add 1 episodes (c5_p014_e019 .. c5_p014_e019); total 4474 {'v1': 1088, 'v2': 3386}
Browse files
episodes/c5_p014_e019/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:b5bf16fff29afb5a5b8a29dc2481bcdb9402d778712618977eced8ee05e9a25d
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| 3 |
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size 202302
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episodes/c5_p014_e019/device_events.jsonl
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| 1 |
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{"env_id": 0, "seq": 1, "step": 35, "t": 0.175, "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": 0, "seq": 2, "step": 35, "t": 0.175, "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": 0, "seq": 3, "step": 40, "t": 0.2, "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": 0, "seq": 4, "step": 1108, "t": 5.54, "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": 0, "seq": 5, "step": 5695, "t": 28.475, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 6 |
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{"env_id": 0, "seq": 6, "step": 6316, "t": 31.58, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 7 |
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{"env_id": 0, "seq": 7, "step": 6316, "t": 31.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.63945103275691}, "cause": "task-0-1"}
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| 8 |
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{"env_id": 0, "seq": 8, "step": 6316, "t": 31.58, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
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| 9 |
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{"env_id": 0, "seq": 9, "step": 6316, "t": 31.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 10 |
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{"env_id": 0, "seq": 10, "step": 6316, "t": 31.58, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
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| 11 |
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{"env_id": 0, "seq": 11, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 12 |
+
{"env_id": 0, "seq": 12, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
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| 13 |
+
{"env_id": 0, "seq": 13, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
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| 14 |
+
{"env_id": 0, "seq": 14, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
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| 15 |
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{"env_id": 0, "seq": 15, "step": 6735, "t": 33.675, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
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| 16 |
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{"env_id": 0, "seq": 16, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"}
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| 17 |
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{"env_id": 0, "seq": 17, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
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| 18 |
+
{"env_id": 0, "seq": 18, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
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{"env_id": 0, "seq": 19, "step": 6735, "t": 33.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.63945103275691}, "cause": "program-0-3"}
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| 20 |
+
{"env_id": 0, "seq": 20, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 21 |
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{"env_id": 0, "seq": 21, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.640000000001862}, "cause": "program-0-3"}
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| 22 |
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{"env_id": 0, "seq": 22, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.640000000001862}}, "cause": "program-0-3"}
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| 23 |
+
{"env_id": 0, "seq": 23, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"}
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| 24 |
+
{"env_id": 0, "seq": 24, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 25 |
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{"env_id": 0, "seq": 25, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
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| 26 |
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{"env_id": 0, "seq": 26, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 27 |
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{"env_id": 0, "seq": 27, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.074031029726143e-10}, "cause": "program-0-4"}
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| 28 |
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{"env_id": 0, "seq": 28, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.074031029726143e-10}, "cause": "program-0-4"}
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| 29 |
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{"env_id": 0, "seq": 29, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"}
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| 30 |
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{"env_id": 0, "seq": 30, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
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| 31 |
+
{"env_id": 0, "seq": 31, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 32 |
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{"env_id": 0, "seq": 32, "step": 8463, "t": 42.315, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 33 |
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{"env_id": 0, "seq": 33, "step": 10740, "t": 53.7, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
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| 34 |
+
{"env_id": 0, "seq": 34, "step": 10740, "t": 53.7, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"}
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| 35 |
+
{"env_id": 0, "seq": 35, "step": 10740, "t": 53.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 36 |
+
{"env_id": 0, "seq": 36, "step": 10740, "t": 53.7, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
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episodes/c5_p014_e019/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:5b0b8c10aa91ce2d8d330522b1bd4bd33b72703e77b11805deb35d61255e0ba3
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| 3 |
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size 1364352
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episodes/c5_p014_e019/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/c5_p014/magicsim/19",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1261,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
+
"wrist": 1261,
|
| 8 |
+
"env": 1261
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| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
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"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
+
],
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| 20 |
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"joint_order": [
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| 21 |
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"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
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}
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episodes/c5_p014_e019/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 |
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"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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|
| 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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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
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|
| 25 |
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|
| 26 |
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0.0,
|
| 27 |
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| 28 |
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| 29 |
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],
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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0.0
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| 35 |
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],
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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},
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
+
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
+
},
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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},
|
| 60 |
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|
| 61 |
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}
|
| 62 |
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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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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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]
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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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|
| 93 |
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},
|
| 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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},
|
| 99 |
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|
| 100 |
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|
| 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 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
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|
| 114 |
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|
| 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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| 121 |
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| 123 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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},
|
| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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},
|
| 145 |
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|
| 146 |
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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 |
+
],
|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 155 |
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| 156 |
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| 157 |
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|
| 158 |
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| 159 |
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|
| 160 |
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],
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| 161 |
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| 162 |
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|
| 163 |
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| 164 |
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|
| 165 |
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| 166 |
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],
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| 167 |
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| 168 |
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| 169 |
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|
| 170 |
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1.0
|
| 171 |
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]
|
| 172 |
+
},
|
| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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},
|
| 179 |
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|
| 180 |
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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 |
+
},
|
| 186 |
+
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|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 190 |
+
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|
| 191 |
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|
| 192 |
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|
| 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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],
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]
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},
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| 208 |
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| 209 |
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| 211 |
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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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"type_specific": {}
|
| 222 |
+
},
|
| 223 |
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{
|
| 224 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 225 |
+
"pose": {
|
| 226 |
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"pos": [
|
| 227 |
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|
| 228 |
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0.02,
|
| 229 |
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|
| 230 |
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],
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| 231 |
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| 232 |
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1.0,
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| 233 |
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0.0,
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| 234 |
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0.0,
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| 235 |
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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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1.0
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]
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},
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| 243 |
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| 245 |
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| 246 |
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},
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| 249 |
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| 250 |
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|
| 251 |
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|
| 252 |
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|
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},
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| 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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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 260 |
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|
| 261 |
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|
| 262 |
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|
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0.02,
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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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],
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},
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| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c5_p014_e019/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:886b6978a54f7702d1cc10b7c8952c438fdd690315d52a25113099afbdee18d2
|
| 3 |
+
size 7012681
|
index/episodes.csv
CHANGED
|
@@ -4472,3 +4472,4 @@ c9_p021_e000,2,True,0.11504459381103516,0.44747352600097656,-0.00203065109704858
|
|
| 4472 |
c9_p021_e001,1,True,-0.028644561767578125,0.4500007629394531,-0.006258931525861296,0.007684734529350941,0.003118681901611353,pcr_384_red,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2267417729786232,449.2067176950759,rect,0.7475341249958803,0.058924055221995286,2.7066420997311433,12742.835756016357,6472.1639635710635,disk,0.26419080139568396,-1.060169033465179,2.456086572253189,7874.641520018682,4756.002554725414,0.045810431241989136,-7.322337478399277e-05,-0.026568841189146042,-0.29344597458839417,0.6415581107139587,0.6484155058860779,-0.28609439730644226,0.04508625343441963,0.5672869086265564,1.960472583770752,0.03930032253265381,0.01316249929368496,0.2867000102996826,0.9571234583854675,1306,1,,2.061671495437622,0.31776636058219976,0.0,0.006831645965576172,0.5352220520673813,12,release,0.042322397232055664,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4473 |
c9_p021_e002,3,True,-0.03868389129638672,0.44748878479003906,-0.0035985677946137233,0.0016960228554571074,4.3890922796057055,reservoir_12ch,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.252691037774297,449.2067176950759,rect,0.5282122348654977,0.1398516116997348,3.061388416501096,11610.583708334943,4754.0466234357245,disk,0.0037896702380808556,0.3957095784213309,2.17617518543874,3812.2875099275097,5510.249490435857,0.05081193149089813,0.0027487720362842083,-0.029975973069667816,-0.27926716208457947,0.6503823399543762,0.6548535823822021,-0.2649140954017639,0.05407003313302994,0.5876619815826416,1.931095004081726,0.030736977234482765,0.02898498624563217,0.2739686071872711,0.9608102440834045,1299,1,,2.0761470794677734,0.2767237520688783,0.0,0.007447118870913982,0.541955350269438,12,release,0.04242658615112305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4474 |
c9_p021_e003,0,True,-0.14703750610351562,0.45000362396240234,-0.00032161924920658173,0.0020227065078759973,7.638451040497955,plate_6_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.19160231863625307,449.2067176950759,rect,0.6774085846272943,0.13177150974324103,3.1314864374687574,12275.603174362612,5783.721342950846,sphere,0.7933581194009975,-1.126394117276121,2.102930469543884,6156.090522929595,6270.177140487284,0.05044311285018921,-0.002245662733912468,-0.025985272601246834,-0.2709384262561798,0.6460722088813782,0.6619619131088257,-0.2664385139942169,0.07142592966556549,0.5834779739379883,1.9456584453582764,0.04874095693230629,0.00977239292114973,0.27496519684791565,0.960168182849884,1271,1,,2.0859317779541016,0.3387957260363453,0.0,0.007368814200162888,0.4980330448465775,12,release,0.042075395584106445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4472 |
c9_p021_e001,1,True,-0.028644561767578125,0.4500007629394531,-0.006258931525861296,0.007684734529350941,0.003118681901611353,pcr_384_red,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.2267417729786232,449.2067176950759,rect,0.7475341249958803,0.058924055221995286,2.7066420997311433,12742.835756016357,6472.1639635710635,disk,0.26419080139568396,-1.060169033465179,2.456086572253189,7874.641520018682,4756.002554725414,0.045810431241989136,-7.322337478399277e-05,-0.026568841189146042,-0.29344597458839417,0.6415581107139587,0.6484155058860779,-0.28609439730644226,0.04508625343441963,0.5672869086265564,1.960472583770752,0.03930032253265381,0.01316249929368496,0.2867000102996826,0.9571234583854675,1306,1,,2.061671495437622,0.31776636058219976,0.0,0.006831645965576172,0.5352220520673813,12,release,0.042322397232055664,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4473 |
c9_p021_e002,3,True,-0.03868389129638672,0.44748878479003906,-0.0035985677946137233,0.0016960228554571074,4.3890922796057055,reservoir_12ch,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.252691037774297,449.2067176950759,rect,0.5282122348654977,0.1398516116997348,3.061388416501096,11610.583708334943,4754.0466234357245,disk,0.0037896702380808556,0.3957095784213309,2.17617518543874,3812.2875099275097,5510.249490435857,0.05081193149089813,0.0027487720362842083,-0.029975973069667816,-0.27926716208457947,0.6503823399543762,0.6548535823822021,-0.2649140954017639,0.05407003313302994,0.5876619815826416,1.931095004081726,0.030736977234482765,0.02898498624563217,0.2739686071872711,0.9608102440834045,1299,1,,2.0761470794677734,0.2767237520688783,0.0,0.007447118870913982,0.541955350269438,12,release,0.04242658615112305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4474 |
c9_p021_e003,0,True,-0.14703750610351562,0.45000362396240234,-0.00032161924920658173,0.0020227065078759973,7.638451040497955,plate_6_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.19160231863625307,449.2067176950759,rect,0.6774085846272943,0.13177150974324103,3.1314864374687574,12275.603174362612,5783.721342950846,sphere,0.7933581194009975,-1.126394117276121,2.102930469543884,6156.090522929595,6270.177140487284,0.05044311285018921,-0.002245662733912468,-0.025985272601246834,-0.2709384262561798,0.6460722088813782,0.6619619131088257,-0.2664385139942169,0.07142592966556549,0.5834779739379883,1.9456584453582764,0.04874095693230629,0.00977239292114973,0.27496519684791565,0.960168182849884,1271,1,,2.0859317779541016,0.3387957260363453,0.0,0.007368814200162888,0.4980330448465775,12,release,0.042075395584106445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4475 |
+
c5_p014_e019,0,True,-0.05620861053466797,0.45000267028808594,0.007478163636448677,-0.008708607537655642,-3.491887334829073,plate_96_black,0.5151042938232422,0.09217453002929688,-87.25871703894035,0.25854898050861114,1027.7386106566971,rect,0.6753045613115832,-0.400107632978449,2.7513817794388076,12081.355392393434,4905.8672056922305,disk,-0.1255854432446024,1.5005031755018183,1.7047400515954085,8421.762322953835,3726.3451070696237,0.04944757744669914,0.0022744457237422466,-0.028178870677947998,-0.28734543919563293,0.6495214104652405,0.6448045372962952,-0.2824564278125763,0.03325847536325455,0.5827802419662476,1.9389303922653198,0.03344035521149635,0.0034678420051932335,0.2682478129863739,0.9627631306648254,1261,1,,2.096271514892578,0.2558626975354282,0.0,0.007314018905162811,0.5551149881046789,12,release,0.04231536388397217,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|