add 2 episodes (c6_p019_e015 .. c9_p025_e015); total 4900 {'v1': 1088, 'v2': 3812}
Browse files- episodes/c6_p019_e015/data.npz +3 -0
- episodes/c6_p019_e015/device_events.jsonl +35 -0
- episodes/c6_p019_e015/env.mp4 +3 -0
- episodes/c6_p019_e015/meta.json +32 -0
- episodes/c6_p019_e015/scene_snapshot.json +1558 -0
- episodes/c6_p019_e015/wrist.mp4 +3 -0
- episodes/c9_p025_e015/data.npz +3 -0
- episodes/c9_p025_e015/device_events.jsonl +38 -0
- episodes/c9_p025_e015/env.mp4 +3 -0
- episodes/c9_p025_e015/meta.json +32 -0
- episodes/c9_p025_e015/scene_snapshot.json +1558 -0
- episodes/c9_p025_e015/wrist.mp4 +3 -0
- index/episodes.csv +2 -0
episodes/c6_p019_e015/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:6ffc4393acf2e0aea95d2deacc9984b37548deedfb9778b67f61285a464556d9
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size 199802
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episodes/c6_p019_e015/device_events.jsonl
ADDED
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| 1 |
+
{"env_id": 3, "seq": 1, "step": 214, "t": 1.07, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
+
{"env_id": 3, "seq": 2, "step": 214, "t": 1.07, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 219, "t": 1.095, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
+
{"env_id": 3, "seq": 4, "step": 6383, "t": 31.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 6 |
+
{"env_id": 3, "seq": 6, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.9078251571047198}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
+
{"env_id": 3, "seq": 9, "step": 6996, "t": 34.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
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| 10 |
+
{"env_id": 3, "seq": 10, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
+
{"env_id": 3, "seq": 11, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
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| 12 |
+
{"env_id": 3, "seq": 12, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
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| 13 |
+
{"env_id": 3, "seq": 13, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
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| 14 |
+
{"env_id": 3, "seq": 14, "step": 7415, "t": 37.075, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
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| 15 |
+
{"env_id": 3, "seq": 15, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"}
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| 16 |
+
{"env_id": 3, "seq": 16, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
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| 17 |
+
{"env_id": 3, "seq": 17, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
+
{"env_id": 3, "seq": 18, "step": 7415, "t": 37.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.9078251571047198}, "cause": "program-3-3"}
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| 19 |
+
{"env_id": 3, "seq": 19, "step": 7797, "t": 38.985, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
+
{"env_id": 3, "seq": 20, "step": 7797, "t": 38.985, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9100000000009771}, "cause": "program-3-3"}
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| 21 |
+
{"env_id": 3, "seq": 21, "step": 7797, "t": 38.985, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.9100000000009771}}, "cause": "program-3-3"}
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| 22 |
+
{"env_id": 3, "seq": 22, "step": 7797, "t": 38.985, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
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| 23 |
+
{"env_id": 3, "seq": 23, "step": 7797, "t": 38.985, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
+
{"env_id": 3, "seq": 24, "step": 7797, "t": 38.985, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
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| 25 |
+
{"env_id": 3, "seq": 25, "step": 8217, "t": 41.085, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 3, "seq": 26, "step": 8217, "t": 41.085, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.805618042918013e-09}, "cause": "program-3-4"}
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| 27 |
+
{"env_id": 3, "seq": 27, "step": 8217, "t": 41.085, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.805618042918013e-09}, "cause": "program-3-4"}
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| 28 |
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{"env_id": 3, "seq": 28, "step": 8217, "t": 41.085, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
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| 29 |
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{"env_id": 3, "seq": 29, "step": 8217, "t": 41.085, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
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| 30 |
+
{"env_id": 3, "seq": 30, "step": 8217, "t": 41.085, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 31 |
+
{"env_id": 3, "seq": 31, "step": 8797, "t": 43.985, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 32 |
+
{"env_id": 3, "seq": 32, "step": 11052, "t": 55.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
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| 33 |
+
{"env_id": 3, "seq": 33, "step": 11052, "t": 55.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"}
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| 34 |
+
{"env_id": 3, "seq": 34, "step": 11052, "t": 55.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 3, "seq": 35, "step": 11052, "t": 55.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
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episodes/c6_p019_e015/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:f32aba8b8a81ffdcdd6deed2a057d95853167c11faa650693d3d7282bbc882de
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size 1260923
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episodes/c6_p019_e015/meta.json
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{
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| 2 |
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"source": "raw/c6_p019/magicsim/15",
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| 3 |
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"fps": 25,
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| 4 |
+
"frames": 1219,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1219,
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| 8 |
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"env": 1219
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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 |
+
"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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| 20 |
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"joint_order": [
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| 21 |
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"shoulder_pan",
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| 22 |
+
"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 |
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"finger_left",
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| 28 |
+
"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_p019_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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|
| 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 |
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{
|
| 24 |
+
"rac_cell": [
|
| 25 |
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{
|
| 26 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
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|
| 28 |
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|
| 29 |
+
0.0,
|
| 30 |
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|
| 31 |
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| 32 |
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],
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| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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| 37 |
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0.0
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| 38 |
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],
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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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]
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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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|
| 52 |
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|
| 53 |
+
"collision": false,
|
| 54 |
+
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
+
},
|
| 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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{
|
| 68 |
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"asset": "Cube",
|
| 69 |
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|
| 70 |
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|
| 71 |
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0.0,
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| 72 |
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| 73 |
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|
| 74 |
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],
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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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],
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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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0.56,
|
| 93 |
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0.58
|
| 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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"type": "geometry",
|
| 99 |
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|
| 100 |
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"ratio": 1.0
|
| 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 |
+
],
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 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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| 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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],
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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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]
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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 |
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},
|
| 152 |
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|
| 153 |
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}
|
| 154 |
+
],
|
| 155 |
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|
| 156 |
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{
|
| 157 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 158 |
+
"pose": {
|
| 159 |
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|
| 160 |
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|
| 161 |
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0.02,
|
| 162 |
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|
| 163 |
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],
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| 164 |
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|
| 165 |
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1.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0,
|
| 168 |
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0.0
|
| 169 |
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],
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| 170 |
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| 171 |
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|
| 172 |
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1.0,
|
| 173 |
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1.0
|
| 174 |
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]
|
| 175 |
+
},
|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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},
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"ratio": 1.0
|
| 186 |
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},
|
| 187 |
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|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
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{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 193 |
+
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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| 198 |
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],
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| 201 |
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],
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]
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},
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| 211 |
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| 212 |
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| 214 |
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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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|
| 223 |
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},
|
| 224 |
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"type_specific": {}
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 228 |
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"pose": {
|
| 229 |
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"pos": [
|
| 230 |
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|
| 231 |
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| 232 |
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| 233 |
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],
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| 234 |
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| 235 |
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1.0,
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| 236 |
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0.0,
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0.0,
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0.0
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],
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1.0,
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1.0
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]
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},
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| 246 |
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},
|
| 252 |
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|
| 253 |
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"type": "geometry",
|
| 254 |
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|
| 255 |
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|
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},
|
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|
| 258 |
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},
|
| 259 |
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|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 263 |
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|
| 264 |
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|
| 265 |
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|
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],
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|
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0.6035110354423523,
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1.9658641815185547,
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| 1549 |
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0.03204578906297684,
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| 1550 |
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0.009271298535168171,
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| 1551 |
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0.2849830090999603,
|
| 1552 |
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0.9579519033432007
|
| 1553 |
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|
| 1554 |
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|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c6_p019_e015/wrist.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 sha256:9f3bb38013265d264cebc39049f97295594ced8b1403de26ec7debc28b6e0f6b
|
| 3 |
+
size 6607641
|
episodes/c9_p025_e015/data.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:37210f6a8a694d67089f71a41fd97ef77eaccdcb9d31462a1dfccbfbf1ec8594
|
| 3 |
+
size 204159
|
episodes/c9_p025_e015/device_events.jsonl
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 3, "seq": 1, "step": 260, "t": 1.3, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 260, "t": 1.3, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 265, "t": 1.325, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 825, "t": 4.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 873, "t": 4.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 1012, "t": 5.06, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 5710, "t": 28.55, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 6320, "t": 31.6, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 6320, "t": 31.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.324595279423956}, "cause": "task-3-1"}
|
| 10 |
+
{"env_id": 3, "seq": 10, "step": 6320, "t": 31.6, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 11 |
+
{"env_id": 3, "seq": 11, "step": 6320, "t": 31.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 12 |
+
{"env_id": 3, "seq": 12, "step": 6320, "t": 31.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 13 |
+
{"env_id": 3, "seq": 13, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 16 |
+
{"env_id": 3, "seq": 16, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 6739, "t": 33.695, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 6739, "t": 33.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.324595279423956}, "cause": "program-3-3"}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.325000000002213}, "cause": "program-3-3"}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.325000000002213}}, "cause": "program-3-3"}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
|
| 26 |
+
{"env_id": 3, "seq": 26, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 27 |
+
{"env_id": 3, "seq": 27, "step": 7604, "t": 38.02, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 28 |
+
{"env_id": 3, "seq": 28, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1359895779605722e-07}, "cause": "program-3-4"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1359895779605722e-07}, "cause": "program-3-4"}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
|
| 32 |
+
{"env_id": 3, "seq": 32, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 8024, "t": 40.12, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 8603, "t": 43.015, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 10876, "t": 54.38, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 36 |
+
{"env_id": 3, "seq": 36, "step": 10876, "t": 54.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"}
|
| 37 |
+
{"env_id": 3, "seq": 37, "step": 10876, "t": 54.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 38 |
+
{"env_id": 3, "seq": 38, "step": 10876, "t": 54.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
|
episodes/c9_p025_e015/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:948bccba256d3c69cfaa06863e6b553c7877461833a9e54c7489eb458a0f8c16
|
| 3 |
+
size 1404266
|
episodes/c9_p025_e015/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c9_p025/magicsim/15",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1315,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1315,
|
| 8 |
+
"env": 1315
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c9_p025_e015/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c9_p025",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
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"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
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"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
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0.0
|
| 32 |
+
],
|
| 33 |
+
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|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
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0.0,
|
| 37 |
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0.0
|
| 38 |
+
],
|
| 39 |
+
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|
| 40 |
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|
| 41 |
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1.0,
|
| 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 |
+
},
|
| 51 |
+
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|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
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|
| 60 |
+
},
|
| 61 |
+
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|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
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"pos": [
|
| 71 |
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0.0,
|
| 72 |
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0.0,
|
| 73 |
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|
| 74 |
+
],
|
| 75 |
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|
| 76 |
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1.0,
|
| 77 |
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0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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|
| 82 |
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1.0,
|
| 83 |
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1.0,
|
| 84 |
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1.0
|
| 85 |
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]
|
| 86 |
+
},
|
| 87 |
+
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|
| 88 |
+
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|
| 89 |
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"kind": "color",
|
| 90 |
+
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|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
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"size": [
|
| 104 |
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0.2,
|
| 105 |
+
0.2,
|
| 106 |
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0.015
|
| 107 |
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]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
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|
| 119 |
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0.02,
|
| 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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0.0,
|
| 126 |
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| 127 |
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],
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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 |
+
},
|
| 140 |
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|
| 141 |
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"type": "geometry",
|
| 142 |
+
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|
| 143 |
+
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|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
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|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
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-0.6,
|
| 161 |
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0.02,
|
| 162 |
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0.9605
|
| 163 |
+
],
|
| 164 |
+
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|
| 165 |
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1.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0,
|
| 168 |
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0.0
|
| 169 |
+
],
|
| 170 |
+
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| 171 |
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1.0,
|
| 172 |
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1.0,
|
| 173 |
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1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
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|
| 177 |
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|
| 178 |
+
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|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
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|
| 183 |
+
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|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
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-0.6,
|
| 196 |
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0.02,
|
| 197 |
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1.0285
|
| 198 |
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],
|
| 199 |
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|
| 200 |
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6.123234262925839e-17,
|
| 201 |
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| 202 |
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| 203 |
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1.0
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| 204 |
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],
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| 205 |
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| 206 |
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1.0,
|
| 207 |
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1.0,
|
| 208 |
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1.0
|
| 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 |
+
"visible": true
|
| 216 |
+
},
|
| 217 |
+
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|
| 218 |
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|
| 219 |
+
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|
| 220 |
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"ratio": 1.0
|
| 221 |
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},
|
| 222 |
+
"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 228 |
+
"pose": {
|
| 229 |
+
"pos": [
|
| 230 |
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-0.6,
|
| 231 |
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0.02,
|
| 232 |
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1.0965
|
| 233 |
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],
|
| 234 |
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|
| 235 |
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1.0,
|
| 236 |
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0.0,
|
| 237 |
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0.0,
|
| 238 |
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0.0
|
| 239 |
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],
|
| 240 |
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|
| 241 |
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1.0,
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| 242 |
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1.0,
|
| 243 |
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1.0
|
| 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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"kind": null,
|
| 249 |
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|
| 250 |
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"visible": true
|
| 251 |
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},
|
| 252 |
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|
| 253 |
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"type": "geometry",
|
| 254 |
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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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|
| 1534 |
+
0.961103081703186
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.05036257579922676,
|
| 1538 |
+
0.5868447422981262,
|
| 1539 |
+
1.9649384021759033,
|
| 1540 |
+
0.05379027500748634,
|
| 1541 |
+
0.021481826901435852,
|
| 1542 |
+
0.2712976634502411,
|
| 1543 |
+
0.9607511162757874
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.03215157240629196,
|
| 1547 |
+
0.602575421333313,
|
| 1548 |
+
1.927708387374878,
|
| 1549 |
+
0.054292671382427216,
|
| 1550 |
+
0.007852000184357166,
|
| 1551 |
+
0.2781124711036682,
|
| 1552 |
+
0.9589807391166687
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p025_e015/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:db85d6fd446a16bd3e4ecd3b2dc55723010cc801aada13fadc525f0ae2151dc0
|
| 3 |
+
size 7130203
|
index/episodes.csv
CHANGED
|
@@ -4897,3 +4897,5 @@ c6_p019_e014,2,True,-0.06023979187011719,0.45000362396240234,0.00465903106127856
|
|
| 4897 |
c9_p025_e012,0,True,0.08991050720214844,0.4499979019165039,-0.009819943436159911,0.011046446054670587,11.056901443505922,pcr_96_blue,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.21596851428265268,1577.5967434007493,rect,0.8955035023709926,-0.47188130947407525,3.1646080176347495,9169.787418956661,4303.536963246842,sphere,1.2955988618529135,-1.0144572872653048,2.136101022136398,4207.752307799472,3707.5927942323874,0.05026902258396149,-0.0007837606826797128,-0.027201302349567413,-0.264700323343277,0.662338137626648,0.6431148648262024,-0.2786489725112915,0.052395470440387726,0.5872323513031006,1.9415485858917236,0.04998708516359329,0.018343277275562286,0.26204919815063477,0.9635844826698303,1220,1,,2.0542140007019043,0.2606236769710097,0.0,0.006874571554362774,0.5172131147540984,12,release,0.04230642318725586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4898 |
c9_p025_e013,1,True,0.1369037628173828,0.45000171661376953,0.01094726718384777,-0.0005676246392746035,3.071793766880461,pcr_384_red,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.26093807196170726,1577.5967434007493,rect,0.050645198910660105,-0.07600656887140489,2.7137226924136604,15769.538337366554,5650.519568593985,disk,0.47591843822663504,-0.19080216146769402,2.7605666721288733,2708.7087956890527,5802.779426999163,0.048673536628484726,-0.0019002928165718913,-0.02903863787651062,-0.28770628571510315,0.6538664698600769,0.6430010795593262,-0.2761039435863495,0.06637074798345566,0.5725247859954834,1.9306588172912598,0.04344796761870384,0.004259924869984388,0.27271774411201477,0.961103081703186,1158,1,,2.103893756866455,0.33387187182918854,0.0,0.006850650534033775,0.5449050086355786,12,release,0.04215806722640991,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4899 |
c9_p025_e014,2,True,0.12100791931152344,0.4475107192993164,-0.013068742385930726,0.0008039648576411769,-7.843257387823513,plate_384_black,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.15680549077623637,1577.5967434007493,rect,-0.1031553261196076,-0.22880846061883886,3.033191194212951,13382.532908730247,3201.4303908863444,sphere,1.6212399843535068,-1.0610264415708017,1.8577553902897757,3480.786004934419,3095.018409292983,0.05513269081711769,0.0036351033486425877,-0.03194981813430786,-0.2743925452232361,0.6613032817840576,0.6395035982131958,-0.28003907203674316,0.05036257579922676,0.5868447422981262,1.9649384021759033,0.05379027500748634,0.021481826901435852,0.2712976634502411,0.9607511162757874,1258,1,,2.103135347366333,0.3377018884451612,0.0,0.0074253985658288,0.5079491255961844,12,release,0.04235243797302246,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
|
|
|
| 4897 |
c9_p025_e012,0,True,0.08991050720214844,0.4499979019165039,-0.009819943436159911,0.011046446054670587,11.056901443505922,pcr_96_blue,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.21596851428265268,1577.5967434007493,rect,0.8955035023709926,-0.47188130947407525,3.1646080176347495,9169.787418956661,4303.536963246842,sphere,1.2955988618529135,-1.0144572872653048,2.136101022136398,4207.752307799472,3707.5927942323874,0.05026902258396149,-0.0007837606826797128,-0.027201302349567413,-0.264700323343277,0.662338137626648,0.6431148648262024,-0.2786489725112915,0.052395470440387726,0.5872323513031006,1.9415485858917236,0.04998708516359329,0.018343277275562286,0.26204919815063477,0.9635844826698303,1220,1,,2.0542140007019043,0.2606236769710097,0.0,0.006874571554362774,0.5172131147540984,12,release,0.04230642318725586,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4898 |
c9_p025_e013,1,True,0.1369037628173828,0.45000171661376953,0.01094726718384777,-0.0005676246392746035,3.071793766880461,pcr_384_red,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.26093807196170726,1577.5967434007493,rect,0.050645198910660105,-0.07600656887140489,2.7137226924136604,15769.538337366554,5650.519568593985,disk,0.47591843822663504,-0.19080216146769402,2.7605666721288733,2708.7087956890527,5802.779426999163,0.048673536628484726,-0.0019002928165718913,-0.02903863787651062,-0.28770628571510315,0.6538664698600769,0.6430010795593262,-0.2761039435863495,0.06637074798345566,0.5725247859954834,1.9306588172912598,0.04344796761870384,0.004259924869984388,0.27271774411201477,0.961103081703186,1158,1,,2.103893756866455,0.33387187182918854,0.0,0.006850650534033775,0.5449050086355786,12,release,0.04215806722640991,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4899 |
c9_p025_e014,2,True,0.12100791931152344,0.4475107192993164,-0.013068742385930726,0.0008039648576411769,-7.843257387823513,plate_384_black,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.15680549077623637,1577.5967434007493,rect,-0.1031553261196076,-0.22880846061883886,3.033191194212951,13382.532908730247,3201.4303908863444,sphere,1.6212399843535068,-1.0610264415708017,1.8577553902897757,3480.786004934419,3095.018409292983,0.05513269081711769,0.0036351033486425877,-0.03194981813430786,-0.2743925452232361,0.6613032817840576,0.6395035982131958,-0.28003907203674316,0.05036257579922676,0.5868447422981262,1.9649384021759033,0.05379027500748634,0.021481826901435852,0.2712976634502411,0.9607511162757874,1258,1,,2.103135347366333,0.3377018884451612,0.0,0.0074253985658288,0.5079491255961844,12,release,0.04235243797302246,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4900 |
+
c6_p019_e015,3,True,-0.1035308837890625,0.4471721649169922,0.009258429076225264,-0.011458095354620335,-2.1117877107166123,plate_384_white,0.5114650726318359,0.12754154205322266,-93.1389491124915,0.17126679766920874,1020.503444014836,rect,-0.5812220043606833,-0.35948091245143965,2.8560771054342613,12289.85383486191,3737.983469616792,disk,1.7941740108928395,-0.8599090288729128,2.42467679411177,8582.697335166948,6491.38823443422,0.05071026831865311,-0.0016537747578695416,-0.029479660093784332,-0.2740824520587921,0.6503820419311523,0.6469759941101074,-0.28862443566322327,0.06747972965240479,0.6035110354423523,1.9658641815185547,0.03204578906297684,0.009271298535168171,0.2849830090999603,0.9579519033432007,1219,1,,2.116231918334961,0.3072147670392083,0.0,0.007376416586339474,0.5709598031173093,12,release,0.042169809341430664,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4901 |
+
c9_p025_e015,3,True,-0.02176952362060547,0.4475870132446289,-0.002971844106384806,0.007704899713418223,-2.538531667635965,plate_384_white,0.5164613723754883,0.08666610717773438,-88.19643052055247,0.15217298876912952,1577.5967434007493,rect,0.6192178052581886,-0.25651806973117064,3.0217799231759273,11502.526232116583,6376.6962482591025,disk,-0.8744997597807649,0.6222660198290906,2.610317930592224,4805.638889934795,3608.7224313753763,0.04754051938652992,-0.0005249459063634276,-0.028319107368588448,-0.2857300937175751,0.6480278372764587,0.6463444232940674,-0.2840019166469574,0.03215157240629196,0.602575421333313,1.927708387374878,0.054292671382427216,0.007852000184357166,0.2781124711036682,0.9589807391166687,1315,1,,2.086940050125122,0.2832378283030222,0.0,0.0074179647490382195,0.5330798479087453,12,release,0.04261946678161621,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|