376828223466873,0.2657139003276825,0.9635218977928162,1252,1,,2.1359076499938965,0.27709129212117795,0.0,0.007289275527000427,0.5559105431309904,12,release,0.0422402024269104,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4121 |
c9_p019_e010,1,True,0.06787300109863281,0.4471254348754883,-0.004686206926613696,-0.0009952362674737199,4.339100559601519,plate_96_white,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.1782038867262001,1486.622596738123,rect,0.21012376863577964,-0.2101573550344309,2.7482654747093713,4285.954450312351,4130.938781664295,sphere,-1.5228956199253008,0.34928058901543335,1.8021768051405234,8882.22826813664,2875.998059791124,0.04942247271537781,0.00025340256979689,-0.030471496284008026,-0.2735835909843445,0.6530983448028564,0.647704541683197,-0.2812355160713196,0.036351870745420456,0.5736538767814636,1.9610047340393066,0.03151782602071762,0.021825838834047318,0.26110976934432983,0.9645475149154663,1274,1,,2.0645525455474854,0.32885886645620194,0.0,0.007304077036678791,0.5039246467817896,12,release,0.04228627681732178,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4122 |
c9_p019_e011,3,True,0.043807029724121094,0.4499998092651367,-0.006301836697135377,0.004950578350148561,-3.1571101957150347,plate_96_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1978919052952422,526.3395730628298,rect,-0.3811550000947325,0.06432049911797189,2.854549975657394,12340.678628980528,3996.221899471383,disk,1.169084636560442,-0.4470299504023064,2.5724452898892136,10507.563367072818,3281.261836681907,0.05082060024142265,0.001961727859452367,-0.030531296506524086,-0.29099947214126587,0.6368880271911621,0.6570717096328735,-0.2791946828365326,0.04504140838980675,0.5629408955574036,1.9512664079666138,0.054843444377183914,0.015525765717029572,0.28039854764938354,0.958189845085144,1202,1,,2.0952324867248535,0.26234100968492685,0.0,0.007307898718863726,0.5374376039933444,12,release,0.04230010509490967,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4123 |
+
c2_p016_e028,1,True,-0.015259742736816406,0.44746875762939453,0.002272334358380184,0.010093614264212982,6.973029030158301,pcr_384_red,0.4701118469238281,0.05037117004394531,-86.43240791037327,0.20379824146943928,1515.4890673585196,rect,0.12009437011043111,-0.013787734980881705,2.84134161725215,13920.372098559707,5927.135918140384,disk,-1.5098026841001353,-0.7233589687256972,1.9334182749912034,4404.685719303745,3843.041088160428,0.05351496487855911,0.002983381971716881,-0.03251868113875389,-0.29032233357429504,0.6445897817611694,0.6540789604187012,-0.2690681517124176,0.06870931386947632,0.6004319787025452,1.940707802772522,0.044919826090335846,0.008962648920714855,0.2796905040740967,0.9589969515800476,1232,1,,2.056384325027466,0.288494473188761,0.0,0.0068446877412498,0.5722402597402597,12,release,0.042163848876953125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4124 |
+
c5_p013_e000,1,True,0.01681232452392578,0.45000267028808594,-0.013376392732326456,0.009924677320545259,-8.25871653940277,plate_96_white,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.2537850320139536,678.5239963902432,rect,0.520057779532371,-0.395715371130878,2.926600648228406,5059.724155928287,6560.137448421269,disk,0.16479870460543466,1.2570842477050974,1.862286276650128,10083.423911734084,6021.963163036347,0.05107322707772255,0.003885973244905472,-0.034101441502571106,-0.2816968560218811,0.6384639143943787,0.6668317317962646,-0.2614310681819916,0.03621829301118851,0.583873450756073,1.9315364360809326,0.042802296578884125,0.00022274757793638855,0.28364646434783936,0.9579731822013855,1266,1,,2.08261775970459,0.2984532274806862,0.0,0.007291056215763092,0.5007898894154819,12,release,0.04227417707443237,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4125 |
+
c7_p015_e024,1,True,0.0703897476196289,0.45000171661376953,-0.0019137206360738499,-0.009117190221060495,-8.65576249220672,pcr_384_red,0.4789695739746094,0.08251476287841797,-93.08367378637153,0.16513523119149295,447.1366844478555,rect,-0.22030056498077782,0.3801301559323965,2.9512383143179908,5825.900908646261,5449.891629206151,sphere,-0.8781756429555522,-1.1976895978442565,2.101756876205138,2370.469815029614,3483.0725771189386,0.04953497648239136,0.0007905988022685051,-0.029871251434087753,-0.2866550385951996,0.6478426456451416,0.6445286273956299,-0.28759634494781494,0.06534428149461746,0.5934309363365173,1.9647388458251953,0.035927798599004745,0.006428875960409641,0.2775673568248749,0.9600126147270203,1227,1,,2.0605361461639404,0.3386882536301506,0.0,0.006862972863018513,0.5167074164629177,12,release,0.04214489459991455,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|