Cache-SCA/smolVLA_Ours_Sim2RealO_PickandPlace_50epi_50ep
Robotics • 0.5B • Updated • 3
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 11
values | skill.verification_question stringclasses 8
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 -100 35 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 35.2 | frame_index int64 0 352 | episode_index int64 0 49 | index int64 0 16.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-0.6441223621368408,
-94.81072235107422,
100,
55.421688079833984,
-0.6593406796455383,
-7.636113963371827e-11
] | [
-0.6441223621368408,
-94.81072235107422,
99,
55.421688079833984,
-0.6593406796455383,
-7.636113963371827e-11
] | [
0.17866119742393494,
0.012586926110088825,
0.05369969457387924,
3.084120273590088,
0.685215175151825,
3.13991117477417
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0 | 0 | 0 | 0 | 0 | ||
[
-0.6441223621368408,
-94.81072235107422,
100,
55.421688079833984,
-0.6593406796455383,
-0.3275839388370514
] | [
-0.6649214029312134,
-94.71967315673828,
99,
55.520225524902344,
-0.6593406796455383,
-0.3275839388370514
] | [
0.17866119742393494,
0.012586926110088825,
0.05369969457387924,
3.084120273590088,
0.685215175151825,
3.13991117477417
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.002143 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | ||
[
-0.6441223621368408,
-94.81072235107422,
100,
55.421688079833984,
-0.6593406796455383,
-1.199059009552002
] | [
-0.7202534079551697,
-94.4774398803711,
99,
55.7823600769043,
-0.6593406796455383,
-1.199059009552002
] | [
0.17866119742393494,
0.012586926110088825,
0.05369969457387924,
3.084120273590088,
0.685215175151825,
3.13991117477417
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.007831 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.2 | 2 | 0 | 2 | 0 | ||
[
-0.6441223621368408,
-94.81072235107422,
100,
55.421688079833984,
-0.6593406796455383,
-2.6076738834381104
] | [
-0.8096896409988403,
-94.0859146118164,
98.64070129394531,
56.2060661315918,
-0.6593406796455383,
-2.6076738834381104
] | [
0.17866119742393494,
0.012586926110088825,
0.05369969457387924,
3.084120273590088,
0.685215175151825,
3.13991117477417
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.016988 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.3 | 3 | 0 | 3 | 0 | ||
[
-0.6441223621368408,
-94.81072235107422,
100,
55.421688079833984,
-0.6593406796455383,
-4.535593032836914
] | [
-0.9320977330207825,
-93.55004119873047,
97.63573455810547,
56.785972595214844,
-0.6593406796455383,
-4.535593032836914
] | [
0.17866119742393494,
0.012586926110088825,
0.05369969457387924,
3.084120273590088,
0.685215175151825,
3.13991117477417
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.029444 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | ||
[
-0.6441223621368408,
-94.81072235107422,
100,
55.67986297607422,
-0.6593406796455383,
-6.963565826416016
] | [
-1.0862553119659424,
-92.87518310546875,
96.37010192871094,
57.51629638671875,
-0.6593406796455383,
-6.963565826416016
] | [
0.17812365293502808,
0.012538970448076725,
0.05329938232898712,
3.0846564769744873,
0.6806321144104004,
3.140249490737915
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.045222 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.5 | 5 | 0 | 5 | 0 | ||
[
-0.6441223621368408,
-94.81072235107422,
99.82316589355469,
56.28227233886719,
-0.6593406796455383,
-9.863336563110352
] | [
-1.2703685760498047,
-92.06918334960938,
94.8585433959961,
58.38853454589844,
-0.6593406796455383,
-9.863336563110352
] | [
0.17716243863105774,
0.01245321985334158,
0.053047314286231995,
3.085541009902954,
0.6729932427406311,
3.140803575515747
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.064782 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | ||
[
-0.6441223621368408,
-94.72564697265625,
99.3810806274414,
57.05679702758789,
-0.6593406796455383,
-13.205617904663086
] | [
-1.4825778007507324,
-91.14019012451172,
93.1163101196289,
59.39387893676758,
-0.6593406796455383,
-13.205617904663086
] | [
0.176183819770813,
0.012365913018584251,
0.05338112637400627,
3.0864150524139404,
0.6653539538383484,
3.141345739364624
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.088326 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.7 | 7 | 0 | 7 | 0 | ||
[
-1.0466989278793335,
-94.04508972167969,
98.49690246582031,
58.003440856933594,
-0.6593406796455383,
-16.95326805114746
] | [
-1.720524787902832,
-90.09852600097656,
91.16278076171875,
60.52115249633789,
-0.6593406796455383,
-16.95326805114746
] | [
0.17480948567390442,
0.013295333832502365,
0.053985774517059326,
3.0879621505737305,
0.6516026854515076,
-3.133222818374634
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.118138 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.8 | 8 | 0 | 8 | 0 | ||
[
-1.207729458808899,
-93.10931396484375,
96.37489318847656,
59.2082633972168,
-0.6593406796455383,
-21.06201171875
] | [
-1.9813984632492065,
-88.95648956298828,
89.02101135253906,
61.757041931152344,
-0.6593406796455383,
-21.06201171875
] | [
0.17475028336048126,
0.013710645027458668,
0.05836784839630127,
3.08813214302063,
0.6500744223594666,
-3.130051851272583
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.155796 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 0.9 | 9 | 0 | 9 | 0 | ||
[
-1.1272141933441162,
-92.08847045898438,
94.4297103881836,
60.240962982177734,
-0.6593406796455383,
-25.489686965942383
] | [
-2.262521982192993,
-87.7258071899414,
86.71300506591797,
63.0888671875,
-0.6593406796455383,
-25.489686965942383
] | [
0.1747298687696457,
0.013498060405254364,
0.0621609203517437,
3.088470697402954,
0.6470183730125427,
-3.1313812732696533
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.194635 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1 | 10 | 0 | 10 | 0 | ||
[
-1.207729458808899,
-90.81242370605469,
92.21927642822266,
61.53184127807617,
-0.6593406796455383,
-30.186477661132812
] | [
-2.560732126235962,
-86.42031860351562,
84.26470947265625,
64.50164031982422,
-0.6593406796455383,
-30.186477661132812
] | [
0.17431187629699707,
0.013666762970387936,
0.066055528819561,
3.08931040763855,
0.6393780708312988,
-3.1293437480926514
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.237072 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.1 | 11 | 0 | 11 | 0 | ||
[
-1.207729458808899,
-89.53636932373047,
89.8320083618164,
62.73666000366211,
-0.6593406796455383,
-35.09688186645508
] | [
-2.8725051879882812,
-85.05546569824219,
81.70506286621094,
65.97866821289062,
-0.6593406796455383,
-35.09688186645508
] | [
0.17439903318881989,
0.013675469905138016,
0.0707051157951355,
3.089643716812134,
0.6363217830657959,
-3.129145383834839
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.281156 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | ||
[
-1.5297906398773193,
-88.34538269042969,
87.26790618896484,
64.19965362548828,
-0.6593406796455383,
-40.171077728271484
] | [
-3.1946775913238525,
-83.64508056640625,
79.0600357055664,
67.50495910644531,
-0.6593406796455383,
-40.171077728271484
] | [
0.17418663203716278,
0.014493622817099094,
0.07576121389865875,
3.089975357055664,
0.6332654356956482,
-3.1228127479553223
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.326496 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
-2.6570048332214355,
-86.98426055908203,
84.70380401611328,
65.57659149169922,
-0.6593406796455383,
-45.355491638183594
] | [
-3.523848056793213,
-82.20406341552734,
76.3575668334961,
69.06440734863281,
-0.6593406796455383,
-45.355491638183594
] | [
0.1737736463546753,
0.01738778129220009,
0.08057854324579239,
3.0904700756073,
0.628680944442749,
-3.1010451316833496
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.372942 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
-2.818035364151001,
-85.53807067871094,
82.05128479003906,
67.21170043945312,
-0.6593406796455383,
-50.59567642211914
] | [
-3.8565595149993896,
-80.7475357055664,
73.62601470947266,
70.64063262939453,
-0.6593406796455383,
-50.59567642211914
] | [
0.17317980527877808,
0.017730876803398132,
0.08514661341905594,
3.0914499759674072,
0.6195115447044373,
-3.0974044799804688
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.419571 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
-3.3816425800323486,
-84.09187316894531,
79.31034851074219,
68.76075744628906,
-0.6593406796455383,
-55.826087951660156
] | [
-4.188650608062744,
-79.29373168945312,
70.8995590209961,
72.21392059326172,
-0.6593406796455383,
-55.826087951660156
] | [
0.17276588082313538,
0.019141728058457375,
0.09011165797710419,
3.0920960903167725,
0.6133981943130493,
-3.0862932205200195
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.465893 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
-3.140096664428711,
-82.64568328857422,
76.56940460205078,
70.309814453125,
-0.6593406796455383,
-60.990966796875
] | [
-4.516580581665039,
-77.85814666748047,
68.20726776123047,
73.76748657226562,
-0.6593406796455383,
-60.990966796875
] | [
0.17264382541179657,
0.018496496602892876,
0.09502480924129486,
3.0927364826202393,
0.6072848439216614,
-3.0905280113220215
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.510721 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
-3.0595812797546387,
-81.1994857788086,
73.8284683227539,
71.8588638305664,
-0.6593406796455383,
-66.03694152832031
] | [
-4.83696174621582,
-76.45560455322266,
65.57695007324219,
75.28529357910156,
-0.6593406796455383,
-66.03694152832031
] | [
0.17246992886066437,
0.01826375164091587,
0.09988295286893845,
3.093371629714966,
0.6011711955070496,
-3.091701030731201
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.55384 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
-3.462157726287842,
-79.83836364746094,
71.17594909667969,
73.49397277832031,
-0.6593406796455383,
-70.90544891357422
] | [
-5.1460747718811035,
-75.10238647460938,
63.039146423339844,
76.74971771240234,
-0.6593406796455383,
-70.90544891357422
] | [
0.17184577882289886,
0.019219189882278442,
0.10441650450229645,
3.094158172607422,
0.5935289859771729,
-3.0835888385772705
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.593982 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-4.669887065887451,
-78.47724151611328,
68.43501281738281,
74.95697021484375,
-0.6593406796455383,
-75.5416259765625
] | [
-5.440436363220215,
-73.81375122070312,
60.6224479675293,
78.1442642211914,
-0.6593406796455383,
-75.5416259765625
] | [
0.1713743358850479,
0.022275347262620926,
0.10943470150232315,
3.094470500946045,
0.5904719829559326,
-3.0604047775268555
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.631954 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
-4.589372158050537,
-77.11611938476562,
65.87091064453125,
76.41996765136719,
-0.7081807255744934,
-79.90653228759766
] | [
-5.717574119567871,
-72.60051727294922,
58.3471565246582,
79.45720672607422,
-0.6593406796455383,
-79.90653228759766
] | [
0.17119291424751282,
0.02204691804945469,
0.11377882212400436,
3.0940778255462646,
0.5842857360839844,
-3.063431739807129
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.665612 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
-5.314009666442871,
-75.75499725341797,
63.572059631347656,
77.8829574584961,
-0.7081807255744934,
-83.93798828125
] | [
-5.973540306091309,
-71.47996520996094,
56.24568176269531,
80.66984558105469,
-0.6593406796455383,
-83.93798828125
] | [
0.1703564077615738,
0.02377862110733986,
0.11716219037771225,
3.0951757431030273,
0.5735874176025391,
-3.049025297164917
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.694604 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
-5.0724639892578125,
-74.47894287109375,
61.09637451171875,
79.17383575439453,
-0.7081807255744934,
-87.59416961669922
] | [
-6.2056803703308105,
-70.4637222290039,
54.33982467651367,
81.76960754394531,
-0.6593406796455383,
-87.59416961669922
] | [
0.17054256796836853,
0.023186787962913513,
0.1214815080165863,
3.095486640930176,
0.5705305337905884,
-3.0534589290618896
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.719938 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
-5.716586112976074,
-73.45809936523438,
59.062774658203125,
80.37865447998047,
-0.7081807255744934,
-90.83782958984375
] | [
-6.411627769470215,
-69.56214141845703,
52.64900207519531,
82.74528503417969,
-0.6593406796455383,
-90.83782958984375
] | [
0.16998733580112457,
0.024752315133810043,
0.12484787404537201,
3.0959506034851074,
0.5659453272819519,
-3.0409374237060547
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.738319 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
-5.958132266998291,
-72.43726348876953,
57.20601272583008,
81.49742126464844,
-0.7081807255744934,
-93.63388061523438
] | [
-6.589155197143555,
-68.78497314453125,
51.191505432128906,
83.5863265991211,
-0.6593406796455383,
-93.63388061523438
] | [
0.169605553150177,
0.025304285809397697,
0.12769828736782074,
3.096565008163452,
0.559831440448761,
-3.0360074043273926
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.752498 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
-5.877616882324219,
-71.5014877319336,
55.43766403198242,
82.53012084960938,
-0.7081807255744934,
-95.99066162109375
] | [
-6.738792896270752,
-68.12989807128906,
49.962989807128906,
84.29523468017578,
-0.6593406796455383,
-95.99066162109375
] | [
0.16945873200893402,
0.02506822906434536,
0.13049165904521942,
3.097022771835327,
0.5552459359169006,
-3.037299156188965
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.762876 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
-5.877616882324219,
-70.82093048095703,
54.11140441894531,
83.30464935302734,
-0.7081807255744934,
-97.79090881347656
] | [
-6.853094577789307,
-67.6295166015625,
49.024574279785156,
84.83673858642578,
-0.6593406796455383,
-97.79090881347656
] | [
0.16931405663490295,
0.02504059672355652,
0.13260537385940552,
3.0973265171051025,
0.5521888732910156,
-3.037139415740967
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.768863 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
-6.602254390716553,
-70.14036560058594,
52.7851448059082,
83.90705871582031,
-0.7081807255744934,
-99.06661224365234
] | [
-6.934092044830322,
-67.27493286132812,
48.35959243774414,
85.22046661376953,
-0.6593406796455383,
-99.06661224365234
] | [
0.1691943258047104,
0.02688845992088318,
0.13491791486740112,
3.0973265171051025,
0.5521888732910156,
-3.0233335494995117
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.77382 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
-6.441223621368408,
-69.62994384765625,
51.9893913269043,
84.42340850830078,
-0.7081807255744934,
-99.8038330078125
] | [
-6.980900287628174,
-67.07001495361328,
47.97529602050781,
85.44222259521484,
-0.6593406796455383,
-99.8038330078125
] | [
0.1691083312034607,
0.026454465463757515,
0.13591204583644867,
3.0977799892425537,
0.5476031303405762,
-3.0261645317077637
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.776276 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22000452876091003,
0.0338844358921051,
0.12676504254341125,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
-6.5217390060424805,
-69.20459747314453,
51.28205108642578,
84.93975830078125,
-0.7081807255744934,
-100
] | [
-6.5217719078063965,
-68.86969757080078,
51.028343200683594,
84.93970489501953,
-0.7081807255744934,
-100
] | [
0.16878241300582886,
0.026596173644065857,
0.13677214086055756,
3.098231077194214,
0.5430175065994263,
-3.0243966579437256
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-6.5217390060424805,
-69.11952209472656,
51.28205108642578,
84.93975830078125,
-0.7081807255744934,
-100
] | [
-6.643794536590576,
-68.74270629882812,
51.01762008666992,
84.75392150878906,
-0.7081807255744934,
-100
] | [
0.1688126176595688,
0.026602327823638916,
0.13661527633666992,
3.0983808040618896,
0.5414888262748718,
-3.0243194103240967
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-6.5217390060424805,
-69.11952209472656,
51.635719299316406,
84.93975830078125,
-0.7081807255744934,
-100
] | [
-6.969452857971191,
-68.40377044677734,
50.9890022277832,
84.2580795288086,
-0.7081807255744934,
-100
] | [
0.1684471219778061,
0.026527877897024155,
0.13547483086585999,
3.0989770889282227,
0.5353742837905884,
-3.0240135192871094
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-6.5217390060424805,
-69.11952209472656,
52.07780838012695,
84.93975830078125,
-0.7081807255744934,
-100
] | [
-7.49231481552124,
-67.8595962524414,
50.943050384521484,
83.46199035644531,
-0.7081807255744934,
-100
] | [
0.1679806262254715,
0.02643285132944584,
0.13405252993106842,
3.0997164249420166,
0.5277308821678162,
-3.0236387252807617
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-6.924315452575684,
-69.11952209472656,
52.07780838012695,
84.93975830078125,
-0.7081807255744934,
-100
] | [
-8.209107398986816,
-68.9535903930664,
50.88005828857422,
82.37062072753906,
-0.7081807255744934,
-100
] | [
0.16777409613132477,
0.027422597631812096,
0.13405252993106842,
3.0997164249420166,
0.5277308821678162,
-3.0159687995910645
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-7.326891899108887,
-69.11952209472656,
52.07780838012695,
84.93975830078125,
-0.7081807255744934,
-100
] | [
-9.086071968078613,
-68.04088592529297,
50.424530029296875,
81.0353775024414,
-0.7081807255744934,
-100
] | [
0.16755996644496918,
0.02841072902083397,
0.13405252993106842,
3.0997164249420166,
0.5277309417724609,
-3.0082991123199463
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-8.132044792175293,
-69.11952209472656,
52.07780838012695,
83.82099914550781,
-0.7081807255744934,
-100
] | [
-10.119702339172363,
-66.96512603759766,
50.33369445800781,
79.46160888671875,
-0.7081807255744934,
-100
] | [
0.16960619390010834,
0.030970927327871323,
0.13542921841144562,
3.097780227661133,
0.5476032495498657,
-2.9939510822296143
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-9.01771354675293,
-69.11952209472656,
52.07780838012695,
82.44406127929688,
-0.7081807255744934,
-100
] | [
-11.293902397155762,
-65.74307250976562,
50.23050308227539,
77.6738052368164,
-0.7081807255744934,
-100
] | [
0.17208847403526306,
0.033940237015485764,
0.13719339668750763,
3.0953311920166016,
0.5720590949058533,
-2.9783778190612793
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-9.98389720916748,
-69.03445434570312,
52.07780838012695,
80.63683319091797,
-0.7081807255744934,
-100
] | [
-12.584649085998535,
-64.39971160888672,
50.11707305908203,
75.70854949951172,
-0.7081807255744934,
-100
] | [
0.17535917460918427,
0.03745859116315842,
0.13945357501506805,
3.0921592712402344,
0.6026250123977661,
-2.961728096008301
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-11.19162654876709,
-67.7583999633789,
52.07780838012695,
78.65748596191406,
-0.7081807255744934,
-99.91294860839844
] | [
-13.988862037658691,
-62.938270568847656,
49.99366760253906,
73.5705337524414,
-0.7081807255744934,
-99.91294860839844
] | [
0.17913924157619476,
0.0419854000210762,
0.13959239423274994,
3.090853214263916,
0.6148500442504883,
-2.939465284347534
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-12.479870796203613,
-66.1420669555664,
52.07780838012695,
76.93631744384766,
-0.7081807255744934,
-93.47761535644531
] | [
-15.482207298278809,
-61.38405990600586,
49.86243438720703,
71.29681396484375,
-0.7081807255744934,
-93.47761535644531
] | [
0.1822747439146042,
0.04678475111722946,
0.13856543600559235,
3.0906882286071777,
0.616378128528595,
-2.9150168895721436
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-14.009661674499512,
-64.27052307128906,
52.07780838012695,
74.26850128173828,
-0.7081807255744934,
-87.04034423828125
] | [
-17.04964828491211,
-59.75273513793945,
49.72468566894531,
68.91027069091797,
-0.7081807255744934,
-87.04034423828125
] | [
0.18701687455177307,
0.05315135419368744,
0.13818465173244476,
3.08918833732605,
0.6301302313804626,
-2.886746644973755
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-15.136876106262207,
-62.56911849975586,
52.07780838012695,
72.71945190429688,
-0.7081807255744934,
-80.60538482666016
] | [
-18.682790756225586,
-58.10462951660156,
49.58116149902344,
66.42369842529297,
-0.7081807255744934,
-80.60538482666016
] | [
0.1895776391029358,
0.05774929001927376,
0.13644813001155853,
3.089524269104004,
0.6270743012428284,
-2.8650734424591064
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-16.988727569580078,
-60.95278549194336,
52.07780838012695,
70.1376953125,
-0.6593406796455383,
-74.17015075683594
] | [
-20.35885238647461,
-56.42267608642578,
49.433868408203125,
63.87177658081055,
-0.7081807255744934,
-74.17015075683594
] | [
0.1931207776069641,
0.06542076170444489,
0.13628114759922028,
3.088808059692383,
0.6439630389213562,
-2.828984260559082
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-18.518518447875977,
-59.33645248413086,
52.07780838012695,
67.38381958007812,
-0.5616605877876282,
-67.73453521728516
] | [
-22.065677642822266,
-54.7098503112793,
49.283870697021484,
61.273014068603516,
-0.7081807255744934,
-67.73453521728516
] | [
0.19702324271202087,
0.07255681604146957,
0.13628847897052765,
3.0889856815338135,
0.6639919877052307,
-2.7972989082336426
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-20.12882423400879,
-57.464908599853516,
52.07780838012695,
64.80206298828125,
-0.5616605877876282,
-61.297725677490234
] | [
-23.78832244873047,
-52.98115158081055,
49.132484436035156,
58.65016555786133,
-0.7081807255744934,
-61.297725677490234
] | [
0.2001851201057434,
0.08008255809545517,
0.13527041673660278,
3.087646484375,
0.6762189865112305,
-2.767451047897339
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-21.900161743164062,
-55.76350402832031,
52.07780838012695,
62.30636978149414,
-0.5616605877876282,
-54.86201858520508
] | [
-25.510204315185547,
-51.25321578979492,
48.981163024902344,
56.02847671508789,
-0.7081807255744934,
-54.86201858520508
] | [
0.2024780958890915,
0.0882202610373497,
0.1344575136899948,
3.0861079692840576,
0.6899731159210205,
-2.7346746921539307
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-23.59098243713379,
-53.89196014404297,
52.07780838012695,
59.810672760009766,
-0.5616605877876282,
-48.424686431884766
] | [
-27.216901779174805,
-49.54051971435547,
48.8311767578125,
53.42991256713867,
-0.7081807255744934,
-48.424686431884766
] | [
0.20452257990837097,
0.09633199870586395,
0.13304559886455536,
3.0848870277404785,
0.700670063495636,
-2.7032432556152344
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-25.36231803894043,
-52.020416259765625,
52.07780838012695,
57.22891616821289,
-0.5616605877876282,
-41.72742462158203
] | [
-28.958389282226562,
-47.792911529541016,
48.67813491821289,
50.77837371826172,
-0.7081807255744934,
-41.72742462158203
] | [
0.206119105219841,
0.10496491193771362,
0.1316351294517517,
3.0834643840789795,
0.7128942608833313,
-2.670419692993164
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-27.455717086791992,
-49.80859375,
52.07780838012695,
54.04475021362305,
-0.5616605877876282,
-34.28702163696289
] | [
-30.8333797454834,
-45.87785339355469,
48.51335906982422,
47.92356491088867,
-0.7081807255744934,
-34.28702163696289
] | [
0.20760364830493927,
0.11551970988512039,
0.13001902401447296,
3.081458330154419,
0.7297008037567139,
-2.6318607330322266
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.057454 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-28.82447624206543,
-48.1071891784668,
52.07780838012695,
51.979347229003906,
-0.5616605877876282,
-27.8474063873291
] | [
-32.390174865722656,
-44.24400329589844,
48.37654495239258,
45.5532341003418,
-0.7081807255744934,
-27.8474063873291
] | [
0.2082086056470871,
0.12253697216510773,
0.1280210316181183,
3.080713987350464,
0.735811710357666,
-2.606281042098999
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.145774 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-30.837358474731445,
-46.15057373046875,
52.07780838012695,
49.1394157409668,
-0.5616605877876282,
-21.406747817993164
] | [
-33.70009231567383,
-42.8692512512207,
48.26142883300781,
43.55879592895508,
-0.7081807255744934,
-21.406747817993164
] | [
0.2081364244222641,
0.13265974819660187,
0.12636585533618927,
3.0788161754608154,
0.7510878443717957,
-2.569216251373291
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.238782 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-32.28663635253906,
-44.108890533447266,
51.90097427368164,
46.64371871948242,
-0.5128205418586731,
-14.933979988098145
] | [
-34.44179916381836,
-42.0908317565918,
48.19624710083008,
42.42948913574219,
-0.7081807255744934,
-14.933979988098145
] | [
0.20868699252605438,
0.14081333577632904,
0.12441208213567734,
3.078915596008301,
0.7618772983551025,
-2.5404226779937744
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.329927 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-33.49436569213867,
-42.492557525634766,
51.90097427368164,
44.836490631103516,
-0.5128205418586731,
-8.493398666381836
] | [
-35.19881820678711,
-41.29634475708008,
48.12971878051758,
41.27687454223633,
-0.7081807255744934,
-8.493398666381836
] | [
0.20822033286094666,
0.14713002741336823,
0.12191007286310196,
3.078530788421631,
0.7649326324462891,
-2.517679214477539
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.416628 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-34.21900177001953,
-41.64185333251953,
51.90097427368164,
43.54561233520508,
-0.5128205418586731,
-2.057736873626709
] | [
-35.9747428894043,
-40.482017517089844,
48.06153106689453,
40.09547805786133,
-0.7081807255744934,
-2.057736873626709
] | [
0.2081070840358734,
0.15118056535720825,
0.12114046514034271,
3.0775582790374756,
0.7725706100463867,
-2.504549503326416
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.498609 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-35.185184478759766,
-40.876224517822266,
51.90097427368164,
42.25473403930664,
-0.5128205418586731,
4.379932403564453
] | [
-36.77152633666992,
-39.64579391479492,
47.99150848388672,
38.88231658935547,
-0.7081807255744934,
4.379932403564453
] | [
0.20717190206050873,
0.1560082882642746,
0.12065600603818893,
3.076371908187866,
0.7817356586456299,
-2.486973762512207
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.580546 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-35.829307556152344,
-40.110591888427734,
51.90097427368164,
41.0499153137207,
-0.5128205418586731,
10.816314697265625
] | [
-37.59169387817383,
-38.7850341796875,
47.919429779052734,
37.6335563659668,
-0.7081807255744934,
10.816314697265625
] | [
0.20696018636226654,
0.15969052910804749,
0.12000736594200134,
3.075366735458374,
0.7893725633621216,
-2.4754128456115723
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.660787 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-36.876007080078125,
-39.17481994628906,
51.90097427368164,
39.8450927734375,
-0.5128205418586731,
17.25461196899414
] | [
-38.44350051879883,
-37.89106750488281,
47.844573974609375,
36.33662033081055,
-0.7081807255744934,
17.25461196899414
] | [
0.2054123431444168,
0.16466081142425537,
0.11871862411499023,
3.074756145477295,
0.793954610824585,
-2.4559054374694824
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.741263 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-37.35909652709961,
-38.23904800415039,
51.90097427368164,
38.55421829223633,
-0.5128205418586731,
23.696819305419922
] | [
-39.31969451904297,
-36.97150421142578,
47.767574310302734,
35.0025520324707,
-0.7081807255744934,
23.696819305419922
] | [
0.20563700795173645,
0.16794493794441223,
0.11755455285310745,
3.0739331245422363,
0.80006343126297,
-2.4472901821136475
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.817938 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-38.647342681884766,
-37.13313293457031,
51.81255340576172,
37.349395751953125,
-0.5128205418586731,
30.133201599121094
] | [
-40.24060821533203,
-36.00501251220703,
47.686641693115234,
33.600399017333984,
-0.7081807255744934,
30.133201599121094
] | [
0.2031523436307907,
0.17377091944217682,
0.11593028903007507,
3.0735177993774414,
0.8031178712844849,
-2.4230449199676514
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.889378 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-38.96940231323242,
-36.19736099243164,
51.81255340576172,
35.97246170043945,
-0.46398046612739563,
35
] | [
-40.98476791381836,
-35.22401809692383,
47.621246337890625,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.20384623110294342,
0.17664700746536255,
0.11486093699932098,
3.07407808303833,
0.8108580112457275,
-2.4154460430145264
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.924875 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
-40.1771354675293,
-35.431732177734375,
51.81255340576172,
34.681583404541016,
-0.46398046612739563,
35
] | [
-40.98476791381836,
-35.22401809692383,
47.621246337890625,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2013242393732071,
0.18217381834983826,
0.11426784098148346,
3.0728251934051514,
0.8200218677520752,
-2.393348455429077
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.941497 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
-40.74074172973633,
-34.836238861083984,
51.81255340576172,
34.07917404174805,
-0.46398046612739563,
35
] | [
-40.98476791381836,
-35.22401809692383,
47.621246337890625,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.20007450878620148,
0.18472762405872345,
0.11306478083133698,
3.0728251934051514,
0.8200218081474304,
-2.382610559463501
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.9483 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | |
[
-40.418678283691406,
-34.836238861083984,
51.81255340576172,
33.99311447143555,
-0.46398046612739563,
35
] | [
-40.98476791381836,
-35.22401809692383,
47.621246337890625,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.20131082832813263,
0.18385452032089233,
0.11322170495986938,
3.0726139545440674,
0.8215490579605103,
-2.3889009952545166
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.948314 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | |
[
-40.338165283203125,
-34.836238861083984,
51.81255340576172,
33.99311447143555,
-0.46398046612739563,
35
] | [
-40.98476791381836,
-35.22401809692383,
47.621246337890625,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.20159265398979187,
0.18360507488250732,
0.11322170495986938,
3.0726139545440674,
0.8215490579605103,
-2.390434980392456
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.948167 | [
-40.98476791381836,
-33.507083892822266,
48.2410888671875,
32.46736145019531,
-0.7081807255744934,
35
] | [
0.2056305855512619,
0.1929716318845749,
0.12571603059768677,
3.053572416305542,
0.8857917785644531,
-2.397503137588501
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | |
[
-40.338165283203125,
-34.836238861083984,
51.81255340576172,
33.99311447143555,
-0.46398046612739563,
35
] | [
-40.338165283203125,
-34.708885192871094,
51.55670166015625,
33.99311447143555,
-0.46398046612739563,
35
] | [
0.20159265398979187,
0.18360507488250732,
0.11322170495986938,
3.0726139545440674,
0.8215490579605103,
-2.390434980392456
] | 1 | Pick up the red block | move | 0.000031 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-40.338165283203125,
-34.836238861083984,
51.81255340576172,
33.99311447143555,
-0.46398046612739563,
35
] | [
-40.32917785644531,
-34.517486572265625,
51.4678955078125,
33.81840133666992,
-0.46398046612739563,
35
] | [
0.20159265398979187,
0.18360507488250732,
0.11322170495986938,
3.0726139545440674,
0.8215490579605103,
-2.390434980392456
] | 1 | Pick up the red block | move | 0.000031 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-40.338165283203125,
-34.75117111206055,
52.7851448059082,
33.99311447143555,
-0.46398046612739563,
35
] | [
-40.301937103271484,
-33.93253707885742,
50.81861114501953,
33.288089752197266,
-0.46398046612739563,
35
] | [
0.20024912059307098,
0.18209034204483032,
0.10891741514205933,
3.075103759765625,
0.8032211065292358,
-2.388627290725708
] | 1 | Pick up the red block | move | 0 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-40.338165283203125,
-34.75117111206055,
52.7851448059082,
33.99311447143555,
-0.46398046612739563,
35
] | [
-40.262962341308594,
-34.93910598754883,
50.427005767822266,
32.527400970458984,
-0.46398046612739563,
35
] | [
0.20024912059307098,
0.18209034204483032,
0.10891741514205933,
3.075103759765625,
0.8032211065292358,
-2.388627290725708
] | 1 | Pick up the red block | move | 0 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-40.338165283203125,
-34.75117111206055,
52.7851448059082,
33.99311447143555,
-0.46398046612739563,
35
] | [
-40.211021423339844,
-33.7823371887207,
49.89635467529297,
31.5096378326416,
-0.46398046612739563,
35
] | [
0.20024912059307098,
0.18209034204483032,
0.10891741514205933,
3.075103759765625,
0.8032211065292358,
-2.388627290725708
] | 1 | Pick up the red block | move | 0 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-40.338165283203125,
-34.75117111206055,
52.7851448059082,
33.82099914550781,
-0.46398046612739563,
35
] | [
-40.14912033081055,
-32.390960693359375,
49.25067901611328,
30.29060173034668,
-0.46398046612739563,
35
] | [
0.20046454668045044,
0.18233321607112885,
0.10922607034444809,
3.074695587158203,
0.8062759637832642,
-2.3889214992523193
] | 1 | Pick up the red block | move | 0 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-40.338165283203125,
-33.985538482666016,
52.7851448059082,
32.530120849609375,
-0.46398046612739563,
35
] | [
-40.07915115356445,
-30.7888126373291,
48.502960205078125,
28.904396057128906,
-0.46398046612739563,
35
] | [
0.20200036466121674,
0.18406476080417633,
0.10859565436840057,
3.0734546184539795,
0.8154400587081909,
-2.3898210525512695
] | 1 | Pick up the red block | move | 0.014626 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-40.338165283203125,
-31.688642501831055,
52.60831069946289,
31.239242553710938,
-0.46398046612739563,
35
] | [
-40.0023193359375,
-28.95140266418457,
47.654144287109375,
27.36935806274414,
-0.46398046612739563,
35
] | [
0.2035658061504364,
0.18582971394062042,
0.10265917330980301,
3.075509548187256,
0.800166130065918,
-2.388335704803467
] | 1 | Pick up the red block | move | 0.051515 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-40.338165283203125,
-29.051467895507812,
51.90097427368164,
29.862306594848633,
-0.46398046612739563,
35
] | [
-39.92145538330078,
-26.9295711517334,
46.729515075683594,
25.739315032958984,
-0.46398046612739563,
35
] | [
0.20585817098617554,
0.18841423094272614,
0.09750580787658691,
3.0769100189208984,
0.7894731163978577,
-2.387336254119873
] | 1 | Pick up the red block | move | 0.095851 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-40.338165283203125,
-27.17992401123047,
50.928382873535156,
28.485370635986328,
-0.46398046612739563,
35
] | [
-39.83809280395508,
-24.734481811523438,
45.73695373535156,
24.040721893310547,
-0.46398046612739563,
35
] | [
0.20867572724819183,
0.19159086048603058,
0.0963057428598404,
3.0759129524230957,
0.7971110343933105,
-2.3880467414855957
] | 1 | Pick up the red block | move | 0.132297 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-40.338165283203125,
-25.308380126953125,
50.04420852661133,
26.850257873535156,
-0.46398046612739563,
35
] | [
-39.75409698486328,
-22.38115119934082,
44.68655014038086,
22.305952072143555,
-0.46398046612739563,
35
] | [
0.21165162324905396,
0.19494600594043732,
0.09509636461734772,
3.0744903087615967,
0.8078033328056335,
-2.3890697956085205
] | 1 | Pick up the red block | move | 0.169724 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-40.338165283203125,
-23.011484146118164,
48.98320007324219,
25.04302978515625,
-0.46398046612739563,
35
] | [
-39.670989990234375,
-19.897274017333984,
43.59385681152344,
20.564903259277344,
-0.46398046612739563,
35
] | [
0.21496975421905518,
0.19868700206279755,
0.09300272911787033,
3.0732455253601074,
0.8169673085212708,
-2.3899734020233154
] | 1 | Pick up the red block | move | 0.214232 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-40.338165283203125,
-20.374309539794922,
48.0106086730957,
23.407917022705078,
-0.46398046612739563,
35
] | [
-39.59040069580078,
-17.257753372192383,
42.46819305419922,
18.84602165222168,
-0.46398046612739563,
35
] | [
0.2177661508321762,
0.20183978974819183,
0.0885976254940033,
3.0734546184539795,
0.8154400587081909,
-2.3898210525512695
] | 1 | Pick up the red block | move | 0.261378 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-40.338165283203125,
-17.822202682495117,
46.77276611328125,
21.514629364013672,
-0.46398046612739563,
35
] | [
-39.51368713378906,
-14.532196044921875,
41.32242202758789,
17.175464630126953,
-0.46398046612739563,
35
] | [
0.22126850485801697,
0.2057885080575943,
0.0858718603849411,
3.0721893310546875,
0.8246033787727356,
-2.3907461166381836
] | 1 | Pick up the red block | move | 0.310284 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-40.338165283203125,
-15.099957466125488,
45.62334060668945,
19.879518508911133,
-0.46398046612739563,
35
] | [
-39.441532135009766,
-11.745044708251953,
40.166812896728516,
15.568203926086426,
-0.46398046612739563,
35
] | [
0.2241574376821518,
0.2090456187725067,
0.08134328573942184,
3.0721893310546875,
0.8246033787727356,
-2.3907461166381836
] | 1 | Pick up the red block | move | 0.359314 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-40.338165283203125,
-12.207571029663086,
44.385498046875,
18.24440574645996,
-0.46398046612739563,
35
] | [
-39.37544250488281,
-8.916043281555176,
39.00143814086914,
14.051466941833496,
-0.46398046612739563,
35
] | [
0.2270182967185974,
0.2122710794210434,
0.07615122199058533,
3.072402000427246,
0.8230762481689453,
-2.390590190887451
] | 1 | Pick up the red block | move | 0.410895 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-40.338165283203125,
-9.40025520324707,
43.2360725402832,
16.523235321044922,
-0.46398046612739563,
35
] | [
-39.31562423706055,
-6.075175762176514,
37.84300994873047,
12.633570671081543,
-0.46398046612739563,
35
] | [
0.2297472059726715,
0.2153477668762207,
0.07090302556753159,
3.072402000427246,
0.8230762481689453,
-2.390590190887451
] | 1 | Pick up the red block | move | 0.461236 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-40.338165283203125,
-6.507868766784668,
42.08665084838867,
15.060240745544434,
-0.46398046612739563,
35
] | [
-39.262332916259766,
-3.2444188594818115,
36.705078125,
11.322037696838379,
-0.46398046612739563,
35
] | [
0.23197519779205322,
0.21785970032215118,
0.06454795598983765,
3.0732455253601074,
0.8169673085212708,
-2.3899734020233154
] | 1 | Pick up the red block | move | 0.51128 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-40.338165283203125,
-3.615482807159424,
41.02564239501953,
13.597246170043945,
-0.46398046612739563,
35
] | [
-39.21662521362305,
-0.4550366699695587,
35.60136795043945,
10.13891315460205,
-0.46398046612739563,
35
] | [
0.23388053476810455,
0.22000788152217865,
0.05761772394180298,
3.074284553527832,
0.8093307018280029,
-2.38921856880188
] | 1 | Pick up the red block | move | 0.560703 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-40.418678283691406,
-0.7230965495109558,
39.78779983520508,
12.306367874145508,
-0.46398046612739563,
35
] | [
-39.17760467529297,
2.2705399990081787,
34.537498474121094,
9.073421478271484,
-0.46398046612739563,
35
] | [
0.23540692031383514,
0.2224149852991104,
0.050832461565732956,
3.0753071308135986,
0.8016935586929321,
-2.3869471549987793
] | 1 | Pick up the red block | move | 0.610258 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-40.418678283691406,
2.1692895889282227,
38.63837432861328,
11.187607765197754,
-0.46398046612739563,
35
] | [
-39.14536666870117,
4.904599189758301,
33.523494720458984,
8.131547927856445,
-0.46398046612739563,
35
] | [
0.23671039938926697,
0.22388914227485657,
0.04319297522306442,
3.0769100189208984,
0.7894731163978577,
-2.3858022689819336
] | 1 | Pick up the red block | move | 0.658507 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-40.418678283691406,
5.1467461585998535,
37.57736587524414,
10.068846702575684,
-0.46398046612739563,
35
] | [
-39.121402740478516,
7.27066707611084,
32.63514709472656,
7.37002420425415,
-0.46398046612739563,
35
] | [
0.23756058514118195,
0.22485066950321198,
0.034623414278030396,
3.0788590908050537,
0.7741957902908325,
-2.3844289779663086
] | 1 | Pick up the red block | move | 0.707156 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-40.418678283691406,
7.528711318969727,
36.516357421875,
9.208261489868164,
-0.46398046612739563,
35
] | [
-39.11016082763672,
8.563077926635742,
32.163490295410156,
6.987744331359863,
-0.46398046612739563,
35
] | [
0.23849068582057953,
0.22590257227420807,
0.028349194675683975,
3.080000638961792,
0.7650285363197327,
-2.383634567260742
] | 1 | Pick up the red block | move | 0.747213 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-40.418678283691406,
9.655466079711914,
35.809017181396484,
8.691910743713379,
-0.46398046612739563,
35
] | [
-39.0998420715332,
9.891459465026855,
31.681894302368164,
6.614621639251709,
-0.46398046612739563,
35
] | [
0.23836123943328857,
0.2257561981678009,
0.021362794563174248,
3.0820424556732178,
0.7482202053070068,
-2.382232666015625
] | 1 | Pick up the red block | move | 0.780224 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-40.418678283691406,
11.01658821105957,
35.63218307495117,
8.433734893798828,
-0.46398046612739563,
35
] | [
-39.090553283691406,
11.257217407226562,
31.19016456604004,
6.252208709716797,
-0.46398046612739563,
35
] | [
0.2374996393918991,
0.224781796336174,
0.015780778601765633,
3.08402156829834,
0.7314098477363586,
-2.3808984756469727
] | 1 | Pick up the red block | move | 0.798898 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-40.418678283691406,
12.377711296081543,
34.836429595947266,
8.433734893798828,
-0.46398046612739563,
35
] | [
-39.08238220214844,
12.662344932556152,
30.68785285949707,
5.90164852142334,
-0.46398046612739563,
35
] | [
0.23761309683322906,
0.22491011023521423,
0.011915421113371849,
3.08525013923645,
0.7207112908363342,
-2.380082845687866
] | 1 | Pick up the red block | move | 0.820707 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-40.49919509887695,
13.568694114685059,
34.39434051513672,
7.573149681091309,
-0.46398046612739563,
35
] | [
-39.075401306152344,
14.110572814941406,
30.173843383789062,
5.5633745193481445,
-0.46398046612739563,
35
] | [
0.2379138171672821,
0.22594760358333588,
0.009031889960169792,
3.085076093673706,
0.7222397327423096,
-2.3786637783050537
] | 1 | Pick up the red block | move | 0.841649 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-40.49919509887695,
14.929817199707031,
33.86383819580078,
7.4010329246521,
-0.46398046612739563,
35
] | [
-39.06961441040039,
15.614983558654785,
29.6436824798584,
5.235507011413574,
-0.46398046612739563,
35
] | [
0.23757319152355194,
0.2255612015724182,
0.004476458299905062,
3.086455821990967,
0.7100120782852173,
-2.377758026123047
] | 1 | Pick up the red block | move | 0.862019 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-40.49919509887695,
16.37601089477539,
33.51016616821289,
6.97074031829834,
-0.46398046612739563,
35
] | [
-39.065242767333984,
17.175111770629883,
29.09811019897461,
4.9217047691345215,
-0.46398046612739563,
35
] | [
0.23699946701526642,
0.22491036355495453,
-0.0006883377791382372,
3.0878069400787354,
0.6977835297584534,
-2.3768835067749023
] | 1 | Pick up the red block | move | 0.882617 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-40.49919509887695,
17.99234390258789,
32.80282974243164,
6.884681701660156,
-0.46398046612739563,
35
] | [
-39.06242752075195,
18.808212280273438,
28.531558990478516,
4.621427536010742,
-0.46398046612739563,
35
] | [
0.2364683747291565,
0.22430787980556488,
-0.006061629392206669,
3.0894572734832764,
0.6824966073036194,
-2.3758327960968018
] | 1 | Pick up the red block | move | 0.905414 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-40.49919509887695,
19.60867691040039,
32.095489501953125,
6.4543890953063965,
-0.46398046612739563,
35
] | [
-39.061397552490234,
20.298952102661133,
28.016366958618164,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.2363400012254715,
0.2241622656583786,
-0.010928777046501637,
3.090427875518799,
0.6733238697052002,
-2.3752241134643555
] | 1 | Pick up the red block | move | 0.92843 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-40.49919509887695,
21.22500991821289,
31.388151168823242,
5.938037872314453,
-0.46398046612739563,
35
] | [
-39.061397552490234,
22.138952255249023,
28.016366958618164,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.23626215755939484,
0.22407396137714386,
-0.0156991146504879,
3.0912258625030518,
0.6656795144081116,
-2.3747286796569824
] | 1 | Pick up the red block | move | 0.948453 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
-40.49919509887695,
22.67120361328125,
31.388151168823242,
5.938037872314453,
-0.6593406796455383,
35
] | [
-39.061397552490234,
22.138952255249023,
28.016366958618164,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.23389017581939697,
0.2214464396238327,
-0.02264748513698578,
3.089311361312866,
0.6393798589706421,
-2.380760669708252
] | 1 | Pick up the red block | move | 0.949021 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
-40.418678283691406,
23.096553802490234,
30.94606590270996,
5.8519792556762695,
-0.7081807255744934,
35
] | [
-39.061397552490234,
20.298952102661133,
28.016366958618164,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.2347329705953598,
0.2217319756746292,
-0.023191219195723534,
3.0880014896392822,
0.6408266425132751,
-2.384305477142334
] | 1 | Pick up the red block | move | 0.953265 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
-40.49919509887695,
23.181625366210938,
30.769229888916016,
5.8519792556762695,
-0.7081807255744934,
35
] | [
-39.061397552490234,
20.298952102661133,
28.016366958618164,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.23468847572803497,
0.22236786782741547,
-0.023052560165524483,
3.0878303050994873,
0.6423544883728027,
-2.382874011993408
] | 1 | Pick up the red block | move | 0.954073 | [
-39.061397552490234,
22.05495262145996,
28.715499877929688,
4.371150970458984,
-0.46398046612739563,
35
] | [
0.24976909160614014,
0.22657446563243866,
-0.008602099493145943,
3.084782600402832,
0.7248057126998901,
-2.4062509536743164
] | 35 | pick red block and place on blue dish | [
0,
0,
0
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 16544,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.ee_pos.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.gripper_binary": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.verification_question": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.type": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.progress": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.goal_position.joint": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"skill.goal_position.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper.pos"
]
},
"subtask.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.object_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.target_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 20
Models trained or fine-tuned on Cache-SCA/SO101-PickandPlace_Ours_50epi