observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 29
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 64.3 | frame_index int64 0 643 | episode_index int64 0 24 | index int64 0 14.1k | task_index int64 0 0 |
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] | move_to_position | 0.126405 | [
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.126785 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.308786 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0 | [
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] | 1 | 1 | 10 | 21 | 11,948 | 0 |
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 21 | 11,949 | 0 |
[
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] | [
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] | move_to_position | 0.295666 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 21 | 11,950 | 0 |
[
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.35305315256118774,
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] | 1 | 1.3 | 13 | 21 | 11,951 | 0 |
[
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] | move_to_position | 0.64854 | [
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] | 0 | move to initial position to start the task | [
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0.35301339626312256,
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] | 1 | 1.4 | 14 | 21 | 11,952 | 0 |
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] | move_to_position | 0 | [
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0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.00003841868965537287,
-0.43999379873275757,
0.3530248701572418,
2.7948663234710693,
0.060867637395858765,
3.0698843002319336
] | 1 | 1.5 | 15 | 21 | 11,953 | 0 |
[
-1.9002503156661987,
-1.9571348428726196,
1.9297417402267456,
-1.8929840326309204,
-1.538547396659851,
2.8817269802093506,
0
] | [
-1.9002066850662231,
-1.957116961479187,
1.9297338724136353,
-1.8930097818374634,
-1.5385533571243286,
2.881716728210449,
0
] | move_to_position | 0 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.000029784221624140628,
-0.43998873233795166,
0.3530314862728119,
2.794822931289673,
0.06088457256555557,
3.0699119567871094
] | 1 | 1.6 | 16 | 21 | 11,954 | 0 |
[
-1.9008225202560425,
-1.9560080766677856,
1.9296506643295288,
-1.894006371498108,
-1.5383962392807007,
2.8811633586883545,
0
] | [
-1.902740716934204,
-1.951907753944397,
1.9291363954544067,
-1.8975017070770264,
-1.537689447402954,
2.8793277740478516,
0
] | move_to_position | 0.001408 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.0007743461756035686,
-0.44092223048210144,
0.352585107088089,
2.7948055267333984,
0.060926653444767,
3.0698835849761963
] | 1 | 1.7 | 17 | 21 | 11,955 | 0 |
[
-1.9075759649276733,
-1.9417706727981567,
1.9278229475021362,
-1.9062567949295044,
-1.536117434501648,
2.874704122543335,
0
] | [
-1.9118754863739014,
-1.9329348802566528,
1.9270124435424805,
-1.9138336181640625,
-1.534617304801941,
2.870727777481079,
0
] | move_to_position | 0.018805 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.0058571468107402325,
-0.44746285676956177,
0.3493058383464813,
2.795034170150757,
0.06095659360289574,
3.070035457611084
] | 1 | 1.8 | 18 | 21 | 11,956 | 0 |
[
-1.9201453924179077,
-1.915657639503479,
1.9250715970993042,
-1.9287554025650024,
-1.531873106956482,
2.86293363571167,
0
] | [
-1.9252827167510986,
-1.9048922061920166,
1.923925518989563,
-1.9379469156265259,
-1.5301525592803955,
2.8581175804138184,
0
] | move_to_position | 0.050704 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.014700877480208874,
-0.45829254388809204,
0.34336888790130615,
2.7954163551330566,
0.06083686277270317,
3.0700652599334717
] | 1 | 1.9 | 19 | 21 | 11,957 | 0 |
[
-1.937278151512146,
-1.8797966241836548,
1.9211691617965698,
-1.9594870805740356,
-1.526187777519226,
2.8468565940856934,
0
] | [
-1.9440490007400513,
-1.8655412197113037,
1.9196195602416992,
-1.9717744588851929,
-1.5239245891571045,
2.840473175048828,
0
] | move_to_position | 0.094365 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.026655960828065872,
-0.4719860255718231,
0.3350951075553894,
2.7960152626037598,
0.06082329526543617,
3.0700366497039795
] | 1 | 2 | 20 | 21 | 11,958 | 0 |
[
-1.9587539434432983,
-1.8347378969192505,
1.91623055934906,
-1.9983292818069458,
-1.5190743207931519,
2.82666015625,
0
] | [
-1.9660848379135132,
-1.8192589282989502,
1.914572834968567,
-2.0115551948547363,
-1.5166250467300415,
2.8197591304779053,
0
] | move_to_position | 0.149291 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.040679410099983215,
-0.4869127869606018,
0.32510364055633545,
2.796398878097534,
0.060857564210891724,
3.070081949234009
] | 1 | 2.1 | 21 | 21 | 11,959 | 0 |
[
-1.9813088178634644,
-1.7871052026748657,
1.911054015159607,
-2.039262533187866,
-1.511565089225769,
2.8053295612335205,
0
] | [
-1.9902722835540771,
-1.768408179283142,
1.9090384244918823,
-2.0552566051483154,
-1.5086201429367065,
2.7970240116119385,
0
] | move_to_position | 0.207205 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.058470577001571655,
-0.5041883587837219,
0.3118828535079956,
2.7967567443847656,
0.060921259224414825,
3.070082902908325
] | 1 | 2.2 | 22 | 21 | 11,960 | 0 |
[
-2.0058681964874268,
-1.7355200052261353,
1.90542733669281,
-2.083580255508423,
-1.503447413444519,
2.782336711883545,
0
] | [
-2.0150296688079834,
-1.7163399457931519,
1.9033759832382202,
-2.1000022888183594,
-1.5004298686981201,
2.773754835128784,
0
] | move_to_position | 0.269857 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.07635214924812317,
-0.5199227929115295,
0.29801884293556213,
2.797030210494995,
0.060848575085401535,
3.070054531097412
] | 1 | 2.3 | 23 | 21 | 11,961 | 0 |
[
-2.0313494205474854,
-1.6821233034133911,
1.8996657133102417,
-2.1293885707855225,
-1.4950331449508667,
2.758486032485962,
0
] | [
-2.0402915477752686,
-1.6632124185562134,
1.8975979089736938,
-2.1456594467163086,
-1.4920724630355835,
2.7500112056732178,
0
] | move_to_position | 0.334594 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.09571536630392075,
-0.5351989269256592,
0.2824952006340027,
2.7970502376556396,
0.060850635170936584,
3.0700020790100098
] | 1 | 2.4 | 24 | 21 | 11,962 | 0 |
[
-2.0555670261383057,
-1.6311894655227661,
1.8941062688827515,
-2.1733558177948,
-1.4869664907455444,
2.7356765270233154,
0
] | [
-2.0663154125213623,
-1.608511209487915,
1.8916429281234741,
-2.192674398422241,
-1.4834587574005127,
2.725551128387451,
0
] | move_to_position | 0.39636 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1148611381649971,
-0.5486801266670227,
0.26657232642173767,
2.7969095706939697,
0.06090701371431351,
3.069894313812256
] | 1 | 2.5 | 25 | 21 | 11,963 | 0 |
[
-2.078500509262085,
-1.5828396081924438,
1.8888381719589233,
-2.2147653102874756,
-1.479441523551941,
2.714082717895508,
0
] | [
-2.08815860748291,
-1.5626490116119385,
1.88663911819458,
-2.232100248336792,
-1.4762213230133057,
2.7050180435180664,
0
] | move_to_position | 0.454653 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1327630877494812,
-0.5599594116210938,
0.2511955499649048,
2.7965431213378906,
0.06103741377592087,
3.0697765350341797
] | 1 | 2.6 | 26 | 21 | 11,964 | 0 |
[
-2.098691701889038,
-1.5405068397521973,
1.884250521659851,
-2.2510688304901123,
-1.4726799726486206,
2.6951119899749756,
0
] | [
-2.104358434677124,
-1.5286914110183716,
1.8829214572906494,
-2.2612977027893066,
-1.4708441495895386,
2.6897878646850586,
0
] | move_to_position | 0.505593 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1475502848625183,
-0.5683642625808716,
0.23803873360157013,
2.796196937561035,
0.06108158454298973,
3.069711208343506
] | 1 | 2.7 | 27 | 21 | 11,965 | 0 |
[
-2.114690065383911,
-1.5071567296981812,
1.8806060552597046,
-2.279747724533081,
-1.4674233198165894,
2.680137872695923,
0
] | [
-2.119035482406616,
-1.4980019330978394,
1.8795415163040161,
-2.287693738937378,
-1.4659558534622192,
2.6759839057922363,
0
] | move_to_position | 0.54564 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.15999048948287964,
-0.5747403502464294,
0.22679905593395233,
2.7957651615142822,
0.06117747724056244,
3.069516658782959
] | 1 | 2.8 | 28 | 21 | 11,966 | 0 |
[
-2.1253445148468018,
-1.484915852546692,
1.8780916929244995,
-2.2989718914031982,
-1.4638327360153198,
2.6700081825256348,
0
] | [
-2.128953456878662,
-1.477431058883667,
1.8772317171096802,
-2.3054096698760986,
-1.4626150131225586,
2.6666452884674072,
0
] | move_to_position | 0.572336 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.16837015748023987,
-0.5787933468818665,
0.21912238001823425,
2.7952773571014404,
0.061295729130506516,
3.069538116455078
] | 1 | 2.9 | 29 | 21 | 11,967 | 0 |
[
-2.1304128170013428,
-1.4745144844055176,
1.8769854307174683,
-2.3079044818878174,
-1.462187647819519,
2.6653172969818115,
0
] | [
-2.1305642127990723,
-1.4741228818893433,
1.8768515586853027,
-2.3082635402679443,
-1.4620651006698608,
2.6651268005371094,
0
] | move_to_position | 0.58476 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.17134897410869598,
-0.5801064968109131,
0.21632198989391327,
2.7952194213867188,
0.06132372468709946,
3.0694637298583984
] | 1 | 3 | 30 | 21 | 11,968 | 0 |
[
-2.1305220127105713,
-1.474137306213379,
1.8769696950912476,
-2.3082468509674072,
-1.4620879888534546,
2.665173053741455,
0
] | [
-2.1305642127990723,
-1.4741228818893433,
1.8768515586853027,
-2.3082635402679443,
-1.4620651006698608,
2.6651268005371094,
0
] | move_to_position | 0.585206 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.17132793366909027,
-0.5801008939743042,
0.21633288264274597,
2.7951853275299072,
0.06129627674818039,
3.069509744644165
] | 1 | 3.1 | 31 | 21 | 11,969 | 0 |
[
-2.130558729171753,
-1.4741289615631104,
1.8769334554672241,
-2.3082592487335205,
-1.4620641469955444,
2.665144920349121,
0
] | [
-2.1305644512176514,
-1.4741230010986328,
1.8768515586853027,
-2.3082635402679443,
-1.4620651006698608,
2.6651265621185303,
0
] | move_to_position | 0.58523 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.17133839428424835,
-0.5801327228546143,
0.2163797914981842,
2.7950632572174072,
0.06129574775695801,
3.0694708824157715
] | 1 | 3.2 | 32 | 21 | 11,970 | 0 |
[
-2.130549192428589,
-1.474094033241272,
1.8768752813339233,
-2.3082664012908936,
-1.4620331525802612,
2.6651175022125244,
0
] | [
-2.1307201385498047,
-1.473473310470581,
1.8767564296722412,
-2.308809757232666,
-1.4620146751403809,
2.66497802734375,
0
] | move_to_position | 0.585264 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1713605523109436,
-0.580197274684906,
0.2164219170808792,
2.794978141784668,
0.06137579306960106,
3.069563150405884
] | 1 | 3.3 | 33 | 21 | 11,971 | 0 |
[
-2.1314857006073,
-1.4704337120056152,
1.8760746717453003,
-2.3113410472869873,
-1.4617522954940796,
2.6642236709594727,
0
] | [
-2.1326608657836914,
-1.4652677774429321,
1.8755712509155273,
-2.3156967163085938,
-1.4613853693008423,
2.6631267070770264,
0
] | move_to_position | 0.589401 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.17296817898750305,
-0.5814719796180725,
0.21460534632205963,
2.794631004333496,
0.06151789054274559,
3.0694925785064697
] | 1 | 3.4 | 34 | 21 | 11,972 | 0 |
[
-2.1350457668304443,
-1.45512056350708,
1.8739951848983765,
-2.3242900371551514,
-1.4606260061264038,
2.6608355045318604,
0
] | [
-2.1367595195770264,
-1.447373628616333,
1.873069167137146,
-2.3306643962860107,
-1.4600566625595093,
2.6592180728912354,
0
] | move_to_position | 0.606551 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.17761462926864624,
-0.5850156545639038,
0.20823779702186584,
2.794872760772705,
0.06146024540066719,
3.069476366043091
] | 1 | 3.5 | 35 | 21 | 11,973 | 0 |
[
-2.140570878982544,
-1.4311213493347168,
1.8707307577133179,
-2.344289541244507,
-1.4588254690170288,
2.655712604522705,
0
] | [
-2.14294171333313,
-1.4200584888458252,
1.8692950010299683,
-2.3534963130950928,
-1.4580527544021606,
2.653322458267212,
0
] | move_to_position | 0.633247 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1843179613351822,
-0.5901347994804382,
0.1989368349313736,
2.7948498725891113,
0.06142932176589966,
3.069528818130493
] | 1 | 3.6 | 36 | 21 | 11,974 | 0 |
[
-2.1471879482269287,
-1.4013376235961914,
1.8666609525680542,
-2.369037389755249,
-1.4566601514816284,
2.6492972373962402,
0
] | [
-2.150259017944336,
-1.387550950050354,
1.86482834815979,
-2.380662441253662,
-1.4556812047958374,
2.646345376968384,
0
] | move_to_position | 0.666313 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.19230492413043976,
-0.5959802865982056,
0.187379851937294,
2.794989824295044,
0.06137188524007797,
3.06966495513916
] | 1 | 3.7 | 37 | 21 | 11,975 | 0 |
[
-2.1552393436431885,
-1.3653305768966675,
1.8617724180221558,
-2.39924693107605,
-1.454081416130066,
2.6415953636169434,
0
] | [
-2.158703327178955,
-1.3499259948730469,
1.8596742153167725,
-2.4120993614196777,
-1.4529443979263306,
2.6382946968078613,
0
] | move_to_position | 0.706434 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.2017107903957367,
-0.6024948358535767,
0.17319265007972717,
2.7951149940490723,
0.06126958504319191,
3.0697476863861084
] | 1 | 3.8 | 38 | 21 | 11,976 | 0 |
[
-2.163865804672241,
-1.3266074657440186,
1.8565090894699097,
-2.4315249919891357,
-1.45122230052948,
2.633314847946167,
0
] | [
-2.167565107345581,
-1.3103822469711304,
1.854265809059143,
-2.445136547088623,
-1.4500725269317627,
2.6298470497131348,
0
] | move_to_position | 0.749472 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.21136075258255005,
-0.6087498068809509,
0.15798047184944153,
2.7952935695648193,
0.06108276546001434,
3.069807291030884
] | 1 | 3.9 | 39 | 21 | 11,977 | 0 |
[
-2.173353433609009,
-1.2846946716308594,
1.8507455587387085,
-2.4665019512176514,
-1.4482229948043823,
2.6243808269500732,
0
] | [
-2.176992893218994,
-1.268296241760254,
1.8485126495361328,
-2.480297565460205,
-1.4470174312591553,
2.6208600997924805,
0
] | move_to_position | 0.796095 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.22121059894561768,
-0.6146131753921509,
0.141963392496109,
2.7953262329101562,
0.06104712933301926,
3.0697739124298096
] | 1 | 4 | 40 | 21 | 11,978 | 0 |
[
-2.1820008754730225,
-1.2460575103759766,
1.8454841375350952,
-2.498810052871704,
-1.4454330205917358,
2.6161084175109863,
0
] | [
-2.1855359077453613,
-1.2301812171936035,
1.843300223350525,
-2.51214337348938,
-1.4442492723464966,
2.612718343734741,
0
] | move_to_position | 0.839095 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.23126983642578125,
-0.6201755404472351,
0.12475944310426712,
2.795233964920044,
0.06103586405515671,
3.069870948791504
] | 1 | 4.1 | 41 | 21 | 11,979 | 0 |
[
-2.1908962726593018,
-1.206129550933838,
1.8399828672409058,
-2.5322306156158447,
-1.4425033330917358,
2.607531785964966,
0
] | [
-2.194228172302246,
-1.1914585828781128,
1.8379969596862793,
-2.544502019882202,
-1.4414328336715698,
2.6044347286224365,
0
] | move_to_position | 0.883554 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.2405482977628708,
-0.6248255968093872,
0.10802876204252243,
2.7952284812927246,
0.06092831492424011,
3.0699586868286133
] | 1 | 4.2 | 42 | 21 | 11,980 | 0 |
[
-2.1990463733673096,
-1.1699159145355225,
1.835046648979187,
-2.562481641769409,
-1.439853549003601,
2.5998129844665527,
0
] | [
-2.2019262313842773,
-1.157267689704895,
1.8333004713058472,
-2.573080062866211,
-1.4389384984970093,
2.5970990657806396,
0
] | move_to_position | 0.923844 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.24796751141548157,
-0.6281194686889648,
0.09414119273424149,
2.7952234745025635,
0.06089504808187485,
3.069960594177246
] | 1 | 4.3 | 43 | 21 | 11,981 | 0 |
[
-2.2057559490203857,
-1.1405291557312012,
1.830950140953064,
-2.5871031284332275,
-1.4377106428146362,
2.593488931655884,
0
] | [
-2.2080936431884766,
-1.130025863647461,
1.8295382261276245,
-2.595855951309204,
-1.4369401931762695,
2.5912232398986816,
0
] | move_to_position | 0.956606 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.2546180188655853,
-0.6307860016822815,
0.08131708949804306,
2.795105218887329,
0.06081525608897209,
3.069880485534668
] | 1 | 4.4 | 44 | 21 | 11,982 | 0 |
[
-2.210575819015503,
-1.1192859411239624,
1.8280619382858276,
-2.604876756668091,
-1.4361671209335327,
2.5888631343841553,
0
] | [
-2.2124669551849365,
-1.1109272241592407,
1.8268702030181885,
-2.611834764480591,
-1.4355230331420898,
2.5870566368103027,
0
] | move_to_position | 0.980272 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.2594236433506012,
-0.6325632333755493,
0.07170885801315308,
2.7949602603912354,
0.060845427215099335,
3.069932222366333
] | 1 | 4.5 | 45 | 21 | 11,983 | 0 |
[
-2.2139017581939697,
-1.104919195175171,
1.8260291814804077,
-2.6167709827423096,
-1.4350899457931519,
2.5857417583465576,
0
] | [
-2.2145371437072754,
-1.1021759510040283,
1.825607180595398,
-2.6191823482513428,
-1.4348520040512085,
2.5850841999053955,
0
] | move_to_position | 0.996229 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.2621590793132782,
-0.633449375629425,
0.06622731685638428,
2.7950048446655273,
0.060848213732242584,
3.0699219703674316
] | 1 | 4.6 | 46 | 21 | 11,984 | 0 |
[
-2.2145683765411377,
-1.1015386581420898,
1.8256605863571167,
-2.6196324825286865,
-1.4348362684249878,
2.585028886795044,
0
] | [
-2.2146739959716797,
-1.101605772972107,
1.8255237340927124,
-2.619661808013916,
-1.4348076581954956,
2.584954023361206,
0
] | move_to_position | 0.999832 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.26248791813850403,
-0.6335781812667847,
0.06538593024015427,
2.79498028755188,
0.060828980058431625,
3.0699384212493896
] | 1 | 4.7 | 47 | 21 | 11,985 | 0 |
[
-2.2145912647247314,
-1.1016502380371094,
1.8256210088729858,
-2.6196444034576416,
-1.4347971677780151,
2.584937810897827,
0
] | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | move_to_position | 0.999886 | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | [
0.2625768780708313,
0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | [
-0.2625768780708313,
-0.6336116194725037,
0.06544049084186554,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.2624621093273163,
-0.6336044669151306,
0.06540253758430481,
2.794929265975952,
0.060776691883802414,
3.070075273513794
] | 1 | 4.8 | 48 | 21 | 11,986 | 0 |
[
-2.214576005935669,
-1.1016227006912231,
1.8256138563156128,
-2.6196324825286865,
-1.4348124265670776,
2.5849568843841553,
0
] | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | gripper_open | 1 | [
-2.214576005935669,
-1.1016227006912231,
1.8256138563156128,
-2.6196324825286865,
-1.4348124265670776,
2.5849568843841553,
0
] | [
0.2624751627445221,
0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | [
-0.2624751627445221,
-0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | 0 | pick red block and place on red dish: open gripper | [
-0.26250115036964417,
-0.6335954666137695,
0.06541368365287781,
2.794919013977051,
0.06081223115324974,
3.07000732421875
] | 1 | 4.9 | 49 | 21 | 11,987 | 0 |
[
-2.2145888805389404,
-1.1016502380371094,
1.8255552053451538,
-2.619675874710083,
-1.43478524684906,
2.584937810897827,
0.0117647061124444
] | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | gripper_open | 1 | [
-2.214576005935669,
-1.1016227006912231,
1.8256138563156128,
-2.6196324825286865,
-1.4348124265670776,
2.5849568843841553,
0
] | [
0.2624751627445221,
0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | [
-0.2624751627445221,
-0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | 0 | pick red block and place on red dish: open gripper | [
-0.26253727078437805,
-0.6336520314216614,
0.0654965415596962,
2.794771432876587,
0.06088490039110184,
3.069983720779419
] | 1 | 5 | 50 | 21 | 11,988 | 0 |
[
-2.2146642208099365,
-1.1016383171081543,
1.825513243675232,
-2.6196324825286865,
-1.4348276853561401,
2.584972381591797,
0.0117647061124444
] | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | gripper_open | 1 | [
-2.214576005935669,
-1.1016227006912231,
1.8256138563156128,
-2.6196324825286865,
-1.4348124265670776,
2.5849568843841553,
0
] | [
0.2624751627445221,
0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | [
-0.2624751627445221,
-0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | 0 | pick red block and place on red dish: open gripper | [
-0.26256829500198364,
-0.6336306929588318,
0.06547375023365021,
2.7948203086853027,
0.06088138744235039,
3.0699667930603027
] | 1 | 5.1 | 51 | 21 | 11,989 | 0 |
[
-2.2146799564361572,
-1.1016311645507812,
1.8255246877670288,
-2.6196448802948,
-1.4348005056381226,
2.5849533081054688,
0.0117647061124444
] | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | gripper_open | 1 | [
-2.214576005935669,
-1.1016227006912231,
1.8256138563156128,
-2.6196324825286865,
-1.4348124265670776,
2.5849568843841553,
0
] | [
0.2624751627445221,
0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | [
-0.2624751627445221,
-0.633605420589447,
0.06542953103780746,
2.7949204444885254,
0.06085595488548279,
3.0700647830963135
] | 0 | pick red block and place on red dish: open gripper | [
-0.2625838816165924,
-0.6336202621459961,
0.06547605991363525,
2.7948076725006104,
0.060883667320013046,
3.0699234008789062
] | 1 | 5.2 | 52 | 21 | 11,990 | 0 |
[
-2.214655637741089,
-1.1016069650650024,
1.8255165815353394,
-2.6196444034576416,
-1.4348396062850952,
2.5849688053131104,
0
] | [
-2.2146739959716797,
-1.1016056537628174,
1.8255237340927124,
-2.619661569595337,
-1.4348077774047852,
2.584954023361206,
0
] | move_to_position | 0.000291 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.2625785171985626,
-0.6336206197738647,
0.06548579782247543,
2.794808864593506,
0.0609070360660553,
3.069925308227539
] | 1 | 5.3 | 53 | 21 | 11,991 | 0 |
[
-2.2146718502044678,
-1.101603388786316,
1.8255313634872437,
-2.6196682453155518,
-1.4347933530807495,
2.584937810897827,
0
] | [
-2.214585065841675,
-1.1013576984405518,
1.8253270387649536,
-2.6198360919952393,
-1.434827446937561,
2.5850327014923096,
0
] | move_to_position | 0.000212 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.2626052796840668,
-0.6336519122123718,
0.06548883765935898,
2.794733762741089,
0.06096240133047104,
3.069906234741211
] | 1 | 5.4 | 54 | 21 | 11,992 | 0 |
[
-2.2143714427948,
-1.1001746654510498,
1.8244651556015015,
-2.620399236679077,
-1.4349068403244019,
2.585306167602539,
0
] | [
-2.2139081954956055,
-1.099109411239624,
1.8239902257919312,
-2.6208996772766113,
-1.4350476264953613,
2.585681200027466,
0
] | move_to_position | 0.014473 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.26268458366394043,
-0.6342849731445312,
0.06495288759469986,
2.7945549488067627,
0.06101221591234207,
3.0698859691619873
] | 1 | 5.5 | 55 | 21 | 11,993 | 0 |
[
-2.2131893634796143,
-1.0966134071350098,
1.8224443197250366,
-2.6220462322235107,
-1.4352596998214722,
2.5863804817199707,
0
] | [
-2.212480068206787,
-1.0943467617034912,
1.82119619846344,
-2.6230311393737793,
-1.4355127811431885,
2.587048292160034,
0
] | move_to_position | 0.048332 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.26259636878967285,
-0.6354233026504517,
0.06366682797670364,
2.7946178913116455,
0.06096304953098297,
3.0699539184570312
] | 1 | 5.6 | 56 | 21 | 11,994 | 0 |
[
-2.2113916873931885,
-1.0907230377197266,
1.818956732749939,
-2.624626874923706,
-1.4358628988265991,
2.588080406188965,
0
] | [
-2.2104086875915527,
-1.0873713493347168,
1.817021369934082,
-2.6260290145874023,
-1.4361882209777832,
2.5890305042266846,
0
] | move_to_position | 0.104185 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.2626069188117981,
-0.6372484564781189,
0.06175011396408081,
2.7946064472198486,
0.060988083481788635,
3.0699164867401123
] | 1 | 5.7 | 57 | 21 | 11,995 | 0 |
[
-2.2090723514556885,
-1.0827759504318237,
1.8141530752182007,
-2.627918004989624,
-1.436622977256775,
2.590336799621582,
0
] | [
-2.2080163955688477,
-1.0792063474655151,
1.8119688034057617,
-2.629391670227051,
-1.4369699954986572,
2.5913188457489014,
0
] | move_to_position | 0.179231 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.2625795602798462,
-0.6393580436706543,
0.05941054970026016,
2.7947399616241455,
0.0609130859375,
3.0699381828308105
] | 1 | 5.8 | 58 | 21 | 11,996 | 0 |
[
-2.2066476345062256,
-1.0743064880371094,
1.8088892698287964,
-2.6313140392303467,
-1.437390685081482,
2.592660665512085,
0
] | [
-2.205399751663208,
-1.070151448249817,
1.8061671257019043,
-2.6329636573791504,
-1.4378266334533691,
2.5938198566436768,
0
] | move_to_position | 0.259273 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.2625747621059418,
-0.6421499252319336,
0.05641411244869232,
2.794874429702759,
0.06083350256085396,
3.0699801445007324
] | 1 | 5.9 | 59 | 21 | 11,997 | 0 |
[
-2.2031757831573486,
-1.0624626874923706,
1.801124930381775,
-2.6359784603118896,
-1.438576102256775,
2.5959486961364746,
0
] | [
-2.2017927169799805,
-1.0576002597808838,
1.7980295419692993,
-2.6378188133239746,
-1.4390085935592651,
2.5972673892974854,
0
] | move_to_position | 0.372729 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.26264557242393494,
-0.6457654237747192,
0.05273367092013359,
2.7948062419891357,
0.06084058806300163,
3.069967031478882
] | 1 | 6 | 60 | 21 | 11,998 | 0 |
[
-2.199180841445923,
-1.0485680103302002,
1.7921689748764038,
-2.641300916671753,
-1.4398053884506226,
2.599785089492798,
0
] | [
-2.1978814601898193,
-1.0439532995224,
1.789129614830017,
-2.643043279647827,
-1.4402906894683838,
2.6010048389434814,
0
] | move_to_position | 0.504725 | [
-2.1845293045043945,
-0.9966697096824646,
1.7572914361953735,
-2.660095453262329,
-1.4446765184402466,
2.6137568950653076,
0
] | [
0.26259779930114746,
0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | [
-0.26259779930114746,
-0.6642377972602844,
0.032999999821186066,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.2626500129699707,
-0.6497059464454651,
0.04857442155480385,
2.7948288917541504,
0.060850147157907486,
3.069950819015503
] | 1 | 6.1 | 61 | 21 | 11,999 | 0 |
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