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a/episodes/c7_p003_e001/env.mp4 b/episodes/c7_p003_e001/env.mp4 deleted file mode 100644 index 4fe51f9d74555d45791846313f77bbc4c15d4856..0000000000000000000000000000000000000000 --- a/episodes/c7_p003_e001/env.mp4 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2090f8787cc628e7012cf4146920b504fc3bcbae61da98c58e235afb4c30bdb2 -size 1233111 diff --git a/episodes/c7_p003_e001/meta.json b/episodes/c7_p003_e001/meta.json deleted file mode 100644 index 6476118182475557476efa3e8488d3a8273646a1..0000000000000000000000000000000000000000 --- a/episodes/c7_p003_e001/meta.json +++ /dev/null @@ -1,32 +0,0 @@ -{ - "source": "raw/c7_p003/magicsim/1", - "fps": 25, - "frames": 1201, - "kept_ticks": "even", - "video_frames": { - "wrist": 1201, - "env": 1201 - }, - "joint_target_source": "joint_pos_target", - "fk_vs_recorded_eef_max_m": 0.0, - "curobo_joints": [ - "shoulder_pan_joint", - "shoulder_lift_joint", - "elbow_joint", - "wrist_1_joint", - "wrist_2_joint", - 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"source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} -{"env_id": 2, "seq": 36, "step": 10684, "t": 53.42, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c8_p003_e001/env.mp4 b/episodes/c8_p003_e001/env.mp4 deleted file mode 100644 index 2f784dbd433dcc720baed6045804c5993c793cd0..0000000000000000000000000000000000000000 --- a/episodes/c8_p003_e001/env.mp4 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8adafbcff30e0592acd0eeaafa9c58541b19e4ad9e93e29598c1c61098c9c4e7 -size 1467853 diff --git a/episodes/c8_p003_e001/meta.json b/episodes/c8_p003_e001/meta.json deleted file mode 100644 index 9238da531174674eea5cb2206428b1ddce08e3a5..0000000000000000000000000000000000000000 --- a/episodes/c8_p003_e001/meta.json +++ /dev/null @@ -1,32 +0,0 @@ -{ - "source": "raw/c8_p003/magicsim/1", - "fps": 25, - "frames": 1299, - "kept_ticks": "even", - "video_frames": { - "wrist": 1299, - "env": 1299 - }, - "joint_target_source": "joint_pos_target", - "fk_vs_recorded_eef_max_m": 0.0, - "curobo_joints": [ - "shoulder_pan_joint", - "shoulder_lift_joint", - "elbow_joint", - "wrist_1_joint", - "wrist_2_joint", - "wrist_3_joint" - ], - "joint_order": [ - "shoulder_pan", - "shoulder_lift", - "elbow", - "wrist_1", - "wrist_2", - "wrist_3", - "finger_left", - "finger_right" - ], - "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", - "dr_version": "v2" -} \ No newline at end of file diff --git a/episodes/c8_p003_e001/scene_snapshot.json b/episodes/c8_p003_e001/scene_snapshot.json deleted file mode 100644 index 32ec1160f0cb40bb039dfc4cebd1afaa2a528817..0000000000000000000000000000000000000000 --- a/episodes/c8_p003_e001/scene_snapshot.json +++ /dev/null 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--- a/episodes/c9_p005_e007/wrist.mp4 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:20218fdbe864fdd46288d6a9ff5b003bb92dcb428102af3b63fdde442fd26683 -size 8534205 diff --git a/index/episodes.csv b/index/episodes.csv index 1ed623e7950274d6d0ea4aeb8aae6ff8b9bc1e0c..58259accb9402c4423be28a1ee723330d123fc13 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -1095,14 +1095,7 @@ c5_p003_e004,0,True,-0.0764923095703125,0.44998836517333984,0.007234875955896673 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-c7_p003_e002,0,True,-0.007412910461425781,0.4500007629394531,-0.002807586528518477,0.0038156734991221034,-6.441326542999462,pcr_96_blue,0.5159244537353516,0.10462760925292969,-90.89779615166947,0.18537347431973422,1173.9721408013365,rect,-0.5523939547284376,-0.10162899896938399,3.186228006050235,15871.81462409709,3551.794638624303,sphere,-0.7088048553747253,-0.4265128444221129,2.424684323429428,2578.4871968159828,3978.097910179849,0.046870678663253784,-0.002346784807741642,-0.026289168745279312,-0.28123828768730164,0.6473188400268555,0.653387188911438,-0.27380385994911194,0.0276031531393528,0.5986195802688599,1.9308955669403076,0.04232422634959221,0.008585473522543907,0.27868714928627014,0.9594104290008545,1271,1,,2.1078555583953857,0.30952548757408443,0.0,0.006856952328234911,0.5554681353265145,12,release,0.042114973068237305,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c7_p003_e003,3,True,0.061430931091308594,0.45000267028808594,-0.005354872131539778,-0.010127521887179304,7.989430012197033,plate_96_clear,0.4787302017211914,0.07873058319091797,-91.79683951563818,0.2293242267863404,1173.9721408013365,rect,-0.5739970464988262,-0.3757304460062477,3.179322839986911,7575.74129431849,3734.882173059593,disk,0.8099027717788645,1.0604131008888584,1.7858155472297867,2134.9796798385837,6078.082599817988,0.049791522324085236,0.003221319057047367,-0.030830640345811844,-0.2570614218711853,0.6615099310874939,0.6461460590362549,-0.28074783086776733,0.05940505862236023,0.5662102699279785,1.9536892175674438,0.022371457889676094,0.008281528018414974,0.2676181197166443,0.9632297158241272,1235,1,,2.08618426322937,0.32853441519371795,0.0,0.007317869924008846,0.5238866396761134,12,release,0.04209327697753906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c8_p002_e035,1,True,0.06324005126953125,0.4499969482421875,0.013912788159668198,0.007735911451975126,-3.3043447001007564,plate_96_white,0.518733024597168,0.060001373291015625,-88.47974605674274,0.27661779581281054,913.4448766721906,rect,-0.2009591127177482,0.20189370600853962,2.9485226219984546,13718.843765419466,3874.0808416139103,disk,-1.3893186589100106,1.4862672929312508,1.654742287132749,10129.272851655613,7400.061276748092,0.05066126212477684,0.0014477238291874528,-0.028689734637737274,-0.29176580905914307,0.6461899876594543,0.6465821862220764,-0.28150081634521484,0.04605589061975479,0.5613265633583069,1.9380251169204712,0.033700473606586456,0.011154741048812866,0.25714755058288574,0.9657199382781982,1271,1,,2.0944015979766846,0.3134023703392107,0.0,0.007303922437131405,0.4988198269079465,12,release,0.04235696792602539,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False -c93_p000_e000,1,True,-0.12638473510742188,0.4474639892578125,-0.015162210448575972,0.0029451765018144276,8.554580946807818,plate_12_clear,0.4652223587036133,0.1083984375,-87.1876728955034,0.2439299672439629,518.2822541808684,rect,0.5334903815920825,-0.2969897638423533,3.191186510809466,12720.840456276514,6708.081998925369,sphere,0.9072221540353835,0.36047214932985194,2.307346824594647,5528.532843168705,5779.200952247895,0.049919724464416504,0.0012258236529305577,-0.031199272722005844,-0.2912716567516327,0.6444113254547119,0.6478720307350159,-0.2831196188926697,0.06610647588968277,0.5597470998764038,1.9276999235153198,0.05002906545996666,0.013734047301113605,0.257733553647995,0.9648221731185913,1181,1,,2.034064769744873,0.2750013913918258,0.0,0.007352431304752827,0.5385266723116003,12,release,0.0424954891204834,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c93_p000_e001,0,True,0.021274566650390625,0.44942665100097656,-0.008881836607097128,0.010624634385786834,-0.5907131976404685,deep_well_96_2ml,0.5290136337280273,0.07695960998535156,-94.06590840696501,0.29390859224326893,518.2822541808684,rect,0.43305682444694515,0.3424975167767713,2.6919707822274255,5868.02483526184,3934.2601460526143,disk,-0.7904328713694112,-0.5270252825198738,2.2442055280335724,3478.823458134927,5395.161998259369,0.05360419303178787,0.001783737912774086,-0.03028624877333641,-0.2866705060005188,0.6485536694526672,0.6503671407699585,-0.272434800863266,0.061307940632104874,0.5901226997375488,1.9287418127059937,0.04096509516239166,0.008817299269139767,0.28128719329833984,0.9587082862854004,1187,1,,2.0872843265533447,0.3099078942302034,0.0,0.007500768639147282,0.5366470092670598,12,release,0.04241657257080078,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c93_p000_e002,2,True,0.1202249526977539,0.44852352142333984,-0.008822672543230525,-0.004846371964888382,-2.659350742342525,plate_384_black,0.5011405944824219,0.05499267578125,-85.70203457528348,0.16474634621750234,518.2822541808684,rect,0.11357375931037261,0.4101900306891154,2.6882738088913594,7628.873452669068,5490.029372498088,sphere,1.3714659393740294,0.7874407266188417,2.2124847247828194,4671.38768600627,7233.903368281317,0.0499865896999836,0.002563590882346034,-0.03165530040860176,-0.2782020568847656,0.6552742719650269,0.6418958902359009,-0.28493669629096985,0.058119695633649826,0.5669971704483032,1.9414759874343872,0.05595887824892998,0.011499464511871338,0.2647227942943573,0.9626308679580688,1287,1,,2.1024067401885986,0.26337896416532697,0.0,0.007380244787782431,0.4988344988344988,12,release,0.04214322566986084,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c9_p004_e037,2,True,0.06708335876464844,0.45000362396240234,-0.0005924045757871445,-0.0008724946799635554,10.819126846468464,plate_24_clear,0.4781017303466797,0.06663703918457031,-87.10194016556967,0.18324594936887528,770.8213027417428,rect,-0.14588029799145225,-0.37454752012689185,3.1157579059027505,9485.025372599426,6005.102779195824,disk,0.5971560042077124,-0.7973231943102461,2.769573961469414,10844.36135681978,6687.097500034572,0.04647722467780113,0.004000742919743061,-0.03198874741792679,-0.2915729582309723,0.6410010457038879,0.6519080400466919,-0.2812805473804474,0.057772256433963776,0.5939313173294067,1.9508048295974731,0.059003159403800964,0.010392826050519943,0.28331735730171204,0.9571530222892761,1165,1,,2.058821678161621,0.2602311982191045,0.0,0.00733773410320282,0.5545064377682404,12,release,0.042356133460998535,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c9_p004_e038,1,True,-0.136749267578125,0.4474325180053711,0.007177915558208051,0.004416283217512352,9.28595368500234,plate_96_white,0.46751976013183594,0.11338996887207031,-94.03330475765746,0.29705059244792753,496.37526390390826,rect,0.46549956972764994,-0.1736037230215391,3.0692123775563105,7691.469269376612,3263.019809215356,disk,0.5055580624802913,0.23258979847726224,1.9295411850516848,2666.864184655182,6495.3268963413375,0.04820234701037407,0.00016397723811678588,-0.029056217521429062,-0.28353631496429443,0.6525207161903381,0.6476379036903381,-0.2727433741092682,0.03585110977292061,0.5615515112876892,1.9719973802566528,0.03354303166270256,0.01970076560974121,0.2756209969520569,0.9604789614677429,1242,1,,2.13081955909729,0.3366888198858481,0.0,0.0073015871457755566,0.5128824476650563,12,release,0.042051076889038086,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c9_p004_e039,0,True,-0.0910806655883789,0.4499969482421875,0.009379386894536565,3.705315974183872e-07,6.149147011102883,pcr_96_blue,0.5125951766967773,0.08607006072998047,-87.46649595791703,0.15425587182948014,770.8213027417428,rect,-0.5418193811285531,-0.033475881347131975,2.822570383470005,12585.048588100313,6665.190848641197,sphere,-1.1371487451122542,1.356718632242808,2.752565576300343,3587.6256427721164,5149.040037446146,0.04797259718179703,-0.0017200225265696645,-0.02827558107674122,-0.28437328338623047,0.651382565498352,0.651215672492981,-0.2659901976585388,0.03017612174153328,0.5669159889221191,1.955281376838684,0.02283046953380108,0.00043729296885430813,0.2701294422149658,0.9625532031059265,1158,1,,2.0737082958221436,0.3082173169258993,0.0,0.006818081252276897,0.5535405872193437,12,release,0.04211592674255371,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False @@ -1112,23 +1105,12 @@ c2_p004_e036,3,True,-0.12636280059814453,0.45000362396240234,0.00672729755557918 c2_p004_e037,2,True,-0.05361175537109375,0.44844818115234375,0.004539104401696578,-0.00014567048312233232,6.006431736304563,plate_24_clear,0.49597930908203125,0.11912250518798828,-85.0767963192906,0.24590459048357471,548.4656055871253,rect,0.5867147389299513,-0.2726689507911907,2.8847543524744834,11644.405111311726,6028.106037257474,disk,0.0883267929047018,0.6257458113976155,2.252749652550513,9503.828482407058,7000.42289017783,0.04584799334406853,-0.0011171323712915182,-0.028145741671323776,-0.27297765016555786,0.6471222043037415,0.6537261009216309,-0.28170594573020935,0.04193825647234917,0.565913736820221,1.969712257385254,0.041313447058200836,-0.004954589530825615,0.27820146083831787,0.9596210718154907,1235,1,,2.0838351249694824,0.31283401469035294,0.0,0.007290259934961796,0.5206477732793522,12,release,0.04235649108886719,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c2_p004_e038,1,True,-0.11008262634277344,0.4474372863769531,0.00603868105182109,0.011010553597383932,3.6103180227176495,plate_12_clear,0.5056638717651367,0.0655527114868164,-94.64321734016639,0.23690404318946057,548.4656055871253,rect,-0.1093320883455679,-0.144864438531299,2.620272929473807,7318.759277755098,4432.082981068497,disk,1.3107352637067788,-0.6196414896104231,2.055417561051388,7358.712395324228,3954.0676227062195,0.04672575742006302,0.00020815829338971525,-0.03422221541404724,-0.2826031744480133,0.6510375738143921,0.6488197445869446,-0.274442195892334,0.05637913942337036,0.6043341159820557,1.9690872430801392,0.022853504866361618,0.006928489543497562,0.2621304392814636,0.9647369384765625,1205,1,,2.129347562789917,0.25228336131597007,0.0,0.007318140007555485,0.5278008298755187,12,release,0.04223799705505371,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c4_p002_e036,2,True,0.1356334686279297,0.4499988555908203,-0.014437626563015542,-0.0016884218461413359,-0.8841416143286835,deep_well_24_10ml,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.17704041086563402,705.0561108344044,rect,-0.4168530879538871,-0.17214000973404797,2.864302633735577,7263.104958729111,3823.088684783058,disk,-1.5714766511765415,1.2428667836622604,1.7409305838665752,2516.3616140487893,4273.397592424868,0.047940995544195175,-0.001497588469646871,-0.027689749374985695,-0.2877964377403259,0.6388581991195679,0.6586042642593384,-0.2743607461452484,0.05816757678985596,0.5959747433662415,1.9697424173355103,0.052000969648361206,0.025135990232229233,0.266117662191391,0.96220862865448,1168,1,,2.1191647052764893,0.24701629481748336,0.0,0.007478934247046709,0.5436643835616438,12,release,0.04325532913208008,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False -c6_p003_e000,2,True,-0.12716197967529297,0.4499979019165039,0.0004215082944423076,0.001870158885145868,-10.525405295459251,plate_1536_black,0.4748668670654297,0.09039306640625,-92.62509431410274,0.2973563588857841,1499.9414806011307,rect,-0.10914768685685872,-0.3902638624774955,2.8482619585647497,10423.93547143152,6779.9696816824,disk,-0.5998639254880944,1.0160398480636765,1.9261760241129053,7246.498384394555,6358.685543022106,0.04827681928873062,0.001883538207039237,-0.031508564949035645,-0.29775944352149963,0.6431100368499756,0.6472840905189514,-0.28066375851631165,0.036077406257390976,0.5833885669708252,1.9622822999954224,0.05482682213187218,0.016577623784542084,0.2665714919567108,0.9621116518974304,1215,1,,2.0511531829833984,0.2977488319847892,0.0,0.007382662035524845,0.568724279835391,12,release,0.04256749153137207,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c6_p003_e001,0,True,-0.10556316375732422,0.4473295211791992,0.00757712175070946,0.00487727361212773,-3.1769922220768194,deep_well_96_2ml,0.5043811798095703,0.1029367446899414,-92.67006629959731,0.22079681275608834,1499.9414806011307,rect,0.3657194837484331,0.2696396521557489,3.041969995060167,13189.36619698509,3959.0911204769714,disk,1.1082161495615157,1.5004952570834191,1.9369121948731485,10442.793213014547,6545.255403636641,0.051244620233774185,0.0029277403373271227,-0.028419455513358116,-0.2825991213321686,0.6482692360877991,0.6452316045761108,-0.2890690863132477,0.07179605960845947,0.5848932862281799,1.9346896409988403,0.0505216084420681,-0.005855867639183998,0.2568995952606201,0.9650989174842834,1236,1,,2.1255691051483154,0.2612848940977242,0.0,0.007507386617362499,0.5145631067961165,12,release,0.04242444038391113,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c8_p002_e036,0,True,0.12497901916503906,0.4477806091308594,-0.008172643955227758,0.005388619087712775,-1.641442420487266,deep_well_96_2ml,0.5038890838623047,0.09006023406982422,-85.40875273040885,0.24705691722890977,514.2079948328933,rect,-0.47596460838471055,0.3370867590883717,2.776136279089671,8155.251707307283,6837.361196116525,sphere,-0.7160644062588561,0.24936557968420514,2.1592117583237154,2685.4707671938168,6692.183766507369,0.05179644376039505,0.0028838899452239275,-0.03333933651447296,-0.2816539406776428,0.6497452855110168,0.6491356492042542,-0.27771395444869995,0.03948301821947098,0.558908998966217,1.9428083896636963,0.05412495881319046,0.02383420430123806,0.2576894760131836,0.9644161462783813,1231,1,,2.139620065689087,0.3299714089366721,0.0,0.007504485547542572,0.5158407798537774,12,release,0.04251837730407715,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c8_p002_e037,2,True,0.12360286712646484,0.4500083923339844,-0.00985564450149964,-0.009863478359276671,5.95461361414965,plate_384_black,0.48504161834716797,0.08316230773925781,-92.94365989847441,0.21627134414268395,514.2079948328933,rect,-0.24096270831491695,-0.2545003994144621,3.0954964856316347,13561.84839216478,6168.497013563256,sphere,1.1799934184558714,0.26940152604213274,1.7267343103761892,9996.465576108816,6007.429759714791,0.04779822379350662,-0.0011811715085059404,-0.032471735030412674,-0.28083136677742004,0.6430938243865967,0.6611296534538269,-0.26546502113342285,0.05698876082897186,0.5892879366874695,1.9297404289245605,0.050817374140024185,0.0077971480786800385,0.2646329700946808,0.9629777669906616,1197,1,,2.043168783187866,0.32192370111719215,0.0,0.007376566529273987,0.529657477025898,12,release,0.042424917221069336,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False -c93_p000_e003,3,True,-0.08984375,0.4474334716796875,0.007504984164141597,0.006158462895374381,11.104641987534961,reservoir_12ch,0.48885631561279297,0.07589340209960938,-86.24639040857114,0.2867740252995513,518.2822541808684,rect,0.02237540081569478,0.4639031801007699,2.8309600148202256,8066.7901802438155,4867.317473319899,disk,-0.46788218041661267,0.49522096333692733,1.8938019281017493,2173.6258843192863,3636.3737448395586,0.050237420946359634,-0.0026360696647316217,-0.029542937874794006,-0.2691708505153656,0.6577215790748596,0.6415305137634277,-0.28876981139183044,0.07266376167535782,0.5716424584388733,1.9569010734558105,0.044648006558418274,0.008692433126270771,0.27703675627708435,0.959782063961029,1283,1,,2.1486411094665527,0.2493085601190779,0.0,0.007399050518870354,0.5424785658612626,12,release,0.04291343688964844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e000,0,True,0.13317489624023438,0.45000267028808594,-0.005243461110829006,-0.00540527109203276,2.052405409235263,plate_96_black,0.46751976013183594,0.11338996887207031,-94.03330475765746,0.1640670619462967,788.2309265206138,rect,-0.2574779034678029,0.12736677625152337,3.106217950292226,15470.523919722174,3586.7167989150657,disk,0.07876077835763184,0.010584401253636022,2.6403503068208183,7111.252742631306,5927.085444999078,0.053459931164979935,-0.0027793925255537033,-0.03454000502824783,-0.274408221244812,0.6535800695419312,0.6465073823928833,-0.2820662558078766,0.06905429065227509,0.569968581199646,1.9507197141647339,0.04058842733502388,0.0029008621349930763,0.25895485281944275,0.9650319218635559,1253,1,,2.1496007442474365,0.3221652852734956,0.0,0.007301815785467625,0.5035913806863528,12,release,0.04218798875808716,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e001,2,True,-0.12435340881347656,0.4499959945678711,-0.0070104595539880795,-0.00033951519930619614,-9.200008747138014,plate_384_black,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.1614119127003232,788.2309265206138,rect,0.03460529738027651,0.39831581791504145,2.9874712709057563,15917.099725812948,7187.880252048646,sphere,-0.33914058800613023,-0.48556220849120846,1.9544089538706593,7465.947399930611,6471.481421837911,0.05369788780808449,0.00047552530304528773,-0.02982562594115734,-0.2833593189716339,0.6446022391319275,0.6539082527160645,-0.2767660617828369,0.07447662204504013,0.5590927600860596,1.9700279235839844,0.04847375303506851,0.004706818610429764,0.2566635012626648,0.9652730226516724,1238,1,,2.1018495559692383,0.30353655462264234,0.0,0.0074178422801196575,0.5121163166397416,12,release,0.04224133491516113,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e002,1,True,-0.10810661315917969,0.44710254669189453,-2.7993376079652325e-05,-0.007082361898548856,10.536845597378289,deep_well_96_1ml,0.4781017303466797,0.06663703918457031,-87.10194016556967,0.2586301026468916,788.2309265206138,rect,-0.28971666535406543,-0.11925600272360204,2.9857101029500863,15730.44448706451,3889.6337522526956,disk,0.38918625188544786,-0.6947463961663322,1.9086234320624744,2344.334062211317,4524.686512230791,0.048494357615709305,-0.0017498191446065903,-0.030270950868725777,-0.27948498725891113,0.6485455632209778,0.6489930748939514,-0.28299254179000854,0.051661066710948944,0.5864008069038391,1.9303324222564697,0.052100617438554764,0.0038002810906618834,0.2617114186286926,0.9637314081192017,1232,1,,2.1613609790802,0.32377233802188354,0.0,0.007478438317775726,0.5170454545454546,12,release,0.042325496673583984,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e003,3,True,0.036556243896484375,0.4499988555908203,-0.004781749491283074,-0.0007055396266956799,10.530214579029405,reservoir_12ch,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.25263772636013404,788.2309265206138,rect,-0.4433145907030347,-0.38572279743744,3.0623736997180635,11012.138636332282,5836.815931077323,disk,-0.2220260734659838,1.3312761474539883,2.1440070709953694,2519.546183984166,5568.968556861286,0.04894590750336647,0.0037048703525215387,-0.028269924223423004,-0.27851757407188416,0.6422765254974365,0.656187117099762,-0.28165099024772644,0.07489136606454849,0.5718438625335693,1.9738595485687256,0.026556309312582016,-0.0014927043812349439,0.27312153577804565,0.9616117477416992,1230,1,,2.117370367050171,0.29852266920990445,0.0,0.00738977175205946,0.5300813008130081,12,release,0.0422247052192688,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c1_p003_e010,2,True,-0.012492179870605469,0.4472970962524414,-0.009870234949697264,-0.011095327104203394,7.0968141945892285,deep_well_24_10ml,0.5042552947998047,0.08044242858886719,-90.56581214725338,0.19982040804791784,1252.577195904647,rect,0.7531937127602971,-0.45050326241932215,2.779100074420999,4220.578018306388,6450.53901323908,disk,1.3622247710373,0.9442035572191829,2.193519420922704,6835.84775168007,6553.764426654622,0.05005185678601265,0.0007577604264952242,-0.03246667608618736,-0.2785107493400574,0.6432116031646729,0.6611278057098389,-0.26762038469314575,0.029151763767004013,0.5960866212844849,1.952396035194397,0.025142142549157143,0.005194088909775019,0.27706193923950195,0.9605090022087097,1270,1,,2.0983810424804688,0.23810553796754516,0.0,0.007542788051068783,0.5566929133858268,12,release,0.043038129806518555,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False c1_p003_e011,3,True,0.00682830810546875,0.4499979019165039,-0.0067930544559597125,0.0029162608215633897,-8.688846286952554,reservoir_12ch,0.4877500534057617,0.10293388366699219,-92.28249091729678,0.2996215616518847,1252.577195904647,rect,0.17118124701517468,0.29702076675651556,2.7075125237016398,8568.774181865807,6538.89461132969,sphere,0.33525842269365147,-0.30315176777559016,2.6088507646301453,2029.5673558462236,3180.040501622358,0.04926817864179611,-0.0027769370935857296,-0.03205272555351257,-0.2853326201438904,0.647189736366272,0.6475717425346375,-0.28351646661758423,0.0354478657245636,0.5697920322418213,1.9298675060272217,0.03082834929227829,0.010920068249106407,0.26435360312461853,0.9638711214065552,1310,1,,2.092363119125366,0.2939930861548329,0.0,0.00744214653968811,0.5358778625954198,12,release,0.04304385185241699,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False c1_p003_e012,1,True,0.06613540649414062,0.45000171661376953,0.0018983662515029921,0.006243537221009509,-4.094875936836729,pcr_384_red,0.4648113250732422,0.12581157684326172,-87.54015496626167,0.22348494242219927,1252.577195904647,rect,0.19438687267741994,-0.26352905891578793,2.7378310469538873,10767.063596748958,5823.728609721395,sphere,0.876553378679727,0.8800149218458391,2.388606689411006,4549.643382211486,3969.3135502368045,0.04871414974331856,-0.0003589285770431161,-0.03219219669699669,-0.2810036540031433,0.6500082015991211,0.6513727307319641,-0.27246999740600586,0.04096582904458046,0.5797054171562195,1.9343847036361694,0.05301176756620407,0.018891075626015663,0.2824352979660034,0.9576341509819031,1193,1,,2.109308958053589,0.28500792579432843,0.0,0.0068645961582660675,0.5331098072087175,12,release,0.04212522506713867,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False c2_p004_e039,0,True,-0.03445148468017578,0.45000553131103516,-0.005276888768945945,-0.00979023392054915,-0.9134106244853513,deep_well_96_2ml,0.48386573791503906,0.05235576629638672,-93.11834534070564,0.18683380387538803,998.5009569260282,rect,-0.2938140007766368,-0.38220917301978574,2.7460857764815794,8926.28633364481,5569.568813090762,sphere,0.6710867683702677,0.41916883566426244,2.3123403164995633,4766.408062574017,6155.3191068223605,0.04991693049669266,0.0037097285967320204,-0.031539641320705414,-0.26812630891799927,0.652991771697998,0.6499820947647095,-0.28148403763771057,0.03998029977083206,0.5764431953430176,1.9523237943649292,0.04990966245532036,0.009701253846287727,0.26734429597854614,0.9622587561607361,1247,1,,2.0896053314208984,0.30722743218146004,0.0,0.007501301355659962,0.5605453087409783,12,release,0.042542219161987305,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False -c3_p003_e000,3,True,0.08915996551513672,0.4500007629394531,0.01016432328299992,0.01129898144461578,-9.456414090017375,plate_48_clear,0.5018272399902344,0.11866378784179688,-90.04183064297952,0.2965027116637645,1044.8495420288373,rect,0.7522391556141513,0.4713854453163806,2.938501312659032,12621.88280745654,5461.687108572332,disk,0.16890517951081718,0.7953659526848802,2.0276250708520545,5299.958300223864,7098.386574294028,0.052298903465270996,-0.0024190745316445827,-0.03118828311562538,-0.27860313653945923,0.6410926580429077,0.6643288135528564,-0.2646653354167938,0.03788270428776741,0.5966677069664001,1.9318022727966309,0.05419455096125603,0.019155656918883324,0.28328827023506165,0.957310676574707,1168,1,,2.103219509124756,0.3337936720674022,0.0,0.007289772387593985,0.5453767123287672,12,release,0.04236459732055664,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c3_p003_e001,0,True,0.09354209899902344,0.45000171661376953,0.008895008156330807,-0.0015225049717064705,-8.167157055841813,plate_6_clear,0.4803352355957031,0.08341693878173828,-85.85228071372097,0.2080539876904352,1044.8495420288373,rect,0.84639263557983,-0.22181749653399185,2.9227773766103047,15191.789658847685,5477.881534684595,sphere,0.9644069906307999,0.2463486982460772,1.8673159635977812,8984.904736481674,2845.255410439688,0.05153169482946396,0.0036209130194038153,-0.030263913795351982,-0.27576586604118347,0.6561973690986633,0.6443220973014832,-0.27965566515922546,0.06531471014022827,0.570443332195282,1.9622831344604492,0.03799347206950188,0.024304287508130074,0.2878660261631012,0.9566080570220947,1252,1,,2.079076051712036,0.2665612688020199,0.0,0.007371110375970602,0.5095846645367412,12,release,0.04225802421569824,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c3_p003_e002,1,True,0.07340621948242188,0.4499988555908203,0.009793316850019293,-0.010627714058345346,-1.9456626387470521,pcr_384_red,0.48330020904541016,0.09565353393554688,-90.8017142586604,0.25543568994834775,1044.8495420288373,rect,0.6171956654242216,0.06478520364579432,2.8820041830666083,4463.426402068423,6505.202571814729,disk,-0.6674141390418779,-0.8650378047369109,2.1594287888436003,7800.859153914928,5128.077735281544,0.05095016211271286,-0.00175112031865865,-0.031131789088249207,-0.2825157344341278,0.6525969505310059,0.6435753107070923,-0.283042311668396,0.03208781033754349,0.6015291810035706,1.945194959640503,0.03834081441164017,0.023936955258250237,0.2756328284740448,0.960199773311615,1245,1,,2.1659820079803467,0.31670108272638126,0.0,0.006760627031326294,0.5116465863453815,12,release,0.04214739799499512,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c3_p003_e003,2,True,-0.05359172821044922,0.44739437103271484,0.0030405618769649427,0.0032196933087849672,-0.9448452982045126,deep_well_24_10ml,0.5093593597412109,0.1066446304321289,-90.2537113813263,0.1881616449302106,1044.8495420288373,rect,-0.26453598751871665,-0.409693228473602,2.605903273920148,10461.863727999218,5181.228358056747,disk,0.549010680936032,-0.26840568345649607,1.8094704819794503,2388.8384813439243,3921.4656229319826,0.04807949438691139,0.0013891136040911078,-0.032210614532232285,-0.2866196036338806,0.6474394798278809,0.6491052508354187,-0.27808934450149536,0.040573738515377045,0.5719934701919556,1.9694724082946777,0.05254511907696724,0.00846104510128498,0.2594974935054779,0.964276134967804,1286,1,,2.056256055831909,0.3013155683775648,0.0,0.007479990366846323,0.4976671850699845,12,release,0.04306674003601074,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c4_p002_e037,1,True,0.0061740875244140625,0.4499998092651367,0.01391792194685301,0.003447536798985601,-2.072448704996958,pcr_384_red,0.5296335220336914,0.1062154769897461,-91.34418654391534,0.2852423146842974,705.0561108344044,rect,-0.5464882281597553,-0.39439514366652373,2.644659440028169,6053.70016892686,4701.010395610763,sphere,0.5166886427557538,0.14884255315912776,1.873565519993877,8277.730847452218,7082.819826473974,0.05298089608550072,0.0025632979813963175,-0.027169356122612953,-0.28012123703956604,0.6553640365600586,0.6422649621963501,-0.2820030748844147,0.045494578778743744,0.5663745403289795,1.9324513673782349,0.04075014591217041,0.01848364807665348,0.28104737401008606,0.9586501717567444,1189,1,,2.1226303577423096,0.2891104297924976,0.0,0.006776907946914434,0.5382674516400336,12,release,0.04214954376220703,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c4_p002_e038,3,True,-0.08302593231201172,0.4499979019165039,-0.013824623248315451,0.00406115307775189,-5.3825067213501825,plate_96_clear,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.263859816130957,705.0561108344044,rect,0.42555478860633944,0.5771558442749323,2.6468570032583187,4558.7007467093945,5232.658214845155,sphere,-1.0062111098155886,-0.9173043524411224,2.386444481892081,5271.274235458832,3272.6554244208114,0.050835657864809036,0.0011476611252874136,-0.029680198058485985,-0.2779960036277771,0.6572152376174927,0.647535502910614,-0.2673651874065399,0.02519400417804718,0.5662321448326111,1.9400368928909302,0.02740968018770218,0.018826903775334358,0.2785038948059082,0.9598592519760132,1273,1,,2.135976791381836,0.2874333027313323,0.0,0.00725596584379673,0.5003927729772192,12,release,0.04216018319129944,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c4_p002_e039,0,True,0.11592483520507812,0.4499988555908203,-0.01422024885674576,-0.00023297215370658383,-8.30498393017632,plate_96_black,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.1755464664836913,952.5261036934802,rect,-0.24738013453011543,0.06979346879352233,2.6981333114325885,5829.030584668773,6720.173587266401,sphere,-0.3754495535065454,0.6686232728622337,2.729794240068747,8242.534470429338,7351.096605620183,0.054911065846681595,-0.0022529789712280035,-0.033126961439847946,-0.284389853477478,0.6524324417114258,0.6453263163566589,-0.2775036692619324,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1211,1,,2.1339876651763916,0.2984654019752773,0.0,0.0073028854094445705,0.5227085053674649,12,release,0.04228043556213379,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False @@ -1136,31 +1118,9 @@ c5_p003_e008,1,True,-0.13677310943603516,0.4474477767944336,0.00972664865821267, c5_p003_e009,3,True,0.017978668212890625,0.45005321502685547,-0.009296419255273615,0.00699518757129188,10.849476377030442,reservoir_12ch,0.46412086486816406,0.06696701049804688,-92.47554467929427,0.26860407746452913,706.257721171404,rect,0.007809461175866228,0.5175846001578788,2.9652868723080417,8739.157512984904,7111.631901190698,sphere,0.8106539120861069,-1.0333700167281903,1.6442915871195636,3994.2014136751336,7289.007348881249,0.04963487386703491,-0.0022962591610848904,-0.028863951563835144,-0.28067001700401306,0.6468769311904907,0.6490563154220581,-0.28548288345336914,0.05195961147546768,0.5707525014877319,1.9591870307922363,0.03260423615574837,0.028516408056020737,0.2875215411186218,0.9567942023277283,1181,1,,2.0585949420928955,0.26609096828642353,0.0,0.0073958877474069595,0.5478408128704487,12,release,0.04223659634590149,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False c5_p003_e010,2,True,0.05279254913330078,0.44732189178466797,-0.0073008734872770705,0.010578984470684989,7.299402986977185,plate_24_clear,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.28385200452599474,706.257721171404,rect,-0.29149690515055793,0.1957292146376456,3.007836521003517,8343.816324794914,6373.571836816098,sphere,-1.590037308446663,-0.5554897375981703,1.8360296245622991,9925.396976579961,6439.095331539911,0.05007695406675339,-0.0023222577292472124,-0.032361242920160294,-0.2840917706489563,0.6508322954177856,0.6416402459144592,-0.28983956575393677,0.055112238973379135,0.5855895280838013,1.9558161497116089,0.054800741374492645,0.020639866590499878,0.28212210536003113,0.9575896859169006,1228,1,,2.0503361225128174,0.2431819644912175,0.0,0.007334093097597361,0.5219869706840391,12,release,0.04222822189331055,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False c5_p003_e011,0,True,-0.04395294189453125,0.45000362396240234,-0.011996489937668144,0.001863012616013644,4.70555076120732,deep_well_96_2ml,0.49652099609375,0.10860252380371094,-85.19918019676528,0.17048803144684158,706.257721171404,rect,-0.24650289339076692,-0.21379433564061057,2.636285740666319,4632.120930122229,4602.128890437882,disk,0.7370271351438764,-0.4162109978766847,2.0035828731817156,5182.516814828537,5012.887528060493,0.04786833003163338,-0.0006144767394289374,-0.027106687426567078,-0.29687970876693726,0.6439204812049866,0.6482672095298767,-0.27744993567466736,0.06025337427854538,0.5873146057128906,1.9743603467941284,0.03851333633065224,0.019103238359093666,0.2769191563129425,0.9599310159683228,1329,1,,2.1119136810302734,0.31602226428218755,0.0,0.007505938410758972,0.5259593679458239,12,release,0.04354143142700195,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False -c6_p003_e002,3,True,-0.07680988311767578,0.4499979019165039,0.010765556936651285,-0.004438592598540634,0.8718004841884692,reservoir_12ch,0.474884033203125,0.11899375915527344,-86.63888250421144,0.23160220169944204,1499.9414806011307,rect,0.33233941624114793,0.0227196335912363,2.769568528335387,14341.429677240663,6478.507729304645,sphere,0.5714449868898712,-0.6678407645278844,2.5150141445947334,3838.152512905273,4282.38306659743,0.05097464472055435,-0.0035221579018980265,-0.030727535486221313,-0.29226213693618774,0.6401063203811646,0.6525056958198547,-0.2812170684337616,0.04982948303222656,0.5627943277359009,1.928276538848877,0.030801553279161453,-0.0017136780079454184,0.2695784568786621,0.9624841809272766,1173,1,,2.0626959800720215,0.3108067270032687,0.0,0.007385531906038523,0.5439045183290707,12,release,0.042542457580566406,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c6_p003_e003,1,True,-0.0179595947265625,0.4472484588623047,-0.006905671687985988,0.010698267304996683,5.3298159412737505,pcr_384_red,0.47048377990722656,0.05947589874267578,-91.34558428571121,0.22111961216322235,1499.9414806011307,rect,0.19028460904039723,0.5222936738942385,2.931009916651897,12048.900547447109,5161.053932889608,disk,0.3063800069909848,0.04275967230268152,2.74055730422653,3671.5590395821855,4939.342271000245,0.04912592098116875,0.0032528992742300034,-0.02988738752901554,-0.2838551104068756,0.6420831680297852,0.6592519283294678,-0.26933690905570984,0.03152180835604668,0.5578008890151978,1.9698468446731567,0.04125368967652321,-0.0007449798285961151,0.25903308391571045,0.9649867415428162,1231,1,,2.094757080078125,0.3013680577426973,0.0,0.006829315330833197,0.5751421608448416,12,release,0.0423121452331543,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c7_p003_e004,1,True,0.09957695007324219,0.4476165771484375,0.0055487678489728135,0.0027493154151428745,3.6496823381576746,pcr_384_red,0.5001640319824219,0.11996269226074219,-86.19944163127089,0.1536533962747718,1173.9721408013365,rect,-0.36801974638911655,0.5263456583152026,3.143420982781127,6717.993065383132,6767.350282555017,sphere,1.2291204413668408,1.0283777234857314,2.33557786494902,1811.4327377296208,5303.638669204725,0.050425607711076736,0.004004437942057848,-0.02923482097685337,-0.28432491421699524,0.645482063293457,0.6547470092773438,-0.2716958522796631,0.043729349970817566,0.5894364714622498,1.9489790201187134,0.04780518636107445,0.0029878411442041397,0.27777379751205444,0.9594516158103943,1228,1,,2.0994536876678467,0.22707772130070572,0.0,0.006780150346457958,0.5187296416938111,12,release,0.042151451110839844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c7_p003_e005,2,True,0.13878440856933594,0.4474048614501953,0.007474563901086296,0.006243339014531752,-3.7193813908271522,plate_1536_black,0.5033798217773438,0.09269237518310547,-90.34246080252042,0.2672570373501995,506.06322971144186,rect,-0.43421900809429115,0.14468970957579363,3.1655897918452296,9599.573313754721,3877.499056757411,disk,-0.4178764484304678,0.06666441124048283,2.336393891018161,8756.616809435693,6459.861739665993,0.049286533147096634,0.003913018386811018,-0.028856372460722923,-0.27042150497436523,0.6605606079101562,0.6358193755149841,-0.29371002316474915,0.02944764494895935,0.5743134617805481,1.9365006685256958,0.0564286969602108,0.014525682665407658,0.27748024463653564,0.9589627385139465,1175,1,,2.122128963470459,0.35999097142400344,0.0,0.007341916672885418,0.534468085106383,12,release,0.04215317964553833,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c7_p003_e006,0,True,-0.1422271728515625,0.4476757049560547,0.011652869145875266,-0.007634224703026396,-2.4781759866827997,deep_well_96_2ml,0.5159244537353516,0.10462760925292969,-90.89779615166947,0.15953033414489212,506.06322971144186,rect,0.1073152330729944,0.3540860913502233,2.644543556118172,13571.73183896325,3583.792641883127,sphere,0.6541385174088044,0.5596958309731723,2.758542147832787,7261.668769525309,6256.165410187643,0.04904975742101669,-0.0011559105478227139,-0.03134850040078163,-0.28404200077056885,0.641204833984375,0.6579302549362183,-0.27441632747650146,0.047133609652519226,0.5990957021713257,1.941737413406372,0.050852593034505844,-0.00267499010078609,0.27341729402542114,0.960546612739563,1282,1,,2.127790927886963,0.303434986133055,0.0,0.0075057679787278175,0.4984399375975039,12,release,0.042420268058776855,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c7_p003_e007,3,True,-0.01541900634765625,0.44783496856689453,0.007412017330833986,0.009173803362429291,10.896582239293537,plate_96_clear,0.4787302017211914,0.07873058319091797,-91.79683951563818,0.19595110315054806,506.06322971144186,rect,0.49890066965749946,0.5803189893718075,2.746482838539928,6845.912533580658,6865.43605871941,disk,0.2935691815378858,-0.9260340836316805,1.8525111550073807,4912.693098655471,5732.137924837847,0.051414862275123596,0.001126576098613441,-0.02835528738796711,-0.2803942859172821,0.655472993850708,0.6425129175186157,-0.28091174364089966,0.04795348271727562,0.5930123329162598,1.9397811889648438,0.056434325873851776,0.017862671986222267,0.25727784633636475,0.9645227789878845,1318,1,,2.0782673358917236,0.29930972604177547,0.0,0.007287662476301193,0.5371775417298937,12,release,0.04249000549316406,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c8_p002_e038,3,True,0.14868927001953125,0.4471311569213867,0.001994279775631208,0.002091718756833483,-7.518984751895289,plate_96_clear,0.46468257904052734,0.11106586456298828,-93.20486904541943,0.22441196172963146,514.2079948328933,rect,-0.44911972080402623,-0.3560078544849574,2.667709671757188,4640.545402969405,4142.646310299299,sphere,-0.8093337902354664,-0.792218457930483,2.7550094983538473,4191.9156477427105,4776.86229903981,0.05143699049949646,0.0004883662913925946,-0.03168007731437683,-0.2840520739555359,0.6458746790885925,0.6515130400657654,-0.2787310779094696,0.04747368022799492,0.5903465151786804,1.9281243085861206,0.037579942494630814,0.01918615587055683,0.2808019816875458,0.9588378071784973,1211,1,,2.1377673149108887,0.3052131679161509,0.0,0.0073131052777171135,0.5251857968620974,12,release,0.04221916198730469,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False c8_p002_e039,1,True,-0.0871877670288086,0.44678211212158203,0.006260100967942998,-0.010667013202471013,-4.494827400008887,plate_12_clear,0.518733024597168,0.060001373291015625,-88.47974605674274,0.24029088641808788,514.2079948328933,rect,0.17482987492547208,-0.17120865841088484,2.736819777543358,13734.217072659301,4380.840441483862,disk,0.30447281731836884,-0.1269615802516617,2.2228064995070085,2369.0641139033346,6111.708703831531,0.053461432456970215,0.0014708723174408078,-0.02880086936056614,-0.28943485021591187,0.648253858089447,0.6472939848899841,-0.2774975001811981,0.04605589061975479,0.5613265633583069,1.9380251169204712,0.033700473606586456,0.011154741048812866,0.25714755058288574,0.9657199382781982,1181,1,,2.1127283573150635,0.26624815503481225,0.0,0.007355025969445705,0.5402201524132092,12,release,0.04224640130996704,"Pre-grasping the small plate, moving the arm toward it; the ",v1,False,False -c93_p000_e004,0,True,-0.06760120391845703,0.45000171661376953,-0.01092196203731573,0.006330609237117878,10.815253830383938,plate_6_clear,0.5290136337280273,0.07695960998535156,-94.06590840696501,0.21311770604960106,1589.5998789719188,rect,-0.39251884761565753,-0.16120496883529634,2.7597684298312193,5100.717151949149,4037.8154329075323,disk,-0.8685318926163184,-0.31696164383765246,1.8697761599882041,4446.021250947624,5377.490231269212,0.047535620629787445,0.0002642584149725735,-0.029739167541265488,-0.2685999572277069,0.6455732583999634,0.659451425075531,-0.27606716752052307,0.06004949286580086,0.5977448225021362,1.9361954927444458,0.03160378336906433,0.02857336588203907,0.2559714615345001,0.9657449722290039,1142,1,,2.1104676723480225,0.30660024877794956,0.0,0.007392281666398048,0.5586690017513135,12,release,0.04227292537689209,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c93_p000_e005,2,True,-0.06375312805175781,0.4499378204345703,0.010660296520767193,0.01193072650574016,-0.9633642367397215,plate_384_black,0.5011405944824219,0.05499267578125,-85.70203457528348,0.2555810068137675,1589.5998789719188,rect,0.8723156214242701,-0.256456359772399,2.7517004045294793,7407.875131814897,4406.823119677045,sphere,-0.9917860958200811,1.0605017188033965,2.39213167570903,1982.0257683630066,6672.239884490888,0.047582998871803284,0.0021531612146645784,-0.030050376430153847,-0.2758983373641968,0.6458436846733093,0.6577765345573425,-0.2722058892250061,0.07426074147224426,0.5697632431983948,1.9537020921707153,0.051759958267211914,0.008881794288754463,0.2791712284088135,0.958804190158844,1182,1,,2.139846086502075,0.2647212868165998,0.0,0.0074129244312644005,0.5406091370558376,12,release,0.042325496673583984,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c1_p003_e013,0,True,-0.020877838134765625,0.44715213775634766,0.013718452929581596,-0.0025411345736318968,-2.485121467668023,deep_well_96_2ml,0.5021162033081055,0.09942340850830078,-92.51474547683448,0.2253741606361273,908.4015840595235,rect,0.3999410707797233,0.5386727812176808,2.7604478626643902,12500.491677025277,5231.892932641481,disk,0.9847343405730378,-1.080100758694108,2.3252754880371844,8374.145504902928,4661.081406072069,0.04739423096179962,0.0031066935043781996,-0.0282027218490839,-0.28035274147987366,0.6510180830955505,0.6455507278442383,-0.28432729840278625,0.06765106320381165,0.5935649871826172,1.9387010335922241,0.05010636895895004,0.017597313970327377,0.27332189679145813,0.9604555368423462,1218,1,,2.0997753143310547,0.3070682880213584,0.0,0.00750594399869442,0.5796387520525451,12,release,0.04295229911804199,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False c1_p003_e014,3,True,0.07561779022216797,0.45000171661376953,-0.006916981883320526,-0.0003856062499223587,7.424921586598373,plate_96_clear,0.4877500534057617,0.10293388366699219,-92.28249091729678,0.23479910235918594,908.4015840595235,rect,0.4709754190048071,0.2646045444282006,2.9694855023636775,9490.395029953968,3772.3322403982083,sphere,1.4363714690016698,-0.34426002101428643,1.643720747268697,2963.6455514413137,4575.213048127507,0.05173303186893463,0.00032803055364638567,-0.03185414895415306,-0.2618522346019745,0.6616859436035156,0.6414484977722168,-0.28661638498306274,0.0693192258477211,0.5897039175033569,1.9432318210601807,0.02403421513736248,0.0016287999460473657,0.25739040970802307,0.9660071730613708,1255,1,,2.0455172061920166,0.25226907588899533,0.0,0.007288424298167229,0.5075697211155379,12,release,0.042327880859375,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False c1_p003_e015,2,True,0.04008293151855469,0.4499969482421875,0.0036407616954348184,0.009802600365227586,10.338437543028476,plate_1536_black,0.5042552947998047,0.08044242858886719,-90.56581214725338,0.17277605164906046,908.4015840595235,rect,-0.4924966746709675,-0.11200051789946519,3.1435680873811256,4789.844057474046,5312.665146844762,disk,0.3324509227968726,0.7368001159442406,1.9506764631023938,5378.36903114794,3693.166321731268,0.0535678006708622,-0.001500442624092102,-0.0325515940785408,-0.29064226150512695,0.6375396847724915,0.6524524688720703,-0.28874897956848145,0.0643201619386673,0.5627390146255493,1.9370988607406616,0.022378094494342804,0.004238811321556568,0.27410832047462463,0.9614290595054626,1264,1,,2.1426384449005127,0.2884405126115804,0.0,0.007399957627058029,0.5142405063291139,12,release,0.04222726821899414,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False -c3_p003_e004,3,True,-0.11131954193115234,0.4499979019165039,-0.003191026372142823,-0.0007933278876249578,-10.095328175593522,plate_48_clear,0.5018272399902344,0.11866378784179688,-90.04183064297952,0.29040286956033495,1261.0384364432207,rect,-0.23641376511439954,-0.40384188075848093,2.759641785926893,8191.115157481537,7108.518821576057,disk,1.10334083261196,-0.5139323596171926,2.5203104192470693,4325.105616702176,6405.780586133362,0.049217645078897476,8.42702720547095e-05,-0.03302199766039848,-0.2674708366394043,0.6552537083625793,0.6517083644866943,-0.27272361516952515,0.03841888904571533,0.5999236106872559,1.9516431093215942,0.02936181053519249,0.022704612463712692,0.2563988268375397,0.9658581614494324,1170,1,,2.1023833751678467,0.276602675595871,0.0,0.007342890836298466,0.5427350427350427,12,release,0.04239392280578613,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c3_p003_e005,0,True,0.040167808532714844,0.45000267028808594,-0.0010767418121026822,0.0020541916721580444,-4.135533031797678,plate_6_clear,0.4803352355957031,0.08341693878173828,-85.85228071372097,0.16816710547183542,1261.0384364432207,rect,0.4953259956863082,0.20317875117603734,3.012431216805964,5582.8088416759265,4055.1761787633322,sphere,1.2075712991119132,0.126438362370225,2.568466737708692,1964.200705295591,4281.495739692721,0.049377404153347015,0.0021333314944058657,-0.031219743192195892,-0.2846086621284485,0.6445258855819702,0.6580000519752502,-0.26574456691741943,0.04301843419671059,0.5689692497253418,1.9351617097854614,0.04258327931165695,0.022123267874121666,0.26167234778404236,0.9639630913734436,1262,1,,2.0881266593933105,0.310071544836667,0.0,0.0073794773779809475,0.5110935023771791,12,release,0.04234957695007324,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c3_p003_e006,1,True,0.07166481018066406,0.45000267028808594,0.01008640342720813,-0.0028159225537206178,-11.540381852860207,deep_well_96_1ml,0.48330020904541016,0.09565353393554688,-90.8017142586604,0.2008175565315515,1261.0384364432207,rect,0.45104485216960344,-0.0009042086433894703,2.969913078265131,5694.03168827986,3587.515569755775,disk,-0.5087153474191113,-1.1864312204581138,1.6470575442183748,6195.9070404988515,6291.430009225194,0.04994099214673042,0.0021644486114382744,-0.0275268517434597,-0.2697816491127014,0.6484500765800476,0.6555250883102417,-0.2775198221206665,0.041898343712091446,0.5655519366264343,1.9576369524002075,0.050458017736673355,0.015417412854731083,0.26735877990722656,0.9621515274047852,1193,1,,2.0794291496276855,0.2862321446962071,0.0,0.007464803289622068,0.5423302598491199,12,release,0.04209303855895996,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True c5_p003_e012,1,True,-0.044918060302734375,0.45000648498535156,-0.00858732623448926,0.008557826040964242,10.534225656999467,deep_well_96_1ml,0.48097991943359375,0.1065673828125,-86.88794020368216,0.1996583388265337,706.257721171404,rect,-0.39098759917914966,0.47114590047739147,2.9351502715971423,6444.12687731533,5029.310580677124,sphere,-0.7616790487059816,-0.4447719761948985,1.6675537324840681,2077.9624310897752,4369.370555504509,0.05104272812604904,-5.932706335443072e-05,-0.02792985364794731,-0.28609001636505127,0.6442083120346069,0.6534688472747803,-0.2759105861186981,0.05202726274728775,0.5844294428825378,1.928298830986023,0.040956828743219376,0.00010691366333048791,0.2724694311618805,0.9612923264503479,1208,1,,2.0536744594573975,0.3084198234487719,0.0,0.0074236951768398285,0.5339403973509934,12,release,0.042437076568603516,"Pre-grasping the small plate, moving the arm toward it; the ",v1,True,False -c7_p003_e008,1,True,0.027828216552734375,0.45000457763671875,-0.010088487619226821,0.003235147326616533,-1.306887676225557,deep_well_96_1ml,0.5001640319824219,0.11996269226074219,-86.19944163127089,0.29386081903098393,506.06322971144186,rect,0.8953730512762946,0.17105161600652852,3.055347847498993,10666.648231588893,5911.095557441,sphere,-0.23350581965154205,-0.5421068654357976,1.7589333038102517,9168.050076858293,6252.140609451204,0.04672190919518471,0.0025328530464321375,-0.02973511442542076,-0.27849873900413513,0.6507179737091064,0.644349992275238,-0.2895127534866333,0.06312113255262375,0.5624064207077026,1.9335416555404663,0.04745297133922577,-0.0019372566603124142,0.2821106016635895,0.9582056403160095,1226,1,,2.0868070125579834,0.26938607888203936,0.0,0.007473533041775227,0.5138662316476346,12,release,0.04218262434005737,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c7_p003_e009,2,True,-0.008518218994140625,0.4470548629760742,0.013599752773985278,0.009565013800438796,1.1568541299310482,plate_1536_black,0.5033798217773438,0.09269237518310547,-90.34246080252042,0.25461260856973544,1543.8567878641102,rect,-0.3675064998951662,0.19539638831363226,2.686619225498349,9609.72391594232,5481.123658711305,disk,-0.8925744159389508,1.0367815109268077,2.4811180191337048,10091.059636176364,4172.785426539141,0.05092547461390495,-0.0017904392443597317,-0.031057672575116158,-0.28354787826538086,0.6490205526351929,0.645550549030304,-0.285722553730011,0.03632092475891113,0.6001011729240417,1.9280084371566772,0.03976993262767792,0.0033730510622262955,0.28510984778404236,0.9576634764671326,1279,1,,2.1287875175476074,0.30403147474371434,0.0,0.00738241383805871,0.5512118842845973,12,release,0.042452096939086914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c7_p003_e010,0,True,-0.11681365966796875,0.44737815856933594,0.003652562416642984,0.008836593995555373,-6.4902162718155125,deep_well_96_2ml,0.5159244537353516,0.10462760925292969,-90.89779615166947,0.16330497762823232,1543.8567878641102,rect,0.8403607987175551,0.04223790423298568,2.879410350022858,5145.30347796897,5852.923155494391,sphere,0.6331903156190974,-1.053327984337464,1.9479500354273414,6022.278475974851,7373.933970772875,0.049456559121608734,0.0002603851316962391,-0.03023255430161953,-0.28678399324417114,0.6483033895492554,0.6424551606178284,-0.291048139333725,0.058909814804792404,0.5718509554862976,1.9636338949203491,0.05539430305361748,0.012631312012672424,0.28208020329475403,0.9577069878578186,1255,1,,2.059922933578491,0.2753057310224611,0.0,0.00745844841003418,0.551394422310757,12,release,0.042726755142211914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c8_p003_e000,1,True,-0.1000661849975586,0.4472770690917969,0.012551777379577734,-0.009204047376164991,4.697513406248248,pcr_384_red,0.48504161834716797,0.08316230773925781,-92.94365989847441,0.2969329817693498,645.6605034130641,rect,0.34992891003728743,0.5235123386819904,2.8355067048501357,11727.841164991412,5935.915769993476,sphere,0.6081052601689034,-0.30911387909334154,1.9866024502513202,4418.445608529384,6219.4448713011425,0.048668600618839264,-0.002069073263555765,-0.03171085566282272,-0.2776544988155365,0.6574219465255737,0.6418486833572388,-0.28059691190719604,0.0684821605682373,0.5873546004295349,1.9749826192855835,0.04505326226353645,0.004263896960765123,0.2837333381175995,0.957834780216217,1214,1,,2.0520284175872803,0.3037523956496518,0.0,0.006830954924225807,0.5280065897858319,12,release,0.042125850915908813,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c8_p003_e001,2,True,-0.018804550170898438,0.4499998092651367,0.002038580474639475,-0.010160521456123001,-3.3168423484144967,plate_384_black,0.46468257904052734,0.11106586456298828,-93.20486904541943,0.2915101370145674,645.6605034130641,rect,0.5624423709798768,-0.486249251004936,2.747121938835906,4541.900322517567,3884.9740857663887,sphere,0.27033626984665515,0.19151421464573004,1.7267704420903764,4429.932971683798,4576.411185127837,0.04756962135434151,0.002896120771765709,-0.02861964888870716,-0.26139727234840393,0.656794548034668,0.647875964641571,-0.2838117182254791,0.030960800126194954,0.5597158670425415,1.9491121768951416,0.045683056116104126,0.025000710040330887,0.27352267503738403,0.9604547619819641,1299,1,,2.122666358947754,0.2845248982832474,0.0,0.007422909140586853,0.5411855273287144,12,release,0.04212450981140137,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c8_p003_e002,0,True,0.059165000915527344,0.4499998092651367,-0.013495579789017711,-0.00583712944659188,-1.1727827985537544,pcr_96_blue,0.518733024597168,0.060001373291015625,-88.47974605674274,0.17277177718691294,645.6605034130641,rect,-0.013006139282964013,-0.14697508221332034,2.907734042049688,10998.163010968374,3714.472244152159,disk,1.072573764849082,0.4594224401283147,1.8879034938267583,6059.352708176742,7083.187409834899,0.052184175699949265,0.001618080073967576,-0.02746920846402645,-0.26935315132141113,0.6622490882873535,0.6415238976478577,-0.2780686318874359,0.05929415673017502,0.5583785772323608,1.9277846813201904,0.04848888888955116,0.02386293187737465,0.2879253029823303,0.9561267495155334,1217,1,,2.0623741149902344,0.30891521732301913,0.0,0.006892100907862186,0.5225965488907148,12,release,0.042135775089263916,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c93_p000_e006,1,True,0.026153564453125,0.4499959945678711,0.013858111146262455,0.010552052180503625,-7.08320079852453,plate_12_clear,0.4652223587036133,0.1083984375,-87.1876728955034,0.24882525717341566,1589.5998789719188,rect,0.45850352882700884,-0.1557030795397395,2.7956568082817785,7734.302530592366,4336.5394204884315,sphere,0.35789294634138846,0.7884858861899497,2.370357279902307,3262.455828094968,4340.388563770455,0.047559693455696106,-0.0033389469608664513,-0.032032277435064316,-0.2858934700489044,0.6432002186775208,0.6498615145683289,-0.28677240014076233,0.028597235679626465,0.5592463612556458,1.9663057327270508,0.05054725334048271,0.01777823083102703,0.2642921507358551,0.9629530310630798,1180,1,,2.0226407051086426,0.2705290083064376,0.0,0.007354971952736378,0.5406779661016949,12,release,0.04204857349395752,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e004,1,True,0.11612319946289062,0.4499998092651367,0.001869569769953484,-0.009120865715723923,-3.7965924008025524,plate_96_white,0.4781017303466797,0.06663703918457031,-87.10194016556967,0.22244930151236975,1533.2624586349793,rect,-0.013817926352816756,0.03660898096514709,3.1545767171172914,10183.201568542661,6610.054101506563,disk,1.691611313764232,0.9434128476736021,2.7151140444114468,9896.435405609454,5202.201848003897,0.049491845071315765,-0.0027206481900066137,-0.03219590336084366,-0.28135553002357483,0.6417228579521179,0.6550973057746887,-0.2826276421546936,0.03517772629857063,0.5901164412498474,1.9714690446853638,0.05172300338745117,-0.0023689379449933767,0.26669150590896606,0.962390124797821,1190,1,,2.1286466121673584,0.29526307487049036,0.0,0.007288152817636728,0.534453781512605,12,release,0.042208194732666016,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e005,3,True,0.11618709564208984,0.45000171661376953,-0.012106225314096943,0.004557810174472126,6.065009683212793,reservoir_12ch,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.15117259932633867,1533.2624586349793,rect,0.3075768153519286,-0.14734502467497002,3.011285609957361,15071.879306640627,6485.171123840739,disk,-1.2139462220785873,-0.7696261427976248,2.04613677721681,2080.9587036521098,4328.845832358993,0.05214166268706322,0.003094192361459136,-0.02955305017530918,-0.288555383682251,0.649812638759613,0.6471372246742249,-0.2751231789588928,0.03535151109099388,0.5632436871528625,1.9289219379425049,0.0524301640689373,-0.0049184286035597324,0.2549326717853546,0.9655237793922424,1206,1,,2.0598177909851074,0.25442729674303277,0.0,0.007438710890710354,0.5232172470978441,12,release,0.04238671064376831,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e006,2,True,0.03873252868652344,0.4474220275878906,-0.008665119405264491,0.0037047086978051116,11.305821362067576,plate_24_clear,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.2655279629290661,1533.2624586349793,rect,-0.5261726070433818,0.11675764765362817,2.9843202394991706,4139.977782880264,4958.276153001737,sphere,-1.5911423658220285,-1.050357324939607,2.3670155363985814,6493.799327019423,5530.375510054881,0.053930096328258514,0.0018549023661762476,-0.030444109812378883,-0.2718304395675659,0.6540553569793701,0.6509302854537964,-0.2731476128101349,0.048192981630563736,0.5959809422492981,1.93671715259552,0.05354607477784157,0.016985919326543808,0.28241437673568726,0.9576463103294373,1271,1,,2.0920944213867188,0.30335813483542595,0.0,0.007331852335482836,0.5066876475216365,12,release,0.04212075471878052,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True -c9_p005_e007,0,True,-0.0833139419555664,0.4499988555908203,-0.00899106315595118,0.010126272205253953,-0.2835022793612154,pcr_96_blue,0.46751976013183594,0.11338996887207031,-94.03330475765746,0.2341664015784245,1533.2624586349793,rect,0.32379882821663486,-0.36312036884718346,2.975450246150662,14576.636901095619,5265.133946753025,disk,0.08239349176110378,-0.03902522380239537,2.7596505120907144,6366.395362244996,3801.1163136699724,0.04905436933040619,0.00040446582715958357,-0.027559794485569,-0.28302234411239624,0.6436870694160461,0.6506232619285583,-0.2868007719516754,0.055616799741983414,0.5885892510414124,1.9285475015640259,0.036688413470983505,0.001266665756702423,0.26177313923835754,0.9644309878349304,1278,1,,2.101045846939087,0.3048180405206921,0.0,0.006879348773509264,0.4968701095461659,12,release,0.042121171951293945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,True