add 1 episodes (c6_p017_e015 .. c6_p017_e015); total 4764 {'v1': 1088, 'v2': 3676}
Browse files
episodes/c6_p017_e015/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:a535954a1c55cc3287c99f0789630c2fd9958e827eb864d6399bd26d4f92518d
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size 186927
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episodes/c6_p017_e015/device_events.jsonl
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| 1 |
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{"env_id": 2, "seq": 1, "step": 177, "t": 0.885, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
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{"env_id": 2, "seq": 2, "step": 177, "t": 0.885, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 2, "seq": 3, "step": 182, "t": 0.91, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
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{"env_id": 2, "seq": 4, "step": 1837, "t": 9.185, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 5 |
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{"env_id": 2, "seq": 5, "step": 6575, "t": 32.875, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 6 |
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{"env_id": 2, "seq": 6, "step": 7184, "t": 35.92, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 7 |
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{"env_id": 2, "seq": 7, "step": 7184, "t": 35.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.017551666493472}, "cause": "task-2-1"}
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| 8 |
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{"env_id": 2, "seq": 8, "step": 7184, "t": 35.92, "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"}
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| 9 |
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{"env_id": 2, "seq": 9, "step": 7184, "t": 35.92, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 10 |
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{"env_id": 2, "seq": 10, "step": 7184, "t": 35.92, "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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| 11 |
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{"env_id": 2, "seq": 11, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 12 |
+
{"env_id": 2, "seq": 12, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
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| 13 |
+
{"env_id": 2, "seq": 13, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
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| 14 |
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{"env_id": 2, "seq": 14, "step": 7603, "t": 38.015, "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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| 15 |
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{"env_id": 2, "seq": 15, "step": 7603, "t": 38.015, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
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| 16 |
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{"env_id": 2, "seq": 16, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"}
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| 17 |
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{"env_id": 2, "seq": 17, "step": 7603, "t": 38.015, "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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| 18 |
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{"env_id": 2, "seq": 18, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
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{"env_id": 2, "seq": 19, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.017551666493472}, "cause": "program-2-3"}
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| 20 |
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{"env_id": 2, "seq": 20, "step": 8007, "t": 40.035, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 21 |
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{"env_id": 2, "seq": 21, "step": 8007, "t": 40.035, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0200000000010334}, "cause": "program-2-3"}
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| 22 |
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{"env_id": 2, "seq": 22, "step": 8007, "t": 40.035, "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": 2.0200000000010334}}, "cause": "program-2-3"}
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| 23 |
+
{"env_id": 2, "seq": 23, "step": 8007, "t": 40.035, "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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| 24 |
+
{"env_id": 2, "seq": 24, "step": 8007, "t": 40.035, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 25 |
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{"env_id": 2, "seq": 25, "step": 8007, "t": 40.035, "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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| 26 |
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{"env_id": 2, "seq": 26, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 27 |
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{"env_id": 2, "seq": 27, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.575217550315756e-08}, "cause": "program-2-4"}
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| 28 |
+
{"env_id": 2, "seq": 28, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.575217550315756e-08}, "cause": "program-2-4"}
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| 29 |
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{"env_id": 2, "seq": 29, "step": 8427, "t": 42.135, "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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| 30 |
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{"env_id": 2, "seq": 30, "step": 8427, "t": 42.135, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
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| 31 |
+
{"env_id": 2, "seq": 31, "step": 8427, "t": 42.135, "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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| 32 |
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{"env_id": 2, "seq": 32, "step": 9007, "t": 45.035, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 33 |
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{"env_id": 2, "seq": 33, "step": 10784, "t": 53.92, "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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| 34 |
+
{"env_id": 2, "seq": 34, "step": 10784, "t": 53.92, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"}
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| 35 |
+
{"env_id": 2, "seq": 35, "step": 10784, "t": 53.92, "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": 2, "seq": 36, "step": 10784, "t": 53.92, "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_p017_e015/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:0f7815b7e370337cea4be4e70d1688a15c4e533ed084beb6f24236715c48f19c
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| 3 |
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size 1179857
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episodes/c6_p017_e015/meta.json
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{
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| 2 |
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"source": "raw/c6_p017/magicsim/15",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1180,
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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": 1180,
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| 8 |
+
"env": 1180
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| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
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"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
+
],
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| 20 |
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"joint_order": [
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| 21 |
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"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c6_p017_e015/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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"task_type": "BioPlateCell",
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"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 |
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"snapshot": {
|
| 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 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
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|
| 28 |
+
0.0,
|
| 29 |
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|
| 30 |
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|
| 31 |
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],
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| 32 |
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|
| 33 |
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1.0,
|
| 34 |
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0.0,
|
| 35 |
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|
| 36 |
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0.0
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| 37 |
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],
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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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]
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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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"type": "geometry",
|
| 52 |
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"collision": false,
|
| 53 |
+
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|
| 54 |
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"static_friction": 0.6,
|
| 55 |
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|
| 56 |
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|
| 57 |
+
},
|
| 58 |
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|
| 59 |
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},
|
| 60 |
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|
| 61 |
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},
|
| 62 |
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|
| 63 |
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}
|
| 64 |
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],
|
| 65 |
+
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|
| 66 |
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{
|
| 67 |
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"asset": "Cube",
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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],
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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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],
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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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0.56,
|
| 92 |
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0.58
|
| 93 |
+
],
|
| 94 |
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"visible": true
|
| 95 |
+
},
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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"ratio": 1.0
|
| 100 |
+
},
|
| 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 |
+
}
|
| 111 |
+
],
|
| 112 |
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"plate_rack": [
|
| 113 |
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{
|
| 114 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 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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],
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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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| 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 |
+
},
|
| 147 |
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|
| 148 |
+
},
|
| 149 |
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|
| 150 |
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},
|
| 151 |
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"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
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|
| 155 |
+
{
|
| 156 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
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|
| 159 |
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-0.6,
|
| 160 |
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0.02,
|
| 161 |
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0.9605
|
| 162 |
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],
|
| 163 |
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|
| 164 |
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1.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0
|
| 168 |
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],
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| 169 |
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| 170 |
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|
| 171 |
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1.0,
|
| 172 |
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1.0
|
| 173 |
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]
|
| 174 |
+
},
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
+
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|
| 180 |
+
},
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
},
|
| 186 |
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|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 192 |
+
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|
| 193 |
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|
| 194 |
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|
| 195 |
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0.02,
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| 196 |
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| 197 |
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],
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| 198 |
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| 199 |
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|
| 200 |
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],
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| 205 |
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| 206 |
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1.0,
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| 207 |
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1.0
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]
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| 209 |
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},
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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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 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
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{
|
| 226 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 227 |
+
"pose": {
|
| 228 |
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"pos": [
|
| 229 |
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|
| 230 |
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0.02,
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| 231 |
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| 232 |
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],
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| 233 |
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| 234 |
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1.0,
|
| 235 |
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0.0,
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| 236 |
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0.0,
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0.0
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],
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1.0,
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1.0
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]
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},
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| 245 |
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| 246 |
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| 247 |
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|
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},
|
| 251 |
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| 252 |
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|
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|
| 254 |
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|
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},
|
| 256 |
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|
| 257 |
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},
|
| 258 |
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|
| 259 |
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},
|
| 260 |
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{
|
| 261 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 262 |
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|
| 263 |
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|
| 264 |
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|
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0.02,
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],
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6.123234262925839e-17,
|
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],
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},
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| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c6_p017_e015/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2cd22276e99085e0ba38cbe2e238507b400a4bdf1b4116e958ca41c30f9a1d6a
|
| 3 |
+
size 6564456
|
index/episodes.csv
CHANGED
|
@@ -4762,3 +4762,4 @@ c6_p017_e012,3,True,0.02931690216064453,0.4499969482421875,-0.007096405370882075
|
|
| 4762 |
c6_p017_e013,1,True,0.09805583953857422,0.4499998092651367,-0.012500674620537815,0.010777575889734502,10.712180680496203,pcr_384_red,0.5134105682373047,0.059731483459472656,-92.1737064442935,0.16810255978330832,1065.2539388264317,rect,-0.23287699269547324,-0.15389163547629703,2.6369588794208476,14871.006078541062,3591.454943694278,sphere,1.66053287979735,-1.0518604891611207,2.7810016950332717,8490.232475773726,5944.75523458616,0.047359857708215714,0.0008304563816636801,-0.029831862077116966,-0.2753470242023468,0.6577058434486389,0.6455197930335999,-0.2736991345882416,0.04558434709906578,0.5639716386795044,1.9560478925704956,0.04153604060411453,0.02704480290412903,0.28798648715019226,0.9563509225845337,1221,1,,2.0870234966278076,0.2829691365933383,0.0,0.006836608052253723,0.5364455364455365,12,release,0.04218435287475586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4763 |
c6_p017_e014,0,True,-0.13883018493652344,0.4473133087158203,0.009230324932581215,0.0025002513543723394,10.06615804967106,plate_6_clear,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.2880559488639386,1280.3500069956362,rect,-0.48790309526101816,-0.27557420097459073,3.1537943520339113,6176.2879226515015,4792.743559815233,disk,-0.7833093857351949,-0.2114237952488115,2.4299751389259043,7488.365631909933,3484.7186563334026,0.049215804785490036,0.0009633976733312011,-0.03320332616567612,-0.2642890512943268,0.6634407639503479,0.6404626369476318,-0.2824983596801758,0.06484459340572357,0.5891468524932861,1.9607032537460327,0.0221511609852314,0.004585874732583761,0.25868138670921326,0.9656978249549866,1188,1,,2.089566707611084,0.27075564700997196,0.0,0.007341998629271984,0.5345117845117845,12,release,0.042248085141181946,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4764 |
c9_p023_e007,0,True,0.001613616943359375,0.44751644134521484,0.005396886632899323,0.007374079720582797,-6.173013755977706,plate_96_black,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.23444266362783295,1034.8771598091707,rect,-0.5858378261420385,-0.37795047410338256,3.1144444647459424,11162.013978352457,3713.1742920084125,disk,1.214711256857631,-0.6805497748769115,2.0522709516887168,9776.791707289452,6038.628882878425,0.05051896721124649,0.001758815604262054,-0.028085825964808464,-0.2715253531932831,0.654233455657959,0.6450136303901672,-0.286722868680954,0.04031224176287651,0.5745948553085327,1.9465749263763428,0.03552843630313873,0.01373928040266037,0.2549123764038086,0.966213583946228,1305,1,,2.0679433345794678,0.3247587439438518,0.0,0.007334756664931774,0.5486590038314176,12,release,0.04245638847351074,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4762 |
c6_p017_e013,1,True,0.09805583953857422,0.4499998092651367,-0.012500674620537815,0.010777575889734502,10.712180680496203,pcr_384_red,0.5134105682373047,0.059731483459472656,-92.1737064442935,0.16810255978330832,1065.2539388264317,rect,-0.23287699269547324,-0.15389163547629703,2.6369588794208476,14871.006078541062,3591.454943694278,sphere,1.66053287979735,-1.0518604891611207,2.7810016950332717,8490.232475773726,5944.75523458616,0.047359857708215714,0.0008304563816636801,-0.029831862077116966,-0.2753470242023468,0.6577058434486389,0.6455197930335999,-0.2736991345882416,0.04558434709906578,0.5639716386795044,1.9560478925704956,0.04153604060411453,0.02704480290412903,0.28798648715019226,0.9563509225845337,1221,1,,2.0870234966278076,0.2829691365933383,0.0,0.006836608052253723,0.5364455364455365,12,release,0.04218435287475586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4763 |
c6_p017_e014,0,True,-0.13883018493652344,0.4473133087158203,0.009230324932581215,0.0025002513543723394,10.06615804967106,plate_6_clear,0.4876832962036133,0.11441612243652344,-90.21287538132911,0.2880559488639386,1280.3500069956362,rect,-0.48790309526101816,-0.27557420097459073,3.1537943520339113,6176.2879226515015,4792.743559815233,disk,-0.7833093857351949,-0.2114237952488115,2.4299751389259043,7488.365631909933,3484.7186563334026,0.049215804785490036,0.0009633976733312011,-0.03320332616567612,-0.2642890512943268,0.6634407639503479,0.6404626369476318,-0.2824983596801758,0.06484459340572357,0.5891468524932861,1.9607032537460327,0.0221511609852314,0.004585874732583761,0.25868138670921326,0.9656978249549866,1188,1,,2.089566707611084,0.27075564700997196,0.0,0.007341998629271984,0.5345117845117845,12,release,0.042248085141181946,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4764 |
c9_p023_e007,0,True,0.001613616943359375,0.44751644134521484,0.005396886632899323,0.007374079720582797,-6.173013755977706,plate_96_black,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.23444266362783295,1034.8771598091707,rect,-0.5858378261420385,-0.37795047410338256,3.1144444647459424,11162.013978352457,3713.1742920084125,disk,1.214711256857631,-0.6805497748769115,2.0522709516887168,9776.791707289452,6038.628882878425,0.05051896721124649,0.001758815604262054,-0.028085825964808464,-0.2715253531932831,0.654233455657959,0.6450136303901672,-0.286722868680954,0.04031224176287651,0.5745948553085327,1.9465749263763428,0.03552843630313873,0.01373928040266037,0.2549123764038086,0.966213583946228,1305,1,,2.0679433345794678,0.3247587439438518,0.0,0.007334756664931774,0.5486590038314176,12,release,0.04245638847351074,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4765 |
+
c6_p017_e015,2,True,-0.09706783294677734,0.44731712341308594,0.000765287316770384,0.008302450881961613,-4.491316951799206,plate_384_black,0.46005821228027344,0.07340621948242188,-91.66042404353601,0.19516103176277405,1280.3500069956362,rect,-0.37528122137756204,0.18355402181383051,2.898827516038986,5204.378707091262,4992.966788987955,sphere,-1.59110996344904,0.053008165418252595,1.666257096057571,8523.339180964727,7395.277892520818,0.051049113273620605,-0.002872252371162176,-0.029400978237390518,-0.26639074087142944,0.6626132726669312,0.6437457799911499,-0.27490171790122986,0.031920891255140305,0.596801221370697,1.971083641052246,0.043388593941926956,0.0020786975510418415,0.2762201726436615,0.9601122736930847,1180,1,,2.0802359580993652,0.2892214145629442,0.0,0.00737433135509491,0.5398305084745763,12,release,0.042208850383758545,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|