add 1 episodes (c9_p020_e019 .. c9_p020_e019); total 4363 {'v1': 1088, 'v2': 3275}
Browse files
episodes/c9_p020_e019/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:b206d589d8d925c4b4d7186d3763d2c8f10d7582bb458f0f86c70edaa81b31e5
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| 3 |
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size 203749
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episodes/c9_p020_e019/device_events.jsonl
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| 1 |
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{"env_id": 1, "seq": 1, "step": 254, "t": 1.27, "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": 1, "seq": 2, "step": 254, "t": 1.27, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 1, "seq": 3, "step": 259, "t": 1.295, "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": 1, "seq": 4, "step": 2104, "t": 10.52, "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": 1, "seq": 5, "step": 6882, "t": 34.41, "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": 1, "seq": 6, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.803815204420778}, "cause": "task-1-1"}
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| 8 |
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{"env_id": 1, "seq": 8, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"}
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| 9 |
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{"env_id": 1, "seq": 9, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 10 |
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{"env_id": 1, "seq": 10, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
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| 11 |
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{"env_id": 1, "seq": 11, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 12 |
+
{"env_id": 1, "seq": 12, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
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| 13 |
+
{"env_id": 1, "seq": 13, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
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| 14 |
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{"env_id": 1, "seq": 14, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
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| 15 |
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{"env_id": 1, "seq": 15, "step": 7911, "t": 39.555, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"}
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| 17 |
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{"env_id": 1, "seq": 17, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
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| 18 |
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{"env_id": 1, "seq": 18, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
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{"env_id": 1, "seq": 19, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.803815204420778}, "cause": "program-1-3"}
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| 20 |
+
{"env_id": 1, "seq": 20, "step": 8872, "t": 44.36, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 21 |
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{"env_id": 1, "seq": 21, "step": 8872, "t": 44.36, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.805000000002458}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 8872, "t": 44.36, "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": 4.805000000002458}}, "cause": "program-1-3"}
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| 23 |
+
{"env_id": 1, "seq": 23, "step": 8872, "t": 44.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
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| 24 |
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{"env_id": 1, "seq": 24, "step": 8872, "t": 44.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 25 |
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{"env_id": 1, "seq": 25, "step": 8872, "t": 44.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 9292, "t": 46.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 27 |
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{"env_id": 1, "seq": 27, "step": 9292, "t": 46.46, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
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| 28 |
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{"env_id": 1, "seq": 28, "step": 9292, "t": 46.46, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 9292, "t": 46.46, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
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| 30 |
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{"env_id": 1, "seq": 30, "step": 9292, "t": 46.46, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 31 |
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{"env_id": 1, "seq": 31, "step": 9292, "t": 46.46, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 32 |
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{"env_id": 1, "seq": 32, "step": 9871, "t": 49.355, "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": 1, "seq": 33, "step": 12052, "t": 60.26, "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": 12052, "t": 60.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 12052, "t": 60.26, "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": 12052, "t": 60.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
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episodes/c9_p020_e019/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:76cd78f6951dcc0629c0295712b3109cea7e2be82ad34e0fa8973c90c43d920e
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| 3 |
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size 1339176
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episodes/c9_p020_e019/meta.json
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{
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| 2 |
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"source": "raw/c9_p020/magicsim/19",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1303,
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| 5 |
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"kept_ticks": "even",
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| 6 |
+
"video_frames": {
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| 7 |
+
"wrist": 1303,
|
| 8 |
+
"env": 1303
|
| 9 |
+
},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"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 |
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"wrist_3_joint"
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| 19 |
+
],
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| 20 |
+
"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
+
"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
+
"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c9_p020_e019/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
"run_id": "c9_p020",
|
| 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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"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
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|
| 18 |
+
"scene": {
|
| 19 |
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"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
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"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
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0.0,
|
| 29 |
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|
| 30 |
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],
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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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],
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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| 41 |
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]
|
| 42 |
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| 43 |
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| 44 |
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| 45 |
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|
| 46 |
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| 47 |
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|
| 48 |
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},
|
| 49 |
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|
| 50 |
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"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 |
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},
|
| 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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],
|
| 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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0.56,
|
| 91 |
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0.58
|
| 92 |
+
],
|
| 93 |
+
"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 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 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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],
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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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},
|
| 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 |
+
},
|
| 146 |
+
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|
| 147 |
+
},
|
| 148 |
+
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|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
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-0.6,
|
| 159 |
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0.02,
|
| 160 |
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0.9605
|
| 161 |
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],
|
| 162 |
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|
| 163 |
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1.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0
|
| 167 |
+
],
|
| 168 |
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| 169 |
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1.0,
|
| 170 |
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1.0,
|
| 171 |
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1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
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|
| 175 |
+
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|
| 176 |
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|
| 177 |
+
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|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
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|
| 181 |
+
"type": "geometry",
|
| 182 |
+
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|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
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|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
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-0.6,
|
| 194 |
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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,
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| 200 |
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0.0,
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| 201 |
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1.0
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| 202 |
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],
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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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|
| 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 |
+
},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.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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| 233 |
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1.0,
|
| 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
|
| 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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| 241 |
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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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|
| 248 |
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"visible": true
|
| 249 |
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},
|
| 250 |
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|
| 251 |
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"type": "geometry",
|
| 252 |
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"collision": false,
|
| 253 |
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"ratio": 1.0
|
| 254 |
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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 |
+
{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 261 |
+
"pose": {
|
| 262 |
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"pos": [
|
| 263 |
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-0.6,
|
| 264 |
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0.02,
|
| 265 |
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1.1645
|
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],
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| 267 |
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| 268 |
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6.123234262925839e-17,
|
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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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| 279 |
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| 280 |
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},
|
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|
| 287 |
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|
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},
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| 291 |
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+
}
|
episodes/c9_p020_e019/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ac37de213a21571f12f7e892d0b01cbfb803505c4f93ecf2cb8fb3c3a4929489
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| 3 |
+
size 6985999
|
index/episodes.csv
CHANGED
|
@@ -4361,3 +4361,4 @@ c8_p016_e011,0,True,0.030059814453125,0.45000648498535156,-0.0001668751705675689
|
|
| 4361 |
c9_p020_e016,0,True,-0.11749553680419922,0.44708251953125,-0.014835953146600378,-0.0006107902964879102,7.679104093024392,plate_96_black,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.183827929378229,684.458068129177,rect,0.1140489466951039,0.18424420045226952,2.8394214442040346,14068.467124908175,4676.846607651907,sphere,-1.3286621938925633,0.2638885041994552,1.6153377433814153,9623.883450823316,4126.445907764207,0.04602821543812752,-0.0037555338349193335,-0.029407989233732224,-0.27965468168258667,0.6450846791267395,0.6506132483482361,-0.2869868278503418,0.04602740705013275,0.5684269666671753,1.9512171745300293,0.027630683034658432,0.011730900965631008,0.2872465252876282,0.9573861956596375,1205,1,,2.1455976963043213,0.2673197427515185,0.0,0.007316126488149166,0.5286307053941909,12,release,0.042633771896362305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4362 |
c9_p020_e017,3,True,0.04015827178955078,0.4499969482421875,-0.0040407285053809,-0.008146280838852065,3.413808581986359,plate_384_white,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,684.458068129177,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.04591171070933342,-0.0010374448029324412,-0.025005612522363663,-0.2799614369869232,0.6532498598098755,0.6424599289894104,-0.2865857779979706,0.04118609428405762,0.5665013194084167,1.9513169527053833,0.05032390356063843,0.014741308987140656,0.2788114845752716,0.9589130878448486,1220,1,,2.0797030925750732,0.30312748070415274,0.0,0.007380586117506027,0.5229508196721312,12,release,0.042285919189453125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4363 |
c9_p020_e018,2,True,0.06084918975830078,0.4500141143798828,0.011437127836058394,0.011747492676653978,-10.662223669850988,plate_1536_black,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2759007374844401,684.458068129177,rect,0.1822516602975751,0.43078561465225296,2.7110296018057087,8056.745921803904,4605.313772522941,disk,-1.1255095060710691,1.346718870703872,1.6875237951894941,2616.027619879795,2888.1855692278446,0.050261687487363815,0.0008648733492009342,-0.03046625666320324,-0.2693420946598053,0.6600990295410156,0.6475169062614441,-0.2691577970981598,0.0703406035900116,0.5765119791030884,1.9726670980453491,0.05311395972967148,-0.008500557392835617,0.26003265380859375,0.9641004204750061,1152,1,,2.084203004837036,0.2813495201122168,0.0,0.007379234302788973,0.5546875,12,release,0.042164772748947144,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4361 |
c9_p020_e016,0,True,-0.11749553680419922,0.44708251953125,-0.014835953146600378,-0.0006107902964879102,7.679104093024392,plate_96_black,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.183827929378229,684.458068129177,rect,0.1140489466951039,0.18424420045226952,2.8394214442040346,14068.467124908175,4676.846607651907,sphere,-1.3286621938925633,0.2638885041994552,1.6153377433814153,9623.883450823316,4126.445907764207,0.04602821543812752,-0.0037555338349193335,-0.029407989233732224,-0.27965468168258667,0.6450846791267395,0.6506132483482361,-0.2869868278503418,0.04602740705013275,0.5684269666671753,1.9512171745300293,0.027630683034658432,0.011730900965631008,0.2872465252876282,0.9573861956596375,1205,1,,2.1455976963043213,0.2673197427515185,0.0,0.007316126488149166,0.5286307053941909,12,release,0.042633771896362305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4362 |
c9_p020_e017,3,True,0.04015827178955078,0.4499969482421875,-0.0040407285053809,-0.008146280838852065,3.413808581986359,plate_384_white,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.21521413370312248,684.458068129177,rect,0.7875296694242656,-0.26169289975321386,3.142004377212563,6132.416261854063,5380.966998181636,disk,-1.381639119035489,0.944912218211641,2.322036696223775,8675.704683126347,5287.179205039141,0.04591171070933342,-0.0010374448029324412,-0.025005612522363663,-0.2799614369869232,0.6532498598098755,0.6424599289894104,-0.2865857779979706,0.04118609428405762,0.5665013194084167,1.9513169527053833,0.05032390356063843,0.014741308987140656,0.2788114845752716,0.9589130878448486,1220,1,,2.0797030925750732,0.30312748070415274,0.0,0.007380586117506027,0.5229508196721312,12,release,0.042285919189453125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4363 |
c9_p020_e018,2,True,0.06084918975830078,0.4500141143798828,0.011437127836058394,0.011747492676653978,-10.662223669850988,plate_1536_black,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2759007374844401,684.458068129177,rect,0.1822516602975751,0.43078561465225296,2.7110296018057087,8056.745921803904,4605.313772522941,disk,-1.1255095060710691,1.346718870703872,1.6875237951894941,2616.027619879795,2888.1855692278446,0.050261687487363815,0.0008648733492009342,-0.03046625666320324,-0.2693420946598053,0.6600990295410156,0.6475169062614441,-0.2691577970981598,0.0703406035900116,0.5765119791030884,1.9726670980453491,0.05311395972967148,-0.008500557392835617,0.26003265380859375,0.9641004204750061,1152,1,,2.084203004837036,0.2813495201122168,0.0,0.007379234302788973,0.5546875,12,release,0.042164772748947144,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4364 |
+
c9_p020_e019,1,True,-0.07697677612304688,0.44720935821533203,-0.00689483505105919,0.009920985640590105,2.6952783625067127,plate_96_white,0.526087760925293,0.08208084106445312,-87.08310295375541,0.16792311511915464,684.458068129177,rect,0.3699036502150389,-0.09523581586732288,2.875463060244191,15227.04110608742,7039.927508432166,sphere,-0.6044993953052235,0.483739207863503,2.65271499346534,7622.267937723778,3144.967071255935,0.045361801981925964,0.0005294059519656003,-0.02856031432747841,-0.27332964539527893,0.6518248319625854,0.6460126638412476,-0.28824108839035034,0.04927896335721016,0.5692929029464722,1.947108268737793,0.0290131326764822,0.010442333295941353,0.27505210041999817,0.9609346985816956,1303,1,,2.077954053878784,0.24814728323811894,0.0,0.007244766689836979,0.533384497313891,12,release,0.04238247871398926,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|