add 1 episodes (c9_p024_e039 .. c9_p024_e039); total 4872 {'v1': 1088, 'v2': 3784}
Browse files
episodes/c9_p024_e039/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:65144696cf5cf1919ded401774ed07f83dcd4daf4f6c03d64003bff504f4f25a
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size 188421
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episodes/c9_p024_e039/device_events.jsonl
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| 1 |
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{"env_id": 2, "seq": 1, "step": 63, "t": 0.315, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
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{"env_id": 2, "seq": 2, "step": 63, "t": 0.315, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 2, "seq": 3, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
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{"env_id": 2, "seq": 4, "step": 2202, "t": 11.01, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 5 |
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{"env_id": 2, "seq": 5, "step": 2223, "t": 11.115, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 6 |
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{"env_id": 2, "seq": 6, "step": 6914, "t": 34.57, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 7 |
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{"env_id": 2, "seq": 7, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 8 |
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{"env_id": 2, "seq": 8, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.117856216759689}, "cause": "task-2-1"}
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| 9 |
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{"env_id": 2, "seq": 9, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"}
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| 10 |
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{"env_id": 2, "seq": 10, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 11 |
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{"env_id": 2, "seq": 11, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
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| 12 |
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{"env_id": 2, "seq": 12, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 13 |
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{"env_id": 2, "seq": 13, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
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| 14 |
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{"env_id": 2, "seq": 14, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"}
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| 15 |
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{"env_id": 2, "seq": 15, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"}
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| 16 |
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{"env_id": 2, "seq": 16, "step": 7943, "t": 39.715, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
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| 17 |
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{"env_id": 2, "seq": 17, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"}
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| 18 |
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{"env_id": 2, "seq": 18, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"}
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| 19 |
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{"env_id": 2, "seq": 19, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 20 |
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{"env_id": 2, "seq": 20, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.117856216759689}, "cause": "program-2-3"}
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| 21 |
+
{"env_id": 2, "seq": 21, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 22 |
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{"env_id": 2, "seq": 22, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.120000000002108}, "cause": "program-2-3"}
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| 23 |
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{"env_id": 2, "seq": 23, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.120000000002108}}, "cause": "program-2-3"}
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| 24 |
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{"env_id": 2, "seq": 24, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
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| 25 |
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{"env_id": 2, "seq": 25, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 26 |
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{"env_id": 2, "seq": 26, "step": 8767, "t": 43.835, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
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| 27 |
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{"env_id": 2, "seq": 27, "step": 9187, "t": 45.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 28 |
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{"env_id": 2, "seq": 28, "step": 9187, "t": 45.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"}
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| 29 |
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{"env_id": 2, "seq": 29, "step": 9187, "t": 45.935, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"}
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| 30 |
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{"env_id": 2, "seq": 30, "step": 9187, "t": 45.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
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| 31 |
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{"env_id": 2, "seq": 31, "step": 9187, "t": 45.935, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
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| 32 |
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{"env_id": 2, "seq": 32, "step": 9187, "t": 45.935, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 33 |
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{"env_id": 2, "seq": 33, "step": 9767, "t": 48.835, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 34 |
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{"env_id": 2, "seq": 34, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
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| 35 |
+
{"env_id": 2, "seq": 35, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"}
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| 36 |
+
{"env_id": 2, "seq": 36, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 37 |
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{"env_id": 2, "seq": 37, "step": 11448, "t": 57.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"}
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episodes/c9_p024_e039/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:86ef4c6475be3dc73fd5f4572aa06345a5dd31df0e1e24c66930fd7ba88c7caf
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size 1324572
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episodes/c9_p024_e039/meta.json
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{
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| 2 |
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"source": "raw/c9_p024/magicsim/39",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1215,
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| 5 |
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"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1215,
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| 8 |
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"env": 1215
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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 |
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"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
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"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
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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 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
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"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c9_p024_e039/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
"run_id": "c9_p024",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
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"snapshot": {
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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{},
|
| 21 |
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{},
|
| 22 |
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{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
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|
| 28 |
+
0.0,
|
| 29 |
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|
| 30 |
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|
| 31 |
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],
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| 32 |
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|
| 33 |
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|
| 34 |
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0.0,
|
| 35 |
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| 36 |
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0.0
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| 37 |
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],
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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]
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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|
| 49 |
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},
|
| 50 |
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|
| 51 |
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"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
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|
| 54 |
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"static_friction": 0.6,
|
| 55 |
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|
| 56 |
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|
| 57 |
+
},
|
| 58 |
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|
| 59 |
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},
|
| 60 |
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|
| 61 |
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},
|
| 62 |
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|
| 63 |
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}
|
| 64 |
+
],
|
| 65 |
+
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|
| 66 |
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{
|
| 67 |
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"asset": "Cube",
|
| 68 |
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|
| 69 |
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|
| 70 |
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0.0,
|
| 71 |
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| 72 |
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| 73 |
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],
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| 74 |
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|
| 75 |
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|
| 76 |
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| 77 |
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| 78 |
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|
| 79 |
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],
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| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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| 84 |
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]
|
| 85 |
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},
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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| 90 |
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|
| 91 |
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0.56,
|
| 92 |
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0.58
|
| 93 |
+
],
|
| 94 |
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"visible": true
|
| 95 |
+
},
|
| 96 |
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|
| 97 |
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"type": "geometry",
|
| 98 |
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|
| 99 |
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"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
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|
| 102 |
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"size": [
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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]
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
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{
|
| 114 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
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|
| 116 |
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|
| 117 |
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| 118 |
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|
| 119 |
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| 120 |
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],
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| 121 |
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| 122 |
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|
| 123 |
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| 124 |
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| 125 |
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| 126 |
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],
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| 127 |
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| 128 |
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| 129 |
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|
| 130 |
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| 131 |
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]
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| 132 |
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},
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| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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},
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
+
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|
| 143 |
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|
| 144 |
+
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|
| 145 |
+
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|
| 146 |
+
},
|
| 147 |
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|
| 148 |
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},
|
| 149 |
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|
| 150 |
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},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
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|
| 155 |
+
{
|
| 156 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
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|
| 160 |
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0.02,
|
| 161 |
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0.9605
|
| 162 |
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],
|
| 163 |
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|
| 164 |
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1.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0
|
| 168 |
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],
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| 169 |
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| 170 |
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1.0,
|
| 171 |
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1.0,
|
| 172 |
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1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
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|
| 182 |
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|
| 183 |
+
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|
| 184 |
+
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|
| 185 |
+
},
|
| 186 |
+
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|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
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|
| 194 |
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-0.6,
|
| 195 |
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0.02,
|
| 196 |
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| 197 |
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],
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| 198 |
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| 199 |
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|
| 200 |
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0.0,
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0.0,
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| 202 |
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1.0
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],
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| 204 |
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| 205 |
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1.0,
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| 206 |
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1.0,
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| 207 |
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1.0
|
| 208 |
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]
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| 209 |
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},
|
| 210 |
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| 211 |
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| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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},
|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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},
|
| 221 |
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|
| 222 |
+
},
|
| 223 |
+
"type_specific": {}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 227 |
+
"pose": {
|
| 228 |
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"pos": [
|
| 229 |
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-0.6,
|
| 230 |
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0.02,
|
| 231 |
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1.0965
|
| 232 |
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],
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| 233 |
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| 234 |
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1.0,
|
| 235 |
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0.0,
|
| 236 |
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0.0,
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| 237 |
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0.0
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],
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| 239 |
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| 240 |
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1.0,
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1.0,
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1.0
|
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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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|
| 249 |
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|
| 250 |
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},
|
| 251 |
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|
| 252 |
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"type": "geometry",
|
| 253 |
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|
| 254 |
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"ratio": 1.0
|
| 255 |
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},
|
| 256 |
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|
| 257 |
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},
|
| 258 |
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"type_specific": {}
|
| 259 |
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},
|
| 260 |
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{
|
| 261 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 262 |
+
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|
| 263 |
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|
| 264 |
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-0.6,
|
| 265 |
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0.02,
|
| 266 |
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1.1645
|
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],
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6.123234262925839e-17,
|
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0.0,
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0.0,
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1.0
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],
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1.0,
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1.0,
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0.28234368562698364,
|
| 1552 |
+
0.9578770399093628
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p024_e039/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8e0d705f0bb779849853827bc31a955b917a5334e6fe84099a740f7157aa5f77
|
| 3 |
+
size 6417119
|
index/episodes.csv
CHANGED
|
@@ -4870,3 +4870,4 @@ c6_p019_e003,3,True,0.0037822723388671875,0.4499998092651367,0.00091791885229182
|
|
| 4870 |
c9_p024_e036,1,True,-0.12752437591552734,0.45000267028808594,-0.009740075651711578,-0.009664341630704449,10.599837663783859,pcr_384_red,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.2808369494449282,1558.7046514462777,rect,-0.2700074145475939,0.4590683209936238,2.681109158454526,8601.39613277966,4156.60865992118,sphere,-1.1906170422060478,0.3605832032348941,2.671440772014558,8263.74781003598,5507.130337807566,0.049465030431747437,0.0015250942669808865,-0.03175907954573631,-0.27536824345588684,0.6556934714317322,0.649308443069458,-0.2695122957229614,0.02753857523202896,0.5671562552452087,1.9611656665802002,0.029004396870732307,0.0005957544199191034,0.265938937664032,0.963553249835968,1215,1,,2.114842176437378,0.31501978126653246,0.0,0.0068184612318873405,0.5185185185185185,12,release,0.04205584526062012,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4871 |
c9_p024_e037,3,True,-0.0969095230102539,0.4475526809692383,0.011571095049774454,-0.006959751066490255,-0.2130291024975577,plate_384_white,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.15519088388612118,1558.7046514462777,rect,0.05389825064901965,0.5396565112623786,3.1572131817203797,5250.668907532277,6968.312859917415,sphere,-0.04544974788641376,0.7781700132752252,2.1192311333442855,9195.356137631683,5602.217945583847,0.050147492438554764,-0.0006625351961702108,-0.026244040578603745,-0.28720980882644653,0.6388715505599976,0.6613926291465759,-0.26816675066947937,0.033953141421079636,0.5666172504425049,1.9746037721633911,0.05245256423950195,0.001526221982203424,0.28234368562698364,0.9578770399093628,1163,1,,2.071221113204956,0.31109062698333156,0.0,0.007409440353512764,0.5468615649183147,12,release,0.04209160804748535,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4872 |
c9_p024_e038,0,True,-0.03670024871826172,0.45000362396240234,0.0031698464343494553,0.00259229100447435,-11.44487968225252,plate_6_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.197652221366104,1558.7046514462777,rect,0.7231506464877978,0.18760416202231545,3.0548226433655343,5272.892181657897,6706.341360539796,disk,1.7128589184303538,0.2957987396498265,2.4741674581507134,4766.888066585068,4885.732411866801,0.051031023263931274,-0.00029806396923959255,-0.02955584041774273,-0.2813308537006378,0.6443134546279907,0.6597696542739868,-0.26536235213279724,0.02750466577708721,0.5966234803199768,1.9413890838623047,0.033654820173978806,0.011854720301926136,0.2605234384536743,0.96480792760849,1209,1,,2.0452799797058105,0.316371621157884,0.0,0.007408667355775833,0.5301902398676592,12,release,0.04227757453918457,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4870 |
c9_p024_e036,1,True,-0.12752437591552734,0.45000267028808594,-0.009740075651711578,-0.009664341630704449,10.599837663783859,pcr_384_red,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.2808369494449282,1558.7046514462777,rect,-0.2700074145475939,0.4590683209936238,2.681109158454526,8601.39613277966,4156.60865992118,sphere,-1.1906170422060478,0.3605832032348941,2.671440772014558,8263.74781003598,5507.130337807566,0.049465030431747437,0.0015250942669808865,-0.03175907954573631,-0.27536824345588684,0.6556934714317322,0.649308443069458,-0.2695122957229614,0.02753857523202896,0.5671562552452087,1.9611656665802002,0.029004396870732307,0.0005957544199191034,0.265938937664032,0.963553249835968,1215,1,,2.114842176437378,0.31501978126653246,0.0,0.0068184612318873405,0.5185185185185185,12,release,0.04205584526062012,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4871 |
c9_p024_e037,3,True,-0.0969095230102539,0.4475526809692383,0.011571095049774454,-0.006959751066490255,-0.2130291024975577,plate_384_white,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.15519088388612118,1558.7046514462777,rect,0.05389825064901965,0.5396565112623786,3.1572131817203797,5250.668907532277,6968.312859917415,sphere,-0.04544974788641376,0.7781700132752252,2.1192311333442855,9195.356137631683,5602.217945583847,0.050147492438554764,-0.0006625351961702108,-0.026244040578603745,-0.28720980882644653,0.6388715505599976,0.6613926291465759,-0.26816675066947937,0.033953141421079636,0.5666172504425049,1.9746037721633911,0.05245256423950195,0.001526221982203424,0.28234368562698364,0.9578770399093628,1163,1,,2.071221113204956,0.31109062698333156,0.0,0.007409440353512764,0.5468615649183147,12,release,0.04209160804748535,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4872 |
c9_p024_e038,0,True,-0.03670024871826172,0.45000362396240234,0.0031698464343494553,0.00259229100447435,-11.44487968225252,plate_6_clear,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.197652221366104,1558.7046514462777,rect,0.7231506464877978,0.18760416202231545,3.0548226433655343,5272.892181657897,6706.341360539796,disk,1.7128589184303538,0.2957987396498265,2.4741674581507134,4766.888066585068,4885.732411866801,0.051031023263931274,-0.00029806396923959255,-0.02955584041774273,-0.2813308537006378,0.6443134546279907,0.6597696542739868,-0.26536235213279724,0.02750466577708721,0.5966234803199768,1.9413890838623047,0.033654820173978806,0.011854720301926136,0.2605234384536743,0.96480792760849,1209,1,,2.0452799797058105,0.316371621157884,0.0,0.007408667355775833,0.5301902398676592,12,release,0.04227757453918457,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4873 |
+
c9_p024_e039,2,True,0.1491222381591797,0.45000171661376953,0.010572239612846401,0.005114002470677418,-6.290415164414128,plate_384_black,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.24666202611506274,1558.7046514462777,rect,-0.04010888147825764,0.39040999576584257,2.6646701847644043,5176.23020994519,3284.368064571909,disk,-1.0600021913968298,-0.8262284045237618,2.2847237179294067,9915.267807536127,3675.6684878564847,0.04904565215110779,-0.0006775039946660399,-0.031091228127479553,-0.280815064907074,0.6552361249923706,0.6428126096725464,-0.28035780787467957,0.07319077104330063,0.5585158467292786,1.9393267631530762,0.04823150113224983,0.01676054485142231,0.2821507751941681,0.9580103158950806,1215,1,,2.09773325920105,0.3184247694887878,0.0,0.007417387329041958,0.522633744855967,12,release,0.04242551326751709,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|