add 2 episodes (c4_p007_e008 .. c9_p009_e011); total 2334 {'v1': 1088, 'v2': 1246}
Browse files- episodes/c4_p007_e008/data.npz +3 -0
- episodes/c4_p007_e008/device_events.jsonl +35 -0
- episodes/c4_p007_e008/env.mp4 +3 -0
- episodes/c4_p007_e008/meta.json +32 -0
- episodes/c4_p007_e008/scene_snapshot.json +1558 -0
- episodes/c4_p007_e008/wrist.mp4 +3 -0
- episodes/c9_p009_e011/data.npz +3 -0
- episodes/c9_p009_e011/device_events.jsonl +37 -0
- episodes/c9_p009_e011/env.mp4 +3 -0
- episodes/c9_p009_e011/meta.json +32 -0
- episodes/c9_p009_e011/scene_snapshot.json +1558 -0
- episodes/c9_p009_e011/wrist.mp4 +3 -0
- index/episodes.csv +2 -0
episodes/c4_p007_e008/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:6c70e42cdf4e572c51a2a47d1525565cc0b89af777e12d8dae6f7568b3e7ffdf
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size 180684
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episodes/c4_p007_e008/device_events.jsonl
ADDED
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@@ -0,0 +1,35 @@
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| 1 |
+
{"env_id": 3, "seq": 1, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
+
{"env_id": 3, "seq": 2, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
+
{"env_id": 3, "seq": 4, "step": 5902, "t": 29.51, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 5 |
+
{"env_id": 3, "seq": 5, "step": 6516, "t": 32.58, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 6 |
+
{"env_id": 3, "seq": 6, "step": 6516, "t": 32.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7926614436663415}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 6516, "t": 32.58, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
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| 8 |
+
{"env_id": 3, "seq": 8, "step": 6516, "t": 32.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
+
{"env_id": 3, "seq": 9, "step": 6516, "t": 32.58, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
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| 10 |
+
{"env_id": 3, "seq": 10, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
+
{"env_id": 3, "seq": 11, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
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| 12 |
+
{"env_id": 3, "seq": 12, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
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| 13 |
+
{"env_id": 3, "seq": 13, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
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| 14 |
+
{"env_id": 3, "seq": 14, "step": 6935, "t": 34.675, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
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| 15 |
+
{"env_id": 3, "seq": 15, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"}
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| 16 |
+
{"env_id": 3, "seq": 16, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
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| 17 |
+
{"env_id": 3, "seq": 17, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
+
{"env_id": 3, "seq": 18, "step": 6935, "t": 34.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7926614436663415}, "cause": "program-3-3"}
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| 19 |
+
{"env_id": 3, "seq": 19, "step": 7294, "t": 36.47, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
+
{"env_id": 3, "seq": 20, "step": 7294, "t": 36.47, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7950000000009183}, "cause": "program-3-3"}
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| 21 |
+
{"env_id": 3, "seq": 21, "step": 7294, "t": 36.47, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7950000000009183}}, "cause": "program-3-3"}
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| 22 |
+
{"env_id": 3, "seq": 22, "step": 7294, "t": 36.47, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
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| 23 |
+
{"env_id": 3, "seq": 23, "step": 7294, "t": 36.47, "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 |
+
{"env_id": 3, "seq": 24, "step": 7294, "t": 36.47, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
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| 25 |
+
{"env_id": 3, "seq": 25, "step": 7714, "t": 38.57, "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": 3, "seq": 26, "step": 7714, "t": 38.57, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.487590186234684e-09}, "cause": "program-3-4"}
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| 27 |
+
{"env_id": 3, "seq": 27, "step": 7714, "t": 38.57, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.487590186234684e-09}, "cause": "program-3-4"}
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| 28 |
+
{"env_id": 3, "seq": 28, "step": 7714, "t": 38.57, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
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| 29 |
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{"env_id": 3, "seq": 29, "step": 7714, "t": 38.57, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
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| 30 |
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{"env_id": 3, "seq": 30, "step": 7714, "t": 38.57, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 31 |
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{"env_id": 3, "seq": 31, "step": 8294, "t": 41.47, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 32 |
+
{"env_id": 3, "seq": 32, "step": 9980, "t": 49.9, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
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| 33 |
+
{"env_id": 3, "seq": 33, "step": 9980, "t": 49.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"}
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| 34 |
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{"env_id": 3, "seq": 34, "step": 9980, "t": 49.9, "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": 3, "seq": 35, "step": 9980, "t": 49.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
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episodes/c4_p007_e008/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:adb5a2880512d336d87d70ab72ebd8ccf04c80f115b2c1ffeb4f0f52919e5ebd
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size 1294889
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episodes/c4_p007_e008/meta.json
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{
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| 2 |
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"source": "raw/c4_p007/magicsim/8",
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| 3 |
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"fps": 25,
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| 4 |
+
"frames": 1144,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1144,
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| 8 |
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"env": 1144
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| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
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"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
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"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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| 20 |
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"joint_order": [
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| 21 |
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"shoulder_pan",
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| 22 |
+
"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
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"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
+
}
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episodes/c4_p007_e008/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"decimation": 4
|
| 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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},
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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{},
|
| 23 |
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{
|
| 24 |
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|
| 25 |
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{
|
| 26 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
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|
| 28 |
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|
| 29 |
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0.0,
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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]
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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},
|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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},
|
| 59 |
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|
| 60 |
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},
|
| 61 |
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| 62 |
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},
|
| 63 |
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|
| 64 |
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}
|
| 65 |
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],
|
| 66 |
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|
| 67 |
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{
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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| 74 |
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],
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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]
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| 86 |
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},
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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|
| 94 |
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],
|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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},
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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|
| 111 |
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}
|
| 112 |
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],
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 128 |
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| 131 |
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| 132 |
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]
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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},
|
| 140 |
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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},
|
| 150 |
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|
| 151 |
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},
|
| 152 |
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|
| 153 |
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}
|
| 154 |
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],
|
| 155 |
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|
| 156 |
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{
|
| 157 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 158 |
+
"pose": {
|
| 159 |
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|
| 160 |
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|
| 161 |
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0.02,
|
| 162 |
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|
| 163 |
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],
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| 164 |
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| 165 |
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1.0,
|
| 166 |
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|
| 167 |
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0.0,
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| 168 |
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0.0
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| 169 |
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],
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| 170 |
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| 171 |
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|
| 172 |
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1.0,
|
| 173 |
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1.0
|
| 174 |
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]
|
| 175 |
+
},
|
| 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 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
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{
|
| 192 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 193 |
+
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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| 199 |
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| 201 |
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],
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1.0
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]
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},
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| 211 |
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| 212 |
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| 214 |
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| 216 |
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},
|
| 217 |
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| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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},
|
| 222 |
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|
| 223 |
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},
|
| 224 |
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"type_specific": {}
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 228 |
+
"pose": {
|
| 229 |
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"pos": [
|
| 230 |
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|
| 231 |
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0.02,
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| 232 |
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1.0965
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| 233 |
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],
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| 234 |
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| 235 |
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1.0,
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| 236 |
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0.0,
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0.0,
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0.0
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],
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1.0,
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1.0,
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1.0
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]
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},
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| 246 |
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},
|
| 252 |
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|
| 253 |
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"type": "geometry",
|
| 254 |
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|
| 255 |
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"ratio": 1.0
|
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},
|
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|
| 258 |
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},
|
| 259 |
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|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 263 |
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|
| 264 |
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|
| 265 |
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|
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0.02,
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0.5932649970054626,
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1.9525611400604248,
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| 1549 |
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0.0287773460149765,
|
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0.02887781150639057,
|
| 1551 |
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0.26085665822029114,
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| 1552 |
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0.9645163416862488
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| 1553 |
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|
| 1554 |
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|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c4_p007_e008/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:96eacd5fd1a817b4687b39d2e8cfb9d2785de3819f418dd4843905b938e90b31
|
| 3 |
+
size 5915555
|
episodes/c9_p009_e011/data.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 201459
|
episodes/c9_p009_e011/device_events.jsonl
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 3, "seq": 1, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 54, "t": 0.27, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 1712, "t": 8.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 1728, "t": 8.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 6347, "t": 31.735, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.808853134632173}, "cause": "task-3-1"}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 10 |
+
{"env_id": 3, "seq": 10, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 11 |
+
{"env_id": 3, "seq": 11, "step": 6956, "t": 34.78, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 12 |
+
{"env_id": 3, "seq": 12, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 13 |
+
{"env_id": 3, "seq": 13, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
|
| 16 |
+
{"env_id": 3, "seq": 16, "step": 7375, "t": 36.875, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 7375, "t": 36.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.808853134632173}, "cause": "program-3-3"}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 7937, "t": 39.685, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 7937, "t": 39.685, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8100000000014376}, "cause": "program-3-3"}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 7937, "t": 39.685, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.8100000000014376}}, "cause": "program-3-3"}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 7937, "t": 39.685, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 7937, "t": 39.685, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 26 |
+
{"env_id": 3, "seq": 26, "step": 7937, "t": 39.685, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 27 |
+
{"env_id": 3, "seq": 27, "step": 8357, "t": 41.785, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 28 |
+
{"env_id": 3, "seq": 28, "step": 8357, "t": 41.785, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 8357, "t": 41.785, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 8357, "t": 41.785, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 8357, "t": 41.785, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 32 |
+
{"env_id": 3, "seq": 32, "step": 8357, "t": 41.785, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 8939, "t": 44.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 11184, "t": 55.92, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 11184, "t": 55.92, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"}
|
| 36 |
+
{"env_id": 3, "seq": 36, "step": 11184, "t": 55.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 37 |
+
{"env_id": 3, "seq": 37, "step": 11184, "t": 55.92, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
|
episodes/c9_p009_e011/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:046171c7959946141e73363554bbe738242a20e05aa2b934f3e9643af4ee982f
|
| 3 |
+
size 1304880
|
episodes/c9_p009_e011/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c9_p009/magicsim/11",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1240,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1240,
|
| 8 |
+
"env": 1240
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c9_p009_e011/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c9_p009",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
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"success": true,
|
| 7 |
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|
| 8 |
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"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
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"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
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"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
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0.0
|
| 32 |
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],
|
| 33 |
+
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|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
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0.0,
|
| 37 |
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0.0
|
| 38 |
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],
|
| 39 |
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|
| 40 |
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|
| 41 |
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1.0,
|
| 42 |
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|
| 43 |
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]
|
| 44 |
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},
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
+
},
|
| 51 |
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|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
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|
| 60 |
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},
|
| 61 |
+
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|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
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|
| 71 |
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0.0,
|
| 72 |
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|
| 73 |
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|
| 74 |
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],
|
| 75 |
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|
| 76 |
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|
| 77 |
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0.0,
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| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
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],
|
| 81 |
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| 82 |
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|
| 83 |
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1.0,
|
| 84 |
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|
| 85 |
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]
|
| 86 |
+
},
|
| 87 |
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|
| 88 |
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|
| 89 |
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"kind": "color",
|
| 90 |
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|
| 91 |
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0.55,
|
| 92 |
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0.56,
|
| 93 |
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0.58
|
| 94 |
+
],
|
| 95 |
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"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
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"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
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"primitive_params": {
|
| 103 |
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"size": [
|
| 104 |
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|
| 105 |
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0.2,
|
| 106 |
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0.015
|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
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{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
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|
| 119 |
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0.02,
|
| 120 |
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|
| 121 |
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],
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| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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| 126 |
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| 127 |
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],
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| 128 |
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| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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]
|
| 133 |
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},
|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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},
|
| 140 |
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|
| 141 |
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"type": "geometry",
|
| 142 |
+
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|
| 143 |
+
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|
| 144 |
+
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|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
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|
| 147 |
+
},
|
| 148 |
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"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
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|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
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-0.6,
|
| 161 |
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0.02,
|
| 162 |
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0.9605
|
| 163 |
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],
|
| 164 |
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|
| 165 |
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1.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0,
|
| 168 |
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0.0
|
| 169 |
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],
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| 170 |
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| 171 |
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1.0,
|
| 172 |
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1.0,
|
| 173 |
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1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
+
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|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
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|
| 183 |
+
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|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
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|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
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-0.6,
|
| 196 |
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0.02,
|
| 197 |
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1.0285
|
| 198 |
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],
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| 199 |
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| 200 |
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|
| 201 |
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| 202 |
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0.0,
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| 203 |
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1.0
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| 204 |
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],
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| 205 |
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| 206 |
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1.0,
|
| 207 |
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1.0,
|
| 208 |
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1.0
|
| 209 |
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]
|
| 210 |
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},
|
| 211 |
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| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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},
|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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"ratio": 1.0
|
| 221 |
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},
|
| 222 |
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"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 228 |
+
"pose": {
|
| 229 |
+
"pos": [
|
| 230 |
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-0.6,
|
| 231 |
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0.02,
|
| 232 |
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1.0965
|
| 233 |
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],
|
| 234 |
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|
| 235 |
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1.0,
|
| 236 |
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0.0,
|
| 237 |
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0.0,
|
| 238 |
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0.0
|
| 239 |
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],
|
| 240 |
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| 241 |
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1.0,
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| 242 |
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1.0,
|
| 243 |
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1.0
|
| 244 |
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]
|
| 245 |
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},
|
| 246 |
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|
| 247 |
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|
| 248 |
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"kind": null,
|
| 249 |
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|
| 250 |
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"visible": true
|
| 251 |
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},
|
| 252 |
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"physics": {
|
| 253 |
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"type": "geometry",
|
| 254 |
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"collision": false,
|
| 255 |
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"ratio": 1.0
|
| 256 |
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},
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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"type_specific": {}
|
| 260 |
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},
|
| 261 |
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{
|
| 262 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 263 |
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"pose": {
|
| 264 |
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"pos": [
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|
| 1536 |
+
[
|
| 1537 |
+
0.07162341475486755,
|
| 1538 |
+
0.5894993543624878,
|
| 1539 |
+
1.9695976972579956,
|
| 1540 |
+
0.05355358123779297,
|
| 1541 |
+
-0.007462432142347097,
|
| 1542 |
+
0.28406229615211487,
|
| 1543 |
+
0.9572799801826477
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06279011815786362,
|
| 1547 |
+
0.5724675059318542,
|
| 1548 |
+
1.973035454750061,
|
| 1549 |
+
0.040941279381513596,
|
| 1550 |
+
0.0033051760401576757,
|
| 1551 |
+
0.27451804280281067,
|
| 1552 |
+
0.9607042670249939
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p009_e011/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7a895965d0d225570aa079055d2f5699d481019ded20a1cffc2caba3aea9ff9e
|
| 3 |
+
size 7124830
|
index/episodes.csv
CHANGED
|
@@ -2331,3 +2331,5 @@ c8_p007_e019,3,True,-0.04901599884033203,0.45000171661376953,-0.0030964692648922
|
|
| 2331 |
c9_p009_e008,2,True,-0.035369873046875,0.45000171661376953,0.0036120216483044106,-0.006738417765624464,4.129526911277395,plate_384_black,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.15621877384210545,660.6945189781328,rect,-0.2079233857686248,0.49466023116898605,2.9920053421980217,7428.6941026943,3312.943275771585,disk,1.1453720656501818,1.3692237106016314,2.464829819181532,10249.386236765822,7490.477472690147,0.052500929683446884,0.00077009666711092,-0.029008129611611366,-0.2789079248905182,0.646318256855011,0.6467757821083069,-0.2935372292995453,0.07162341475486755,0.5894993543624878,1.9695976972579956,0.05355358123779297,-0.007462432142347097,0.28406229615211487,0.9572799801826477,1264,1,,2.0514659881591797,0.29919971012121876,0.0,0.007413288578391075,0.5545886075949367,12,release,0.04216945171356201,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2332 |
c9_p009_e009,0,True,0.12656307220458984,0.447418212890625,-0.005858711145626094,0.002736995147272062,11.000077318624335,pcr_96_blue,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.22164253274946752,955.9255696257808,rect,0.8373528986051141,-0.17129688390162162,3.078219202368274,10723.153607358137,4720.3699004399,disk,1.4054845595086785,-0.8801343942941819,2.6704419663778625,2183.8310988871317,6889.90452212145,0.04882851988077164,0.002371086273342371,-0.029455404728651047,-0.28458744287490845,0.6477310061454773,0.6451995372772217,-0.2883957028388977,0.06170348823070526,0.5924959182739258,1.9731929302215576,0.04111091047525406,0.008444392122328281,0.28403186798095703,0.9578958749771118,1197,1,,2.069063425064087,0.24669206651084238,0.0,0.006900731474161148,0.5304928989139516,12,release,0.042146921157836914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2333 |
c9_p009_e010,1,True,-0.052140235900878906,0.4499969482421875,-0.014998886924273333,-0.011734651384694495,-1.9585113466124255,deep_well_96_1ml,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.22343853288168725,955.9255696257808,rect,-0.0945083600069444,0.5728032676026737,2.8162472549497153,8411.25447486317,7154.202683976282,sphere,-1.1371769263610207,0.2640318576379639,2.402214364952472,8311.571193610896,4143.336077217953,0.054043423384428024,-0.003047656500712037,-0.03175925090909004,-0.2876042127609253,0.651371419429779,0.6435575485229492,-0.2807716429233551,0.05227295309305191,0.5706794857978821,1.9725005626678467,0.05409027263522148,0.012740390375256538,0.27647921442985535,0.9594118595123291,1218,1,,2.1241958141326904,0.33549991252960165,0.0,0.007470888085663319,0.5229885057471264,12,release,0.04229667782783508,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
|
|
|
| 2331 |
c9_p009_e008,2,True,-0.035369873046875,0.45000171661376953,0.0036120216483044106,-0.006738417765624464,4.129526911277395,plate_384_black,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.15621877384210545,660.6945189781328,rect,-0.2079233857686248,0.49466023116898605,2.9920053421980217,7428.6941026943,3312.943275771585,disk,1.1453720656501818,1.3692237106016314,2.464829819181532,10249.386236765822,7490.477472690147,0.052500929683446884,0.00077009666711092,-0.029008129611611366,-0.2789079248905182,0.646318256855011,0.6467757821083069,-0.2935372292995453,0.07162341475486755,0.5894993543624878,1.9695976972579956,0.05355358123779297,-0.007462432142347097,0.28406229615211487,0.9572799801826477,1264,1,,2.0514659881591797,0.29919971012121876,0.0,0.007413288578391075,0.5545886075949367,12,release,0.04216945171356201,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2332 |
c9_p009_e009,0,True,0.12656307220458984,0.447418212890625,-0.005858711145626094,0.002736995147272062,11.000077318624335,pcr_96_blue,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.22164253274946752,955.9255696257808,rect,0.8373528986051141,-0.17129688390162162,3.078219202368274,10723.153607358137,4720.3699004399,disk,1.4054845595086785,-0.8801343942941819,2.6704419663778625,2183.8310988871317,6889.90452212145,0.04882851988077164,0.002371086273342371,-0.029455404728651047,-0.28458744287490845,0.6477310061454773,0.6451995372772217,-0.2883957028388977,0.06170348823070526,0.5924959182739258,1.9731929302215576,0.04111091047525406,0.008444392122328281,0.28403186798095703,0.9578958749771118,1197,1,,2.069063425064087,0.24669206651084238,0.0,0.006900731474161148,0.5304928989139516,12,release,0.042146921157836914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2333 |
c9_p009_e010,1,True,-0.052140235900878906,0.4499969482421875,-0.014998886924273333,-0.011734651384694495,-1.9585113466124255,deep_well_96_1ml,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.22343853288168725,955.9255696257808,rect,-0.0945083600069444,0.5728032676026737,2.8162472549497153,8411.25447486317,7154.202683976282,sphere,-1.1371769263610207,0.2640318576379639,2.402214364952472,8311.571193610896,4143.336077217953,0.054043423384428024,-0.003047656500712037,-0.03175925090909004,-0.2876042127609253,0.651371419429779,0.6435575485229492,-0.2807716429233551,0.05227295309305191,0.5706794857978821,1.9725005626678467,0.05409027263522148,0.012740390375256538,0.27647921442985535,0.9594118595123291,1218,1,,2.1241958141326904,0.33549991252960165,0.0,0.007470888085663319,0.5229885057471264,12,release,0.04229667782783508,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2334 |
+
c4_p007_e008,3,True,0.1315174102783203,0.4500007629394531,0.011605338086550314,-0.006339888963444051,-11.610095400896881,plate_384_white,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.17115141450439172,506.2738340308846,rect,0.3793629422703667,-0.3289699127983593,2.795098422757644,7612.0575021397,4235.349020624279,disk,-0.49493521644898664,0.28440117220171035,2.389115646338409,7457.774484244592,3045.125273259412,0.051085494458675385,0.0016969350399449468,-0.028521737083792686,-0.27459585666656494,0.6509301662445068,0.6567710638046265,-0.2637021243572235,0.042779967188835144,0.5932649970054626,1.9525611400604248,0.0287773460149765,0.02887781150639057,0.26085665822029114,0.9645163416862488,1144,1,,2.0899505615234375,0.2800285473773326,0.0,0.0074189589358866215,0.5568181818181818,12,release,0.04229956865310669,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2335 |
+
c9_p009_e011,3,True,0.011050224304199219,0.4499988555908203,-0.0020866162781086823,0.008419996270641748,-8.236225902000683,reservoir_12ch,0.5227231979370117,0.11492919921875,-88.80199811353675,0.27235968932522014,955.9255696257808,rect,0.009065745168683637,-0.15848890678114158,2.9317364669231285,6323.122274835079,3943.3141801423812,disk,-1.5274728422969523,-0.7556113504620562,2.772722042148936,7403.3286873061,6978.106026726053,0.04920576512813568,0.003116907086223364,-0.03347731754183769,-0.27089664340019226,0.6475896835327148,0.6552802920341492,-0.2790168225765228,0.06279011815786362,0.5724675059318542,1.973035454750061,0.040941279381513596,0.0033051760401576757,0.27451804280281067,0.9607042670249939,1240,1,,2.124799966812134,0.2798080206258688,0.0,0.007447448559105396,0.5693548387096774,12,release,0.042325496673583984,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|