add 1 episodes (c9_p026_e011 .. c9_p026_e011); total 4919 {'v1': 1088, 'v2': 3831}
Browse files
episodes/c9_p026_e011/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:a991ad419805a154f360dfd56818cbed5d25324fff2e2935dc1523d631e69888
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| 3 |
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size 188909
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episodes/c9_p026_e011/device_events.jsonl
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| 1 |
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{"env_id": 3, "seq": 1, "step": 125, "t": 0.625, "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": 3, "seq": 2, "step": 125, "t": 0.625, "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": 3, "seq": 3, "step": 130, "t": 0.65, "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": 3, "seq": 4, "step": 2151, "t": 10.755, "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": 3, "seq": 5, "step": 2184, "t": 10.92, "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": 3, "seq": 6, "step": 2229, "t": 11.145, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 7 |
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{"env_id": 3, "seq": 7, "step": 2273, "t": 11.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 8 |
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{"env_id": 3, "seq": 8, "step": 7050, "t": 35.25, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 9 |
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{"env_id": 3, "seq": 9, "step": 7660, "t": 38.3, "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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| 10 |
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{"env_id": 3, "seq": 10, "step": 7660, "t": 38.3, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.081257110795818}, "cause": "task-3-1"}
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| 11 |
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{"env_id": 3, "seq": 11, "step": 7660, "t": 38.3, "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"}
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| 12 |
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{"env_id": 3, "seq": 12, "step": 7660, "t": 38.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 13 |
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{"env_id": 3, "seq": 13, "step": 7660, "t": 38.3, "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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| 14 |
+
{"env_id": 3, "seq": 14, "step": 8079, "t": 40.395, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 15 |
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{"env_id": 3, "seq": 15, "step": 8079, "t": 40.395, "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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| 16 |
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{"env_id": 3, "seq": 16, "step": 8079, "t": 40.395, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
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| 17 |
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{"env_id": 3, "seq": 17, "step": 8079, "t": 40.395, "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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| 18 |
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{"env_id": 3, "seq": 18, "step": 8079, "t": 40.395, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
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| 19 |
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{"env_id": 3, "seq": 19, "step": 8079, "t": 40.395, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"}
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| 20 |
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{"env_id": 3, "seq": 20, "step": 8079, "t": 40.395, "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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| 21 |
+
{"env_id": 3, "seq": 21, "step": 8079, "t": 40.395, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 22 |
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{"env_id": 3, "seq": 22, "step": 8079, "t": 40.395, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.081257110795818}, "cause": "program-3-3"}
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| 23 |
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{"env_id": 3, "seq": 23, "step": 8896, "t": 44.48, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 24 |
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{"env_id": 3, "seq": 24, "step": 8896, "t": 44.48, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.08500000000209}, "cause": "program-3-3"}
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| 25 |
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{"env_id": 3, "seq": 25, "step": 8896, "t": 44.48, "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": 4.08500000000209}}, "cause": "program-3-3"}
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| 26 |
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{"env_id": 3, "seq": 26, "step": 8896, "t": 44.48, "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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| 27 |
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{"env_id": 3, "seq": 27, "step": 8896, "t": 44.48, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 28 |
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{"env_id": 3, "seq": 28, "step": 8896, "t": 44.48, "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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| 29 |
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{"env_id": 3, "seq": 29, "step": 9316, "t": 46.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 30 |
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{"env_id": 3, "seq": 30, "step": 9316, "t": 46.58, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.4550380051688876e-10}, "cause": "program-3-4"}
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| 31 |
+
{"env_id": 3, "seq": 31, "step": 9316, "t": 46.58, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.4550380051688876e-10}, "cause": "program-3-4"}
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| 32 |
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{"env_id": 3, "seq": 32, "step": 9316, "t": 46.58, "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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| 33 |
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{"env_id": 3, "seq": 33, "step": 9316, "t": 46.58, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
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| 34 |
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{"env_id": 3, "seq": 34, "step": 9316, "t": 46.58, "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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| 35 |
+
{"env_id": 3, "seq": 35, "step": 9895, "t": 49.475, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 36 |
+
{"env_id": 3, "seq": 36, "step": 11556, "t": 57.78, "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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| 37 |
+
{"env_id": 3, "seq": 37, "step": 11556, "t": 57.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"}
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| 38 |
+
{"env_id": 3, "seq": 38, "step": 11556, "t": 57.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 39 |
+
{"env_id": 3, "seq": 39, "step": 11556, "t": 57.78, "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/c9_p026_e011/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:bdcdb1c097ea2e2c5aafb6d98b61a9ca31f4009fc879187829f55822e475b1c2
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| 3 |
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size 1342291
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episodes/c9_p026_e011/meta.json
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@@ -0,0 +1,32 @@
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{
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| 2 |
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"source": "raw/c9_p026/magicsim/11",
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| 3 |
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"fps": 25,
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| 4 |
+
"frames": 1235,
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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": 1235,
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| 8 |
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"env": 1235
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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 |
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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 |
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"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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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 |
+
"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
+
"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_p026_e011/scene_snapshot.json
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c9_p026",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
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"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 |
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"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 |
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],
|
| 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 |
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],
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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},
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
+
},
|
| 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 |
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],
|
| 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 |
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0.55,
|
| 92 |
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0.56,
|
| 93 |
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0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
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"primitive_params": {
|
| 103 |
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"size": [
|
| 104 |
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0.2,
|
| 105 |
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0.2,
|
| 106 |
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0.015
|
| 107 |
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]
|
| 108 |
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}
|
| 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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0.0,
|
| 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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1.0,
|
| 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
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-0.6,
|
| 161 |
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0.02,
|
| 162 |
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0.9605
|
| 163 |
+
],
|
| 164 |
+
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|
| 165 |
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1.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0,
|
| 168 |
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0.0
|
| 169 |
+
],
|
| 170 |
+
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|
| 171 |
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1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
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|
| 177 |
+
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|
| 178 |
+
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|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$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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0.0,
|
| 202 |
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0.0,
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| 203 |
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1.0
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| 204 |
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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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"type": "geometry",
|
| 219 |
+
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|
| 220 |
+
"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_96_white/plate_96_white.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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"value": null,
|
| 250 |
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"visible": true
|
| 251 |
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},
|
| 252 |
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"physics": {
|
| 253 |
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"type": "geometry",
|
| 254 |
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"collision": false,
|
| 255 |
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"ratio": 1.0
|
| 256 |
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},
|
| 257 |
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"primitive_params": null
|
| 258 |
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},
|
| 259 |
+
"type_specific": {}
|
| 260 |
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},
|
| 261 |
+
{
|
| 262 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 263 |
+
"pose": {
|
| 264 |
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"pos": [
|
| 265 |
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-0.6,
|
| 266 |
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0.02,
|
| 267 |
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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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1.0
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+
0.9639792442321777
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.048412587493658066,
|
| 1547 |
+
0.5916352272033691,
|
| 1548 |
+
1.930591344833374,
|
| 1549 |
+
0.05459794029593468,
|
| 1550 |
+
0.011976929381489754,
|
| 1551 |
+
0.27535146474838257,
|
| 1552 |
+
0.9597172737121582
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p026_e011/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9477c4bf4b776e681c5c55f16df4df3ff11a41fc200061c99ae70fda249d9f32
|
| 3 |
+
size 6635138
|
index/episodes.csv
CHANGED
|
@@ -4917,3 +4917,4 @@ c9_p026_e007,2,True,-0.12005233764648438,0.45000457763671875,-0.0154476028409598
|
|
| 4917 |
c9_p026_e008,1,True,0.018926620483398438,0.4499988555908203,-0.0017566118822741122,-0.003594425968444957,-11.4946884289796,plate_96_white,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.28810822961563964,1592.129684819703,rect,0.43206515531634226,0.3151035522550175,2.6620905100803034,11601.445248405244,6144.1036665246,sphere,0.9502260232091571,0.15490921960849668,1.811059665318565,8476.390390931361,6521.8533002605745,0.0495077520608902,0.0013801472960039973,-0.03224167227745056,-0.2860659658908844,0.6450777649879456,0.6512737274169922,-0.27907609939575195,0.0620795413851738,0.5759180188179016,1.9485106468200684,0.05756858363747597,0.012912758626043797,0.2854853868484497,0.9565653204917908,1232,1,,2.082136631011963,0.2992250422280866,0.0,0.007303039543330669,0.515422077922078,12,release,0.042229413986206055,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4918 |
c9_p026_e009,2,True,0.02018451690673828,0.4499959945678711,0.005955436810760068,0.005143465832397512,7.3381207225458525,plate_1536_black,0.5164613723754883,0.08666610717773438,-88.19643052055247,0.15511914073978278,1592.129684819703,rect,0.19511477983985792,0.4461201440792004,3.004807472736233,6540.268973285543,4457.284181341929,disk,-0.8745008747032116,0.29465863136022885,1.7322360279549058,9553.238593095393,3800.2235384408154,0.05000259354710579,0.0036335079930722713,-0.03126559033989906,-0.2888910174369812,0.639421284198761,0.6537595391273499,-0.28333884477615356,0.0693863034248352,0.592836856842041,1.9297499656677246,0.06102532520890236,0.0210674237459898,0.2580235004425049,0.9639792442321777,1178,1,,2.1028525829315186,0.24501383055758452,0.0,0.007384824100881815,0.5551782682512734,12,release,0.042272090911865234,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4919 |
c9_p026_e010,0,True,-0.13149261474609375,0.4500007629394531,-0.0064997449515440085,0.004054869802822417,2.8811369319690243,deep_well_96_2ml,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.29216761130535773,1592.129684819703,rect,-0.2952775460498397,0.37005658169113786,2.919821083127755,15840.538857559353,4411.959257046989,disk,1.4642592137957635,0.5448324095824564,2.491254666135567,4261.201368577365,5940.780706635918,0.050801992416381836,-8.350715506821871e-05,-0.03194263204932213,-0.2812349200248718,0.6524046063423157,0.6459944844245911,-0.2792245149612427,0.06658098101615906,0.5647071003913879,1.9277410507202148,0.03124154545366764,0.0008264975040219724,0.2761457860469818,0.9606075286865234,1211,1,,2.049337387084961,0.2903770498763228,0.0,0.007508511655032635,0.5218827415359207,12,release,0.04290914535522461,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4917 |
c9_p026_e008,1,True,0.018926620483398438,0.4499988555908203,-0.0017566118822741122,-0.003594425968444957,-11.4946884289796,plate_96_white,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.28810822961563964,1592.129684819703,rect,0.43206515531634226,0.3151035522550175,2.6620905100803034,11601.445248405244,6144.1036665246,sphere,0.9502260232091571,0.15490921960849668,1.811059665318565,8476.390390931361,6521.8533002605745,0.0495077520608902,0.0013801472960039973,-0.03224167227745056,-0.2860659658908844,0.6450777649879456,0.6512737274169922,-0.27907609939575195,0.0620795413851738,0.5759180188179016,1.9485106468200684,0.05756858363747597,0.012912758626043797,0.2854853868484497,0.9565653204917908,1232,1,,2.082136631011963,0.2992250422280866,0.0,0.007303039543330669,0.515422077922078,12,release,0.042229413986206055,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4918 |
c9_p026_e009,2,True,0.02018451690673828,0.4499959945678711,0.005955436810760068,0.005143465832397512,7.3381207225458525,plate_1536_black,0.5164613723754883,0.08666610717773438,-88.19643052055247,0.15511914073978278,1592.129684819703,rect,0.19511477983985792,0.4461201440792004,3.004807472736233,6540.268973285543,4457.284181341929,disk,-0.8745008747032116,0.29465863136022885,1.7322360279549058,9553.238593095393,3800.2235384408154,0.05000259354710579,0.0036335079930722713,-0.03126559033989906,-0.2888910174369812,0.639421284198761,0.6537595391273499,-0.28333884477615356,0.0693863034248352,0.592836856842041,1.9297499656677246,0.06102532520890236,0.0210674237459898,0.2580235004425049,0.9639792442321777,1178,1,,2.1028525829315186,0.24501383055758452,0.0,0.007384824100881815,0.5551782682512734,12,release,0.042272090911865234,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4919 |
c9_p026_e010,0,True,-0.13149261474609375,0.4500007629394531,-0.0064997449515440085,0.004054869802822417,2.8811369319690243,deep_well_96_2ml,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.29216761130535773,1592.129684819703,rect,-0.2952775460498397,0.37005658169113786,2.919821083127755,15840.538857559353,4411.959257046989,disk,1.4642592137957635,0.5448324095824564,2.491254666135567,4261.201368577365,5940.780706635918,0.050801992416381836,-8.350715506821871e-05,-0.03194263204932213,-0.2812349200248718,0.6524046063423157,0.6459944844245911,-0.2792245149612427,0.06658098101615906,0.5647071003913879,1.9277410507202148,0.03124154545366764,0.0008264975040219724,0.2761457860469818,0.9606075286865234,1211,1,,2.049337387084961,0.2903770498763228,0.0,0.007508511655032635,0.5218827415359207,12,release,0.04290914535522461,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4920 |
+
c9_p026_e011,3,True,0.14856719970703125,0.45002079010009766,-0.010947393966639862,-0.003669227206387008,7.077277738061497,plate_384_white,0.5189428329467773,0.05177879333496094,-94.80259495649898,0.25970428289381187,1592.129684819703,rect,0.400779459750645,-0.34195081420939577,2.669093588316164,11186.449188837987,4937.385142171209,sphere,-0.2969533573396992,0.9179421447334326,2.341748575292671,4996.717510257355,4652.587620132747,0.04604851081967354,0.001708615687675774,-0.032574381679296494,-0.2802487909793854,0.6563355326652527,0.6393157243728638,-0.28628596663475037,0.048412587493658066,0.5916352272033691,1.930591344833374,0.05459794029593468,0.011976929381489754,0.27535146474838257,0.9597172737121582,1235,1,,2.0982346534729004,0.2621820429583321,0.0,0.007435827516019344,0.5117408906882591,12,release,0.042266845703125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|