add 1 episodes (c9_p024_e008 .. c9_p024_e008); total 4825 {'v1': 1088, 'v2': 3737}
Browse files
episodes/c9_p024_e008/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:6ca02aefb730c43451a4a91cb869c36a54766bc1b75f18be96d238661c6461d4
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size 191446
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episodes/c9_p024_e008/device_events.jsonl
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| 1 |
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{"env_id": 1, "seq": 1, "step": 70, "t": 0.35, "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": 70, "t": 0.35, "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": 75, "t": 0.375, "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": 6470, "t": 32.35, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 7080, "t": 35.4, "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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| 6 |
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{"env_id": 1, "seq": 6, "step": 7080, "t": 35.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.90508886136922}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 7080, "t": 35.4, "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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| 8 |
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{"env_id": 1, "seq": 8, "step": 7080, "t": 35.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
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{"env_id": 1, "seq": 9, "step": 7080, "t": 35.4, "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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| 10 |
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{"env_id": 1, "seq": 10, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
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{"env_id": 1, "seq": 11, "step": 7499, "t": 37.495, "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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| 12 |
+
{"env_id": 1, "seq": 12, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"}
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| 13 |
+
{"env_id": 1, "seq": 13, "step": 7499, "t": 37.495, "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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| 14 |
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{"env_id": 1, "seq": 14, "step": 7499, "t": 37.495, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 15 |
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{"env_id": 1, "seq": 15, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
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| 16 |
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{"env_id": 1, "seq": 16, "step": 7499, "t": 37.495, "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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| 17 |
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{"env_id": 1, "seq": 17, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
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{"env_id": 1, "seq": 18, "step": 7499, "t": 37.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.90508886136922}, "cause": "program-1-3"}
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| 19 |
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{"env_id": 1, "seq": 19, "step": 8281, "t": 41.405, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
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{"env_id": 1, "seq": 20, "step": 8281, "t": 41.405, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9100000000020003}, "cause": "program-1-3"}
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| 21 |
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{"env_id": 1, "seq": 21, "step": 8281, "t": 41.405, "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": 3.9100000000020003}}, "cause": "program-1-3"}
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| 22 |
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{"env_id": 1, "seq": 22, "step": 8281, "t": 41.405, "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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| 23 |
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{"env_id": 1, "seq": 23, "step": 8281, "t": 41.405, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
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{"env_id": 1, "seq": 24, "step": 8281, "t": 41.405, "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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| 25 |
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{"env_id": 1, "seq": 25, "step": 8701, "t": 43.505, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 8701, "t": 43.505, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.861722105597437e-09}, "cause": "program-1-4"}
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| 27 |
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{"env_id": 1, "seq": 27, "step": 8701, "t": 43.505, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.861722105597437e-09}, "cause": "program-1-4"}
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| 28 |
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{"env_id": 1, "seq": 28, "step": 8701, "t": 43.505, "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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| 29 |
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{"env_id": 1, "seq": 29, "step": 8701, "t": 43.505, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 30 |
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{"env_id": 1, "seq": 30, "step": 8701, "t": 43.505, "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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| 31 |
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{"env_id": 1, "seq": 31, "step": 9283, "t": 46.415, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 32 |
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{"env_id": 1, "seq": 32, "step": 11016, "t": 55.08, "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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| 33 |
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{"env_id": 1, "seq": 33, "step": 11016, "t": 55.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
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| 34 |
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{"env_id": 1, "seq": 34, "step": 11016, "t": 55.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 11016, "t": 55.08, "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/c9_p024_e008/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:c482d5153fdf1415ef8afd8668e8f31e59c86d2c546bcb3446b8981e2e702c85
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size 1262762
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episodes/c9_p024_e008/meta.json
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{
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| 2 |
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"source": "raw/c9_p024/magicsim/8",
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| 3 |
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"fps": 25,
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| 4 |
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"frames": 1242,
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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": 1242,
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| 8 |
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"env": 1242
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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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],
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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 |
+
"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/c9_p024_e008/scene_snapshot.json
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| 1 |
+
{
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| 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 |
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| 11 |
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},
|
| 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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},
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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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{},
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| 21 |
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{
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| 22 |
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| 23 |
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{
|
| 24 |
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| 25 |
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| 26 |
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|
| 27 |
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0.0,
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| 28 |
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| 29 |
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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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| 35 |
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| 42 |
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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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}
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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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| 70 |
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| 72 |
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| 73 |
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| 74 |
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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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| 90 |
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| 91 |
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| 92 |
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],
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| 93 |
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| 94 |
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},
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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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| 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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],
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| 111 |
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|
| 112 |
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{
|
| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 131 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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|
| 147 |
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| 148 |
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| 149 |
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},
|
| 150 |
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|
| 151 |
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}
|
| 152 |
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],
|
| 153 |
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| 154 |
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{
|
| 155 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
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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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| 161 |
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],
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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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| 168 |
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| 169 |
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| 171 |
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1.0
|
| 172 |
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]
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| 173 |
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},
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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 |
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|
| 186 |
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},
|
| 187 |
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|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 221 |
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},
|
| 222 |
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|
| 223 |
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},
|
| 224 |
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{
|
| 225 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 226 |
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| 227 |
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| 228 |
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| 229 |
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],
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0.0
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},
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},
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|
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},
|
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{
|
| 260 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
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| 261 |
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|
episodes/c9_p024_e008/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 7062022
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index/episodes.csv
CHANGED
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@@ -4823,3 +4823,4 @@ c9_p024_e004,1,True,-0.10086822509765625,0.45000362396240234,0.01430619927925524
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| 4823 |
c9_p024_e005,3,True,0.1392679214477539,0.45000171661376953,-0.011780442088583625,-0.009582884333974315,-4.227177871368212,plate_48_clear,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.20259763183538113,507.81281538874134,rect,0.8260670807881233,-0.11231787329340737,2.6668962624730597,4264.920541877357,4864.917524632531,sphere,-0.7452923504854188,0.17992651172085572,2.477536268733955,1730.8407798962435,3051.9200125291018,0.048600099980831146,0.004226916003972292,-0.029308317229151726,-0.2826174795627594,0.650717556476593,0.6513531804084778,-0.26913386583328247,0.06704443693161011,0.5996347069740295,1.9449301958084106,0.0586860291659832,0.009583949111402035,0.2809089422225952,0.957890510559082,1166,1,,2.105968475341797,0.26587528912257763,0.0,0.007290730252861977,0.5351629502572899,12,release,0.04232507944107056,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4824 |
c9_p024_e006,0,True,0.10278034210205078,0.45000267028808594,0.00979806431580243,-0.00015837590844437687,8.486024578498359,deep_well_96_2ml,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22166348767054134,507.81281538874134,rect,-0.2876760638915599,0.433723795086398,3.1801992163813724,5838.1830763257485,4824.303621485134,disk,1.4235681086049516,1.4358447266766972,2.5915359954300925,10171.537682325734,3507.7726762904344,0.04588032886385918,0.001552797039039433,-0.033340465277433395,-0.2904163599014282,0.6469501256942749,0.6447908282279968,-0.285234272480011,0.04086845740675926,0.5706514120101929,1.9327787160873413,0.05784066393971443,0.013452112674713135,0.2624318599700928,0.9631214737892151,1169,1,,2.035447359085083,0.2607754162095924,0.0,0.007462960667908192,0.542343883661249,12,release,0.04257535934448242,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
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| 4825 |
c9_p024_e007,2,True,0.08655643463134766,0.4499950408935547,0.012638965781168946,-0.0028909363416699404,-2.451611563978304,plate_384_black,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.1808952087847443,507.81281538874134,rect,-0.594898889436563,0.26932772453484743,2.6256139761226267,6606.741468471269,6874.544086737507,disk,-0.058233820703579076,1.4642959428878537,2.5018286829228398,2775.2349451156815,4899.19598458025,0.04875541850924492,-0.0013006848748773336,-0.03174391761422157,-0.27166953682899475,0.660096287727356,0.6459363102912903,-0.27061936259269714,0.0406523160636425,0.5852265357971191,1.93837571144104,0.04469018056988716,0.01417017076164484,0.2762722969055176,0.959935188293457,1194,1,,2.084717273712158,0.2836859058801955,0.0,0.007417699322104454,0.5360134003350083,12,release,0.042302727699279785,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
| 4823 |
c9_p024_e005,3,True,0.1392679214477539,0.45000171661376953,-0.011780442088583625,-0.009582884333974315,-4.227177871368212,plate_48_clear,0.5186014175415039,0.1036224365234375,-92.19232068021707,0.20259763183538113,507.81281538874134,rect,0.8260670807881233,-0.11231787329340737,2.6668962624730597,4264.920541877357,4864.917524632531,sphere,-0.7452923504854188,0.17992651172085572,2.477536268733955,1730.8407798962435,3051.9200125291018,0.048600099980831146,0.004226916003972292,-0.029308317229151726,-0.2826174795627594,0.650717556476593,0.6513531804084778,-0.26913386583328247,0.06704443693161011,0.5996347069740295,1.9449301958084106,0.0586860291659832,0.009583949111402035,0.2809089422225952,0.957890510559082,1166,1,,2.105968475341797,0.26587528912257763,0.0,0.007290730252861977,0.5351629502572899,12,release,0.04232507944107056,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4824 |
c9_p024_e006,0,True,0.10278034210205078,0.45000267028808594,0.00979806431580243,-0.00015837590844437687,8.486024578498359,deep_well_96_2ml,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.22166348767054134,507.81281538874134,rect,-0.2876760638915599,0.433723795086398,3.1801992163813724,5838.1830763257485,4824.303621485134,disk,1.4235681086049516,1.4358447266766972,2.5915359954300925,10171.537682325734,3507.7726762904344,0.04588032886385918,0.001552797039039433,-0.033340465277433395,-0.2904163599014282,0.6469501256942749,0.6447908282279968,-0.285234272480011,0.04086845740675926,0.5706514120101929,1.9327787160873413,0.05784066393971443,0.013452112674713135,0.2624318599700928,0.9631214737892151,1169,1,,2.035447359085083,0.2607754162095924,0.0,0.007462960667908192,0.542343883661249,12,release,0.04257535934448242,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4825 |
c9_p024_e007,2,True,0.08655643463134766,0.4499950408935547,0.012638965781168946,-0.0028909363416699404,-2.451611563978304,plate_384_black,0.5175085067749023,0.06086158752441406,-93.89862631039945,0.1808952087847443,507.81281538874134,rect,-0.594898889436563,0.26932772453484743,2.6256139761226267,6606.741468471269,6874.544086737507,disk,-0.058233820703579076,1.4642959428878537,2.5018286829228398,2775.2349451156815,4899.19598458025,0.04875541850924492,-0.0013006848748773336,-0.03174391761422157,-0.27166953682899475,0.660096287727356,0.6459363102912903,-0.27061936259269714,0.0406523160636425,0.5852265357971191,1.93837571144104,0.04469018056988716,0.01417017076164484,0.2762722969055176,0.959935188293457,1194,1,,2.084717273712158,0.2836859058801955,0.0,0.007417699322104454,0.5360134003350083,12,release,0.042302727699279785,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 4826 |
+
c9_p024_e008,1,True,-0.11273670196533203,0.4499979019165039,0.007903961613858987,0.008373346511555387,2.330000118575583,deep_well_96_1ml,0.46871280670166016,0.10303306579589844,-93.30503348958119,0.2895852217680385,1006.030991799615,rect,0.7591772154265689,0.21378328521788081,2.6226965886427247,15603.450778078775,6596.892533151997,sphere,0.34380428230286797,0.8817215232153439,2.7677308104048635,5856.934726992684,2884.466907552146,0.050184305757284164,-0.0023154588416218758,-0.030301755294203758,-0.27693110704421997,0.6472220420837402,0.6528444290161133,-0.2796550393104553,0.04274435341358185,0.5825802683830261,1.9461175203323364,0.043701596558094025,-0.0023075342178344727,0.2834606170654297,0.9579848051071167,1242,1,,2.0758988857269287,0.290976020370193,0.0,0.007434951141476631,0.5120772946859904,12,release,0.04260873794555664,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|