add 1 episodes (c6_p017_e004 .. c6_p017_e004); total 4741 {'v1': 1088, 'v2': 3653}
Browse files
episodes/c6_p017_e004/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:9c8f8441302994e4f229c7132510a2f5ab7e9a9a12c7cce2631c8d01e90f12b3
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size 200818
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episodes/c6_p017_e004/device_events.jsonl
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| 1 |
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{"env_id": 1, "seq": 1, "step": 25, "t": 0.125, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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| 2 |
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{"env_id": 1, "seq": 2, "step": 25, "t": 0.125, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 1, "seq": 3, "step": 30, "t": 0.15, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 634, "t": 3.17, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 5174, "t": 25.87, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 5788, "t": 28.94, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 5788, "t": 28.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8371875882279878}, "cause": "task-1-1"}
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| 8 |
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{"env_id": 1, "seq": 8, "step": 5788, "t": 28.94, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"}
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| 9 |
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{"env_id": 1, "seq": 9, "step": 5788, "t": 28.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 10 |
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{"env_id": 1, "seq": 10, "step": 5788, "t": 28.94, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
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| 11 |
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{"env_id": 1, "seq": 11, "step": 6207, "t": 31.035, "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 |
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{"env_id": 1, "seq": 12, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
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| 13 |
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{"env_id": 1, "seq": 13, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
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| 14 |
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{"env_id": 1, "seq": 14, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"}
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| 15 |
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{"env_id": 1, "seq": 15, "step": 6207, "t": 31.035, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
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| 17 |
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{"env_id": 1, "seq": 17, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
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| 18 |
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{"env_id": 1, "seq": 18, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 19 |
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{"env_id": 1, "seq": 19, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8371875882279878}, "cause": "program-1-3"}
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| 20 |
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{"env_id": 1, "seq": 20, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 21 |
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{"env_id": 1, "seq": 21, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8400000000007672}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.8400000000007672}}, "cause": "program-1-3"}
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| 23 |
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{"env_id": 1, "seq": 23, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
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| 24 |
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{"env_id": 1, "seq": 24, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 25 |
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{"env_id": 1, "seq": 25, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 7195, "t": 35.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 27 |
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{"env_id": 1, "seq": 27, "step": 7195, "t": 35.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.0676051154234756e-08}, "cause": "program-1-4"}
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| 28 |
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{"env_id": 1, "seq": 28, "step": 7195, "t": 35.975, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.0676051154234756e-08}, "cause": "program-1-4"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 7195, "t": 35.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"}
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| 30 |
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{"env_id": 1, "seq": 30, "step": 7195, "t": 35.975, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 31 |
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{"env_id": 1, "seq": 31, "step": 7195, "t": 35.975, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 32 |
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{"env_id": 1, "seq": 32, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 33 |
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{"env_id": 1, "seq": 33, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
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| 34 |
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{"env_id": 1, "seq": 34, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
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| 35 |
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{"env_id": 1, "seq": 35, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 36 |
+
{"env_id": 1, "seq": 36, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
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episodes/c6_p017_e004/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:4ba7fb014c365390f8365507868bfa43aa9fb58602bf1b6072f536b32927f013
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size 1316997
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episodes/c6_p017_e004/meta.json
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{
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| 2 |
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"source": "raw/c6_p017/magicsim/4",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1227,
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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": 1227,
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| 8 |
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"env": 1227
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| 9 |
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},
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| 10 |
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"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 |
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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 |
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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/c6_p017_e004/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 |
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"restore_interface": {
|
| 13 |
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"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
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"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
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},
|
| 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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{
|
| 24 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
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|
| 26 |
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|
| 27 |
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0.0,
|
| 28 |
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| 29 |
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| 30 |
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],
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| 31 |
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| 32 |
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|
| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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},
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 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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],
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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]
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| 84 |
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},
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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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{
|
| 113 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 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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| 120 |
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| 121 |
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| 122 |
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| 124 |
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| 126 |
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| 129 |
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| 130 |
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]
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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 |
+
],
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
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|
| 158 |
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| 159 |
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0.02,
|
| 160 |
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0.9605
|
| 161 |
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],
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| 162 |
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| 163 |
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1.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0,
|
| 166 |
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0.0
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| 167 |
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],
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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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1.0
|
| 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 |
+
},
|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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},
|
| 185 |
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|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 191 |
+
"pose": {
|
| 192 |
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|
| 193 |
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|
| 194 |
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0.02,
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| 195 |
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| 196 |
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],
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1.0,
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1.0
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]
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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},
|
| 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 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 226 |
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"pose": {
|
| 227 |
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"pos": [
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| 228 |
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|
| 229 |
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0.02,
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| 230 |
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| 231 |
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],
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| 232 |
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| 233 |
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1.0,
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| 234 |
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0.0,
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0.0,
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| 236 |
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0.0
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],
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]
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},
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| 246 |
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| 247 |
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},
|
| 250 |
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|
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|
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},
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|
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},
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 261 |
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| 262 |
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|
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6.123234262925839e-17,
|
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],
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},
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+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c6_p017_e004/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bd713ca8337b83720695371826b624ca7a73e1df33e2f20fc7961dc35e2afcf9
|
| 3 |
+
size 6764172
|
index/episodes.csv
CHANGED
|
@@ -4739,3 +4739,4 @@ c6_p017_e003,0,True,-0.0069122314453125,0.4499979019165039,0.005212813875352643,
|
|
| 4739 |
c9_p022_e020,1,True,-0.05861663818359375,0.4499979019165039,0.007125836563204955,0.006780643231421,-9.88490796962708,plate_12_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.23675684390213095,910.8524335437402,rect,0.1365171773955779,-0.29905073649443425,3.029672483886692,7570.684218190375,5442.731111942117,disk,1.1684526506784767,0.8275472934279409,2.548274062664444,6776.458322266292,6013.3851441160405,0.05135880038142204,0.0031096450984477997,-0.03307770937681198,-0.28790411353111267,0.6495689749717712,0.6470882892608643,-0.27649247646331787,0.07096070051193237,0.5888572931289673,1.9690749645233154,0.027995720505714417,0.014385326765477657,0.27791112661361694,0.9600909948348999,1252,1,,2.0881621837615967,0.25683181599965854,0.0,0.007304733153432608,0.5567092651757188,12,release,0.042670249938964844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4740 |
c9_p022_e021,2,True,0.030287742614746094,0.4472942352294922,-0.015509075671794393,-0.010277329748822958,8.324271239770354,plate_384_black,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22957592271792665,1552.2199964331944,rect,-0.16246897842752822,0.42488921336518914,2.7353594111421047,13271.586758393289,3452.395539967942,disk,0.13175403070411051,0.08922751220343583,2.2423652565510235,9930.626713014277,6579.178165062476,0.05035598576068878,-0.0001743200555210933,-0.03021489642560482,-0.28810009360313416,0.6487520933151245,0.6455066800117493,-0.2818514108657837,0.06172768399119377,0.584259033203125,1.960917353630066,0.039979368448257446,0.02506386861205101,0.28129076957702637,0.9584617614746094,1246,1,,2.1167361736297607,0.25791717623936883,0.0,0.00737699493765831,0.5208667736757624,12,release,0.042384564876556396,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4741 |
c9_p022_e022,3,True,-0.04041099548339844,0.4499988555908203,-0.008917836201543345,0.0019921017888301497,-3.34973850203545,plate_48_clear,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.26354194428338895,1552.2199964331944,rect,-0.008839545129919135,-0.0927913712072756,2.776923902534883,8816.257406030869,4500.178144350532,sphere,-0.12933117370512104,-0.669941652027823,2.5902892084126243,7675.730033424922,6527.621341674222,0.04661441221833229,-0.003750717965885997,-0.027097217738628387,-0.2785053849220276,0.6539918780326843,0.6491539478302002,-0.2707923948764801,0.06221272796392441,0.5607354044914246,1.9438116550445557,0.05089378356933594,0.009592583402991295,0.27967020869255066,0.9586982727050781,1256,1,,2.075133800506592,0.25880791818908283,0.0,0.007341854274272919,0.5573248407643312,12,release,0.04259520769119263,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4739 |
c9_p022_e020,1,True,-0.05861663818359375,0.4499979019165039,0.007125836563204955,0.006780643231421,-9.88490796962708,plate_12_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.23675684390213095,910.8524335437402,rect,0.1365171773955779,-0.29905073649443425,3.029672483886692,7570.684218190375,5442.731111942117,disk,1.1684526506784767,0.8275472934279409,2.548274062664444,6776.458322266292,6013.3851441160405,0.05135880038142204,0.0031096450984477997,-0.03307770937681198,-0.28790411353111267,0.6495689749717712,0.6470882892608643,-0.27649247646331787,0.07096070051193237,0.5888572931289673,1.9690749645233154,0.027995720505714417,0.014385326765477657,0.27791112661361694,0.9600909948348999,1252,1,,2.0881621837615967,0.25683181599965854,0.0,0.007304733153432608,0.5567092651757188,12,release,0.042670249938964844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4740 |
c9_p022_e021,2,True,0.030287742614746094,0.4472942352294922,-0.015509075671794393,-0.010277329748822958,8.324271239770354,plate_384_black,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22957592271792665,1552.2199964331944,rect,-0.16246897842752822,0.42488921336518914,2.7353594111421047,13271.586758393289,3452.395539967942,disk,0.13175403070411051,0.08922751220343583,2.2423652565510235,9930.626713014277,6579.178165062476,0.05035598576068878,-0.0001743200555210933,-0.03021489642560482,-0.28810009360313416,0.6487520933151245,0.6455066800117493,-0.2818514108657837,0.06172768399119377,0.584259033203125,1.960917353630066,0.039979368448257446,0.02506386861205101,0.28129076957702637,0.9584617614746094,1246,1,,2.1167361736297607,0.25791717623936883,0.0,0.00737699493765831,0.5208667736757624,12,release,0.042384564876556396,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4741 |
c9_p022_e022,3,True,-0.04041099548339844,0.4499988555908203,-0.008917836201543345,0.0019921017888301497,-3.34973850203545,plate_48_clear,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.26354194428338895,1552.2199964331944,rect,-0.008839545129919135,-0.0927913712072756,2.776923902534883,8816.257406030869,4500.178144350532,sphere,-0.12933117370512104,-0.669941652027823,2.5902892084126243,7675.730033424922,6527.621341674222,0.04661441221833229,-0.003750717965885997,-0.027097217738628387,-0.2785053849220276,0.6539918780326843,0.6491539478302002,-0.2707923948764801,0.06221272796392441,0.5607354044914246,1.9438116550445557,0.05089378356933594,0.009592583402991295,0.27967020869255066,0.9586982727050781,1256,1,,2.075133800506592,0.25880791818908283,0.0,0.007341854274272919,0.5573248407643312,12,release,0.04259520769119263,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4742 |
+
c6_p017_e004,1,True,-0.09991455078125,0.4499959945678711,0.0048685270321611315,-0.0006569360179716874,-0.2903055509364947,deep_well_96_1ml,0.5134105682373047,0.059731483459472656,-92.1737064442935,0.1594551205737037,915.7558575110756,rect,-0.23797129170412534,-0.06795155729821378,3.197931462333024,9790.969033169979,3550.2473616339785,sphere,-0.020624156007378325,-0.7190610511680506,1.8944267083560486,5271.336311043124,7175.002622015391,0.05176420509815216,0.0023778497707098722,-0.032766226679086685,-0.29178526997566223,0.6443657875061035,0.6487259268760681,-0.2807289659976959,0.02826613001525402,0.5899476408958435,1.9681940078735352,0.030086558312177658,0.026919515803456306,0.25663745403289795,0.9656642079353333,1227,1,,2.0326905250549316,0.33175356499945746,0.0,0.007469530217349529,0.5639771801140995,12,release,0.042546987533569336,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|