Datasets:
observation.state listlengths 6 6 | action listlengths 6 6 | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 listlengths 6 6 | action.radian_urdf0 listlengths 6 6 | skill.natural_language large_stringclasses 11
values | skill.verification_question large_stringclasses 8
values | skill.type large_stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 30 | subtask.natural_language large_stringclasses 2
values | subtask.object_name large_stringclasses 1
value | subtask.target_position listlengths 3 3 | timestamp float32 0 33.8 | frame_index int64 0 338 | episode_index int64 0 99 | index int64 0 30.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.000001 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.000002 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.004142 | [
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] | 0.5 | 5 | 0 | 5 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.016216 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.043025 | [
2.2691292762756348,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.073151 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.111354 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.153439 | [
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] | 1 | 10 | 0 | 10 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.196799 | [
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] | 1.1 | 11 | 0 | 11 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.242784 | [
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[
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1.198806881904602,
1.0731700658798218,
-0.003977947402745485,
-0.005810922011733055
] | Move to initial position | Is the robot at initial position? | move_initial | 0.291081 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
3.7117903232574463,
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] | [
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] | [
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3.101686954498291,
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] | 1 | [
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1.1491780281066895,
1.086071252822876,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.34055 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
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] | [
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] | 0 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
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] | [
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] | [
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3.1020619869232178,
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] | 1 | [
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1.0990389585494995,
1.0991051197052002,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.391314 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
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] | [
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] | [
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3.102558135986328,
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] | 1 | [
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1.0489081144332886,
1.112136721611023,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.442645 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
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] | [
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67.27452087402344,
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] | [
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0.07143884152173996,
3.1031715869903564,
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] | 1 | [
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] | [
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1.1250256299972534,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.496701 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
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] | [
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61.532379150390625,
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] | [
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0.07579502463340759,
3.103898286819458,
0.6433342099189758,
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] | 1 | [
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] | [
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1.1376127004623413,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.551442 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
3.1659388542175293,
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67.6698226928711,
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] | [
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] | [
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0.08116161078214645,
3.103898286819458,
0.6433340311050415,
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] | 1 | [
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1.0246992111206055,
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] | [
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0.904121994972229,
1.1497743129730225,
-0.005867277272045612,
-0.0091172493994236
] | Move to initial position | Is the robot at initial position? | move_initial | 0.602275 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21330977976322174,
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
3.0567686557769775,
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63.17460250854492,
68.35769653320312,
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] | [
2.6795904636383057,
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56.12529754638672,
69.31253051757812,
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0.11440585553646088
] | [
0.19406676292419434,
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0.08465048670768738,
3.104733467102051,
0.6326172351837158,
3.0286991596221924
] | 1 | [
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0.9786797165870667,
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] | [
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0.8594608902931213,
1.161384105682373,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.65255 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
3.0567686557769775,
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60.36281204223633,
69.04557037353516,
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] | [
2.606767416000366,
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53.64427947998047,
69.9239273071289,
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] | [
0.19607578217983246,
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0.0893268957734108,
3.103731632232666,
0.6310290098190308,
3.0268704891204834
] | 1 | [
0.05062136799097061,
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0.9311263561248779,
1.1566214561462402,
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] | [
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0.8175016045570374,
1.1722915172576904,
-0.0064226314425468445,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.700636 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
3.0567686557769775,
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] | [
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51.347537994384766,
70.48991394042969,
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] | [
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0.09356674551963806,
3.103853225708008,
0.6294981837272644,
3.026942253112793
] | 1 | [
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1.1673593521118164,
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] | [
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0.7786588072776794,
1.1823889017105103,
-0.006671666633337736,
-0.010524931363761425
] | Move to initial position | Is the robot at initial position? | move_initial | 0.745814 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
3.0567686557769775,
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] | [
2.4781432151794434,
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49.26216125488281,
71.0038070678711,
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] | [
0.2001933455467224,
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0.09717807173728943,
3.1052048206329346,
0.6264931559562683,
3.0289769172668457
] | 1 | [
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1.1765632629394531,
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] | [
0.04249094799160957,
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0.7433906197547913,
1.1915568113327026,
-0.006897783372551203,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.788625 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
3.0567686557769775,
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53.10657501220703,
70.7652587890625,
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] | [
2.4237558841705322,
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47.40923309326172,
71.4604263305664,
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] | [
0.20178082585334778,
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0.10017619282007217,
3.105555772781372,
0.6219000816345215,
3.029181957244873
] | 1 | [
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-1.0477088689804077,
0.8084078431129456,
1.1873010396957397,
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] | [
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0.7120535969734192,
1.1997029781341553,
-0.007098696194589138,
-0.011272232048213482
] | Move to initial position | Is the robot at initial position? | move_initial | 0.826601 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
3.0567686557769775,
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51.292518615722656,
71.10919952392578,
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0.03004155494272709
] | [
2.376911163330078,
-56.205833435058594,
45.81327438354492,
71.85372161865234,
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] | [
0.20352841913700104,
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0.10279140621423721,
3.1056721210479736,
0.6203688979148865,
3.029249668121338
] | 1 | [
0.05062136799097061,
-1.0216312408447266,
0.777728259563446,
1.1934369802474976,
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] | [
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0.6850625276565552,
1.2067195177078247,
-0.00727174524217844,
-0.011575068347156048
] | Move to initial position | Is the robot at initial position? | move_initial | 0.857898 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21330977976322174,
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
3.0567686557769775,
-56.510746002197266,
49.478458404541016,
71.62510681152344,
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0.019192948937416077
] | [
2.337989091873169,
-55.1654167175293,
44.48722457885742,
72.18049621582031,
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] | [
0.20491674542427063,
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0.10508658736944199,
3.106019973754883,
0.6157757639884949,
3.0294511318206787
] | 1 | [
0.05062136799097061,
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0.7470486760139465,
1.2026408910751343,
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] | [
0.04052160680294037,
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0.6626362204551697,
1.2125492095947266,
-0.007415528409183025,
-0.01182668935507536
] | Move to initial position | Is the robot at initial position? | move_initial | 0.889208 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21330977976322174,
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3.0976736545562744,
0.6613100171089172,
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] | 0 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
3.0567686557769775,
-55.41508483886719,
48.11791229248047,
71.96904754638672,
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] | [
2.307494640350342,
-54.350284576416016,
43.448307037353516,
72.43651580810547,
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] | [
0.2060898393392563,
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0.10678437352180481,
3.106250524520874,
0.6127135157585144,
3.0295841693878174
] | 1 | [
0.05062136799097061,
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1.2087769508361816,
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] | [
0.04009312018752098,
-0.9562316536903381,
0.6450659036636353,
1.2171165943145752,
-0.0075281779281795025,
-0.012023826129734516
] | Move to initial position | Is the robot at initial position? | move_initial | 0.912235 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21330977976322174,
-0.006854196544736624,
0.12207408994436264,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
3.0567686557769775,
-54.57227325439453,
47.02947998046875,
72.0550308227539,
-0.02442002482712269,
0.0046232580207288265
] | [
2.2857165336608887,
-53.76813888549805,
42.70634078979492,
72.6193618774414,
-0.21782930195331573,
0.0046232580207288265
] | [
0.207508385181427,
-0.008543700911104679,
0.10849080979824066,
3.106135368347168,
0.6142446398735046,
3.029517889022827
] | 1 | [
0.05062136799097061,
-0.9602720141410828,
0.7056311964988708,
1.2103108167648315,
-0.0015339808305725455,
-0.012164615094661713
] | [
0.039787109941244125,
-0.9456362128257751,
0.6325176358222961,
1.2203786373138428,
-0.007608628831803799,
-0.012164615094661713
] | Move to initial position | Is the robot at initial position? | move_initial | 0.92962 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21330977976322174,
-0.006854196544736624,
0.12207408994436264,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
3.0567686557769775,
-53.9822998046875,
46.303855895996094,
72.1410140991211,
-0.02442002482712269,
0.0010495049646124244
] | [
2.2728946208953857,
-53.4254035949707,
42.26951599121094,
72.72700500488281,
-0.2193373590707779,
0.0010495049646124244
] | [
0.2083909511566162,
-0.008588412776589394,
0.10950198769569397,
3.106135368347168,
0.6142446398735046,
3.029517889022827
] | 1 | [
0.05062136799097061,
-0.9495340585708618,
0.6933593153953552,
1.211844801902771,
-0.0015339808305725455,
-0.01224750466644764
] | [
0.03960694745182991,
-0.9393981695175171,
0.6251299977302551,
1.2222989797592163,
-0.00765599450096488,
-0.01224750466644764
] | Move to initial position | Is the robot at initial position? | move_initial | 0.940838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21330977976322174,
-0.006854196544736624,
0.12207408994436264,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
2.6200873851776123,
-53.47661209106445,
45.941043853759766,
72.57093811035156,
-0.12210012227296829,
0
] | [
2.62005877494812,
-53.205047607421875,
45.70895767211914,
72.5709228515625,
-0.12210012227296829,
0
] | [
0.20792779326438904,
-0.007500794716179371,
0.10888497531414032,
3.104823112487793,
0.6034173369407654,
3.032388210296631
] | 1 | [
0.04448544234037399,
-0.9403302073478699,
0.6872234344482422,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
0.04448504000902176,
-0.9353875517845154,
0.6832983493804932,
1.2195144891738892,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
2.6200873851776123,
-53.47661209106445,
45.941043853759766,
72.57093811035156,
-0.12210012227296829,
0
] | [
2.5010082721710205,
-53.222434997558594,
45.6310920715332,
72.52156829833984,
-0.12210012227296829,
0
] | [
0.20792779326438904,
-0.007500794716179371,
0.10888497531414032,
3.104823112487793,
0.6034173369407654,
3.032388210296631
] | 1 | [
0.04448544234037399,
-0.9403302073478699,
0.6872234344482422,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
0.04281223192811012,
-0.9357040524482727,
0.6819814443588257,
1.218634009361267,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
2.6200873851776123,
-53.47661209106445,
46.303855895996094,
72.57093811035156,
-0.12210012227296829,
0
] | [
2.182708263397217,
-53.268917083740234,
45.42290115356445,
72.38959503173828,
-0.12210012227296829,
0
] | [
0.20733106136322021,
-0.007474231533706188,
0.10757812112569809,
3.1053030490875244,
0.5972942113876343,
3.0326592922210693
] | 1 | [
0.04448544234037399,
-0.9403302073478699,
0.6933593153953552,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
0.03833971545100212,
-0.9365500211715698,
0.6784604787826538,
1.2162795066833496,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
2.6200873851776123,
-53.47661209106445,
46.39455795288086,
72.57093811035156,
-0.12210012227296829,
0
] | [
1.6729806661605835,
-53.343353271484375,
42.88596725463867,
72.1782455444336,
-0.12210012227296829,
0
] | [
0.20718063414096832,
-0.007467535324394703,
0.10725198686122894,
3.1054224967956543,
0.5957634449005127,
3.032726287841797
] | 1 | [
0.04448544234037399,
-0.9403302073478699,
0.6948933005332947,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
0.031177397817373276,
-0.9379048347473145,
0.6355555057525635,
1.212509036064148,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
2.0742359161376953,
-53.47661209106445,
46.39455795288086,
72.57093811035156,
-0.12210012227296829,
0
] | [
0.9744664430618286,
-53.44536209106445,
42.4290885925293,
71.88862609863281,
-0.12210012227296829,
0
] | [
0.20723295211791992,
-0.006176135968416929,
0.10725198686122894,
3.1054224967956543,
0.5957634449005127,
3.040396213531494
] | 1 | [
0.03681553900241852,
-0.9403302073478699,
0.6948933005332947,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
0.021362388506531715,
-0.9397614598274231,
0.6278287172317505,
1.2073421478271484,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
1.3100436925888062,
-53.47661209106445,
46.303855895996094,
72.57093811035156,
-0.12210012227296829,
0
] | [
0.11878914386034012,
-53.57032012939453,
41.869415283203125,
71.53384399414062,
-0.12210012227296829,
0
] | [
0.2074400931596756,
-0.004371509421616793,
0.10757812857627869,
3.1053030490875244,
0.597294270992279,
3.0510671138763428
] | 1 | [
0.026077672839164734,
-0.9403302073478699,
0.6933593153953552,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
0.009339042007923126,
-0.9420357942581177,
0.6183634400367737,
1.2010127305984497,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.007889 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
0.43668121099472046,
-53.47661209106445,
45.57823181152344,
72.57093811035156,
-0.12210012227296829,
0
] | [
-0.8883175849914551,
-53.71739196777344,
41.210697174072266,
71.11627960205078,
-0.12210012227296829,
0
] | [
0.20866753160953522,
-0.0023185210302472115,
0.11019548773765564,
3.104339122772217,
0.6095404624938965,
3.0627918243408203
] | 1 | [
0.013805827125906944,
-0.9403302073478699,
0.6810874938964844,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
-0.004812080878764391,
-0.9447125792503357,
0.6072231531143188,
1.1935633420944214,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.024356 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-0.5458515286445618,
-53.47661209106445,
45.03401184082031,
72.57093811035156,
-0.12210012227296829,
0
] | [
-2.0311639308929443,
-53.8842887878418,
40.46319580078125,
70.6424331665039,
-0.12210012227296829,
0
] | [
0.20955219864845276,
0.000026300205718143843,
0.11216796189546585,
3.103605270385742,
0.6187248826026917,
3.076174736022949
] | 1 | [
-3.657347428381863e-12,
-0.9403302073478699,
0.6718835830688477,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
-0.020870516076683998,
-0.9477502107620239,
0.5945813059806824,
1.1851098537445068,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.040417 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-1.6375545263290405,
-53.47661209106445,
44.03628158569336,
72.57093811035156,
-0.12210012227296829,
0
] | [
-3.2892191410064697,
-54.06800842285156,
39.638275146484375,
70.12081146240234,
-0.12210012227296829,
0
] | [
0.21107707917690277,
0.002668666187673807,
0.11580456793308258,
3.102234363555908,
0.6355621218681335,
3.090710163116455
] | 1 | [
-0.01533980667591095,
-0.9403302073478699,
0.6550098061561584,
1.2195147275924683,
-0.004601942375302315,
-0.012271846644580364
] | [
-0.038547784090042114,
-0.9510940313339233,
0.5806301236152649,
1.1758040189743042,
-0.004601942375302315,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.061145 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-2.9475982189178467,
-53.47661209106445,
43.03854751586914,
71.79707336425781,
-0.12210012227296829,
0.039408545941114426
] | [
-4.655406951904297,
-55.59813690185547,
38.73250961303711,
69.55436706542969,
-0.12210012227296829,
0.039408545941114426
] | [
0.21428386867046356,
0.0059495363384485245,
0.12072906643152237,
3.0996522903442383,
0.6661730408668518,
3.107553005218506
] | 1 | [
-0.03374757617712021,
-0.9403302073478699,
0.6381359696388245,
1.2057088613510132,
-0.004601942375302315,
-0.011357813142240047
] | [
-0.05774444714188576,
-0.978943407535553,
0.5653116703033447,
1.165698528289795,
-0.004601942375302315,
-0.011357813142240047
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.088652 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-4.257641792297363,
-53.64517593383789,
42.04081726074219,
71.0232162475586,
-0.12210012227296829,
1.4722837209701538
] | [
-6.110851287841797,
-55.8106803894043,
37.76757049560547,
68.9509048461914,
-0.12210012227296829,
1.4722837209701538
] | [
0.21727538108825684,
0.009341401048004627,
0.12621799111366272,
3.0966641902923584,
0.6998409032821655,
3.124074697494507
] | 1 | [
-0.05215534567832947,
-0.9433981776237488,
0.62126225233078,
1.1919031143188477,
-0.004601942375302315,
0.02187599241733551
] | [
-0.07819528132677078,
-0.9828118681907654,
0.5489925146102905,
1.1549326181411743,
-0.004601942375302315,
0.02187599241733551
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.133233 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-5.567685604095459,
-53.64517593383789,
41.133785247802734,
70.33534240722656,
-0.12210012227296829,
2.9041645526885986
] | [
-7.636557102203369,
-56.033485412597656,
36.756046295166016,
68.31831359863281,
-0.12210012227296829,
2.9041645526885986
] | [
0.2197839319705963,
0.01281591784209013,
0.13086704909801483,
3.094090700149536,
0.7273840308189392,
3.1407976150512695
] | 1 | [
-0.07056311517953873,
-0.9433981776237488,
0.6059224009513855,
1.179631233215332,
-0.004601942375302315,
0.055086735635995865
] | [
-0.09963337332010269,
-0.9868670701980591,
0.5318854451179504,
1.1436470746994019,
-0.004601942375302315,
0.055086735635995865
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.176269 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-7.205240249633789,
-53.72945785522461,
40.13605499267578,
69.6474609375,
-0.12210012227296829,
4.335411548614502
] | [
-9.225597381591797,
-56.265541076660156,
35.70253372192383,
67.65946960449219,
-0.12210012227296829,
4.335411548614502
] | [
0.22211790084838867,
0.017226940020918846,
0.13618510961532593,
3.091078996658325,
0.7579834461212158,
-3.12141489982605
] | 1 | [
-0.09357283264398575,
-0.9449321627616882,
0.5890486240386963,
1.1673593521118164,
-0.004601942375302315,
0.08828277885913849
] | [
-0.12196139991283417,
-0.9910906553268433,
0.5140683054924011,
1.1318931579589844,
-0.004601942375302315,
0.08828277885913849
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.22388 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-8.842794418334961,
-53.72945785522461,
39.13832092285156,
68.87360382080078,
-0.12210012227296829,
5.768280029296875
] | [
-10.858294486999512,
-56.503971099853516,
34.62007522583008,
66.98251342773438,
-0.12210012227296829,
5.768280029296875
] | [
0.2244216948747635,
0.021761197596788406,
0.1415243297815323,
3.0878872871398926,
0.7885779738426208,
-3.100634813308716
] | 1 | [
-0.11658253520727158,
-0.9449321627616882,
0.5721747875213623,
1.1535536050796509,
-0.004601942375302315,
0.12151642888784409
] | [
-0.14490285515785217,
-0.9954302310943604,
0.4957616329193115,
1.1198161840438843,
-0.004601942375302315,
0.12151642888784409
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.271707 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-10.37117862701416,
-53.72945785522461,
38.14059066772461,
68.35769653320312,
-0.07326007634401321,
7.200896263122559
] | [
-12.520001411437988,
-56.74663543701172,
33.51838684082031,
66.29354095458984,
-0.12210012227296829,
7.200896263122559
] | [
0.22599674761295319,
0.026018956676125526,
0.14644862711429596,
3.086639881134033,
0.8146646022796631,
-3.0789899826049805
] | 1 | [
-0.13805826008319855,
-0.9449321627616882,
0.5553010702133179,
1.1443496942520142,
-0.003067961661145091,
0.1547442227602005
] | [
-0.16825194656848907,
-0.999846875667572,
0.477129727602005,
1.1075247526168823,
-0.004601942375302315,
0.1547442227602005
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.316888 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-12.008733749389648,
-53.72945785522461,
36.96145248413086,
67.58383178710938,
-0.07326007634401321,
8.634320259094238
] | [
-14.197698593139648,
-56.99163818359375,
32.40609359741211,
65.59793090820312,
-0.12210012227296829,
8.634320259094238
] | [
0.2279837280511856,
0.030746372416615486,
0.15268293023109436,
3.0827929973602295,
0.8483126759529114,
-3.058823347091675
] | 1 | [
-0.16106797754764557,
-0.9449321627616882,
0.5353593230247498,
1.130543828010559,
-0.003067961661145091,
0.18799075484275818
] | [
-0.19182570278644562,
-1.0043060779571533,
0.45831844210624695,
1.0951149463653564,
-0.004601942375302315,
0.18799075484275818
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.365943 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-13.64628791809082,
-53.72945785522461,
35.873016357421875,
66.89595794677734,
-0.07326007634401321,
10.066680908203125
] | [
-15.873175621032715,
-57.2363166809082,
31.29527473449707,
64.90324401855469,
-0.12210012227296829,
10.066680908203125
] | [
0.22944331169128418,
0.035502880811691284,
0.15847380459308624,
3.0790319442749023,
0.8788948655128479,
-3.038673162460327
] | 1 | [
-0.1840776950120926,
-0.9449321627616882,
0.5169515609741211,
1.1182719469070435,
-0.003067961661145091,
0.22121262550354004
] | [
-0.21536827087402344,
-1.0087593793869019,
0.4395321309566498,
1.0827215909957886,
-0.004601942375302315,
0.22121262550354004
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.413706 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-15.393013000488281,
-54.06658172607422,
34.78458023071289,
66.2940673828125,
-0.07326007634401321,
11.499563217163086
] | [
-17.533971786499023,
-57.47884750366211,
30.194189071655273,
64.21463775634766,
-0.12210012227296829,
11.499563217163086
] | [
0.23012800514698029,
0.04051149636507034,
0.1651739478111267,
3.074347972869873,
0.9140551090240479,
-3.017789125442505
] | 1 | [
-0.20862138271331787,
-0.951068103313446,
0.49854373931884766,
1.1075341701507568,
-0.003067961661145091,
0.2544465959072113
] | [
-0.23870456218719482,
-1.0131736993789673,
0.42091041803359985,
1.070436716079712,
-0.004601942375302315,
0.2544465959072113
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.463113 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-17.139738082885742,
-55.07796096801758,
33.514739990234375,
65.60619354248047,
-0.07326007634401321,
12.933361053466797
] | [
-19.163808822631836,
-57.716861724853516,
29.113628387451172,
63.538875579833984,
-0.12210012227296829,
12.933361053466797
] | [
0.23002459108829498,
0.04541906341910362,
0.17494022846221924,
3.066579818725586,
0.9660091996192932,
-2.999521017074585
] | 1 | [
-0.23316508531570435,
-0.9694758653640747,
0.4770680367946625,
1.0952622890472412,
-0.003067961661145091,
0.287701815366745
] | [
-0.261605829000473,
-1.0175056457519531,
0.4026358425617218,
1.0583809614181519,
-0.004601942375302315,
0.287701815366745
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.516148 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-18.668121337890625,
-55.75221252441406,
32.42630386352539,
64.9183120727539,
-0.07326007634401321,
14.365385055541992
] | [
-20.74823570251465,
-57.9482421875,
28.063173294067383,
62.88193893432617,
-0.12210012227296829,
14.365385055541992
] | [
0.22980692982673645,
0.04972287639975548,
0.1830565333366394,
3.0592496395111084,
1.0087708234786987,
-2.9841644763946533
] | 1 | [
-0.2546407878398895,
-0.9817476868629456,
0.4586602449417114,
1.0829904079437256,
-0.003067961661145091,
0.3209158778190613
] | [
-0.28386902809143066,
-1.0217169523239136,
0.38487038016319275,
1.046661138534546,
-0.004601942375302315,
0.3209158778190613
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.564296 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-20.30567741394043,
-55.75221252441406,
31.337867736816406,
64.31642150878906,
-0.07326007634401321,
15.797262191772461
] | [
-22.269775390625,
-58.17043685913086,
27.054412841796875,
62.251075744628906,
-0.12210012227296829,
15.797262191772461
] | [
0.22982527315616608,
0.05444922298192978,
0.18899568915367126,
3.053683042526245,
1.0377721786499023,
-2.9659082889556885
] | 1 | [
-0.27765053510665894,
-0.9817476868629456,
0.44025248289108276,
1.0722525119781494,
-0.003067961661145091,
0.354126513004303
] | [
-0.30524858832359314,
-1.0257610082626343,
0.36781010031700134,
1.0354063510894775,
-0.004601942375302315,
0.354126513004303
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.611269 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-21.724891662597656,
-55.75221252441406,
30.521541595458984,
63.62854766845703,
-0.07326007634401321,
17.229736328125
] | [
-23.673566818237305,
-58.37543869018555,
26.123733520507812,
61.669036865234375,
-0.12210012227296829,
17.229736328125
] | [
0.22985047101974487,
0.058599188923835754,
0.19405363500118256,
3.048217296600342,
1.0637080669403076,
-2.9507100582122803
] | 1 | [
-0.29759228229522705,
-0.9817476868629456,
0.4264466464519501,
1.0599807500839233,
-0.003067961661145091,
0.38735103607177734
] | [
-0.3249736428260803,
-1.0294922590255737,
0.35207030177116394,
1.0250226259231567,
-0.004601942375302315,
0.38735103607177734
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.654338 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-23.25327491760254,
-55.83649444580078,
29.5238094329834,
63.19862365722656,
-0.07326007634401321,
18.661354064941406
] | [
-24.38888168334961,
-58.47990036010742,
25.64952850341797,
61.37245178222656,
-0.12210012227296829,
18.661354064941406
] | [
0.22911854088306427,
0.06287600100040436,
0.19954366981983185,
3.0422163009643555,
1.089630126953125,
-2.9345178604125977
] | 1 | [
-0.3190680146217346,
-0.983281672000885,
0.40957286953926086,
1.052310824394226,
-0.003067961661145091,
0.4205556809902191
] | [
-0.33502471446990967,
-1.0313935279846191,
0.34405049681663513,
1.0197315216064453,
-0.004601942375302315,
0.4205556809902191
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.69833 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-24.017467498779297,
-55.83649444580078,
28.979591369628906,
62.682716369628906,
-0.07326007634401321,
20.093017578125
] | [
-25.122365951538086,
-58.587013244628906,
25.163278579711914,
61.06833267211914,
-0.12210012227296829,
20.093017578125
] | [
0.22912949323654175,
0.06515417993068695,
0.2031054049730301,
3.037609100341797,
1.107918381690979,
-2.9278836250305176
] | 1 | [
-0.3298058807849884,
-0.983281672000885,
0.40036898851394653,
1.0431069135665894,
-0.003067961661145091,
0.45376136898994446
] | [
-0.3453311026096344,
-1.033342957496643,
0.33582696318626404,
1.0143059492111206,
-0.004601942375302315,
0.45376136898994446
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.731945 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-24.781660079956055,
-56.08934020996094,
28.616779327392578,
62.51074981689453,
-0.07326007634401321,
21.52459144592285
] | [
-25.874252319335938,
-58.696815490722656,
24.664827346801758,
60.75658416748047,
-0.12210012227296829,
21.52459144592285
] | [
0.2282462865114212,
0.06713256239891052,
0.20584727823734283,
3.033926010131836,
1.1216286420822144,
-2.92045259475708
] | 1 | [
-0.3405437469482422,
-0.9878836870193481,
0.3942330479621887,
1.0400390625,
-0.003067961661145091,
0.48696500062942505
] | [
-0.3558960556983948,
-1.035341501235962,
0.32739707827568054,
1.0087443590164185,
-0.004601942375302315,
0.48696500062942505
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.763068 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-25.54585075378418,
-56.6793098449707,
28.616779327392578,
62.2527961730957,
-0.07326007634401321,
22.95702362060547
] | [
-26.645753860473633,
-58.80948257446289,
24.15337371826172,
60.436702728271484,
-0.12210012227296829,
22.95702362060547
] | [
0.22692538797855377,
0.06894659996032715,
0.20832327008247375,
3.0295801162719727,
1.1368557214736938,
-2.913644313812256
] | 1 | [
-0.3512815833091736,
-0.9986215233802795,
0.3942330479621887,
1.0354371070861816,
-0.003067961661145091,
0.5201885104179382
] | [
-0.36673662066459656,
-1.0373921394348145,
0.31874731183052063,
1.0030375719070435,
-0.004601942375302315,
0.5201885104179382
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.792627 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-26.310043334960938,
-56.76359176635742,
27.619047164916992,
61.73688888549805,
-0.07326007634401321,
24.389278411865234
] | [
-27.438396453857422,
-58.925235748291016,
23.627904891967773,
60.10805892944336,
-0.12210012227296829,
24.389278411865234
] | [
0.22649535536766052,
0.07108388096094131,
0.2141071856021881,
3.0209908485412598,
1.164244294166565,
-2.9107489585876465
] | 1 | [
-0.36201944947242737,
-1.0001554489135742,
0.3773592710494995,
1.026233196258545,
-0.003067961661145091,
0.5534079670906067
] | [
-0.3778742551803589,
-1.0394989252090454,
0.3098605275154114,
0.9971745014190674,
-0.004601942375302315,
0.5534079670906067
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.829663 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-27.074235916137695,
-56.84787368774414,
26.80272102355957,
61.564918518066406,
-0.07326007634401321,
25.823673248291016
] | [
-28.25940704345703,
-59.04513168334961,
23.083629608154297,
59.76765060424805,
-0.12210012227296829,
25.823673248291016
] | [
0.2255781888961792,
0.07303886115550995,
0.21825973689556122,
3.014631509780884,
1.182486891746521,
-2.9058749675750732
] | 1 | [
-0.37275734543800354,
-1.0016894340515137,
0.3635534346103668,
1.023165225982666,
-0.003067961661145091,
0.5866770148277283
] | [
-0.38941049575805664,
-1.0416810512542725,
0.30065566301345825,
0.9911015629768372,
-0.004601942375302315,
0.5866770148277283
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.862241 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-27.94759750366211,
-56.84787368774414,
26.349206924438477,
61.22098159790039,
-0.07326007634401321,
27.31857681274414
] | [
-29.148330688476562,
-59.17494201660156,
22.494333267211914,
59.39908218383789,
-0.12210012227296829,
27.31857681274414
] | [
0.22491012513637543,
0.07542316615581512,
0.22106723487377167,
3.0094776153564453,
1.196158766746521,
-2.8983869552612305
] | 1 | [
-0.3850291669368744,
-1.0016894340515137,
0.35588353872299194,
1.0170292854309082,
-0.003067961661145091,
0.6213494539260864
] | [
-0.401900976896286,
-1.0440436601638794,
0.2906894087791443,
0.9845262169837952,
-0.004601942375302315,
0.6213494539260864
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.89311 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-28.820960998535156,
-56.84787368774414,
25.714284896850586,
60.79105758666992,
-0.07326007634401321,
28.753751754760742
] | [
-30.03789520263672,
-59.30485153198242,
21.904611587524414,
59.030250549316406,
-0.12210012227296829,
28.753751754760742
] | [
0.22420258820056915,
0.0777982696890831,
0.22487503290176392,
3.0020205974578857,
1.2143727540969849,
-2.8930795192718506
] | 1 | [
-0.3973010182380676,
-1.0016894340515137,
0.34514567255973816,
1.009359359741211,
-0.003067961661145091,
0.6546366214752197
] | [
-0.41440048813819885,
-1.0464081764221191,
0.2807159423828125,
0.9779462218284607,
-0.004601942375302315,
0.6546366214752197
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.922513 | [
-30.86807632446289,
-58.548526763916016,
23.948360443115234,
58.686038970947266,
-0.12210012227296829,
30
] | [
0.21952193975448608,
0.08203655481338501,
0.2432180643081665,
2.9395952224731445,
1.310962200164795,
-2.924330949783325
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-29.80349349975586,
-57.10071563720703,
24.897958755493164,
60.447120666503906,
-0.07326007634401321,
30
] | [
-29.585153579711914,
-56.536930084228516,
24.729341506958008,
60.533103942871094,
-0.07326007634401321,
30
] | [
0.2226453423500061,
0.08014695346355438,
0.2300197184085846,
2.990863800048828,
1.2386261224746704,
-2.8897767066955566
] | 1 | [
-0.4111068546772003,
-1.006291389465332,
0.33133983612060547,
1.0032234191894531,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4080389142036438,
-0.9960300922393799,
0.32848817110061646,
1.0047574043273926,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.000435 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | ||
[
-30.240175247192383,
-57.437843322753906,
24.625850677490234,
60.36113357543945,
-0.07326007634401321,
30
] | [
-29.59745216369629,
-56.40414047241211,
24.849403381347656,
60.41215133666992,
-0.07326007634401321,
30
] | [
0.22145788371562958,
0.08096642792224884,
0.23244023323059082,
2.9846768379211426,
1.250736951828003,
-2.8895018100738525
] | 1 | [
-0.41724279522895813,
-1.0124273300170898,
0.3267379105091095,
1.0016894340515137,
-0.003067961661145091,
0.6835418343544006
] | [
-0.40821170806884766,
-0.9936132431030273,
0.3305186629295349,
1.0025995969772339,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | ||
[
-30.240175247192383,
-56.76359176635742,
25.62358283996582,
60.36113357543945,
-0.07326007634401321,
30
] | [
-29.630273818969727,
-56.049766540527344,
25.1698055267334,
60.0893669128418,
-0.07326007634401321,
30
] | [
0.22316645085811615,
0.08172381669282913,
0.22612418234348297,
2.9986941814422607,
1.2219562530517578,
-2.8762595653533936
] | 1 | [
-0.41724279522895813,
-1.0001554489135742,
0.3436116874217987,
1.0016894340515137,
-0.003067961661145091,
0.6835418343544006
] | [
-0.40867289900779724,
-0.9871633648872375,
0.33593735098838806,
0.9968410730361938,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.011347 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
-30.240175247192383,
-56.17361831665039,
25.714284896850586,
60.36113357543945,
-0.07326007634401321,
30
] | [
-29.683034896850586,
-55.4801025390625,
25.68486213684082,
59.57048034667969,
-0.07326007634401321,
30
] | [
0.22426378726959229,
0.0822102501988411,
0.22389398515224457,
3.0039522647857666,
1.209821105003357,
-2.8713290691375732
] | 1 | [
-0.41724279522895813,
-0.989417552947998,
0.34514567255973816,
1.0016894340515137,
-0.003067961661145091,
0.6835418343544006
] | [
-0.40941426157951355,
-0.9767951369285583,
0.3446480631828308,
0.9875839948654175,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.018138 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
-30.240175247192383,
-56.08934020996094,
26.077096939086914,
60.36113357543945,
-0.07326007634401321,
30
] | [
-29.755306243896484,
-56.47391891479492,
26.390405654907227,
58.859703063964844,
-0.07326007634401321,
30
] | [
0.2245313972234726,
0.08232887834310532,
0.2220878005027771,
3.0070700645446777,
1.2022322416305542,
-2.8684163093566895
] | 1 | [
-0.41724279522895813,
-0.9878836870193481,
0.3512815833091736,
1.0016894340515137,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4104297459125519,
-0.9948832392692566,
0.35658031702041626,
0.9749036431312561,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.022156 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
-30.240175247192383,
-56.00505828857422,
26.984127044677734,
60.36113357543945,
-0.07326007634401321,
30
] | [
-29.84369659423828,
-55.519561767578125,
27.253347396850586,
57.99041748046875,
-0.07326007634401321,
30
] | [
0.22492922842502594,
0.0825052410364151,
0.21796521544456482,
3.013516426086426,
1.1855260133743286,
-2.862422466278076
] | 1 | [
-0.41724279522895813,
-0.9863496422767639,
0.3666214048862457,
1.0016894340515137,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4116717576980591,
-0.977513313293457,
0.37117451429367065,
0.9593954086303711,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.03082 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-30.240175247192383,
-56.00505828857422,
27.98185920715332,
59.415306091308594,
-0.07326007634401321,
30
] | [
-29.947887420654297,
-54.394596099853516,
28.27055549621582,
56.965736389160156,
-0.07326007634401321,
30
] | [
0.2261892408132553,
0.0830637738108635,
0.21615153551101685,
3.013516426086426,
1.1855260133743286,
-2.862422466278076
] | 1 | [
-0.41724279522895813,
-0.9863496422767639,
0.38349518179893494,
0.9848156571388245,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4131357669830322,
-0.957038164138794,
0.38837766647338867,
0.9411149024963379,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.047866 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-30.240175247192383,
-56.00505828857422,
29.070295333862305,
58.38349151611328,
-0.07326007634401321,
30
] | [
-30.066171646118164,
-53.117469787597656,
29.425352096557617,
55.802452087402344,
-0.07326007634401321,
30
] | [
0.22753165662288666,
0.0836588442325592,
0.21414676308631897,
3.013516426086426,
1.1855260133743286,
-2.862422466278076
] | 1 | [
-0.41724279522895813,
-0.9863496422767639,
0.401902973651886,
0.9664078950881958,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4147978127002716,
-0.9337936043739319,
0.40790775418281555,
0.9203616380691528,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.066213 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-30.240175247192383,
-53.81373977661133,
30.158729553222656,
57.26569366455078,
-0.07326007634401321,
30
] | [
-30.1962890625,
-51.71257400512695,
30.6956787109375,
54.52279281616211,
-0.07326007634401321,
30
] | [
0.2322942316532135,
0.08577001094818115,
0.20518216490745544,
3.0263640880584717,
1.147510290145874,
-2.8506081104278564
] | 1 | [
-0.41724279522895813,
-0.9464662075042725,
0.42031073570251465,
0.9464661478996277,
-0.003067961661145091,
0.6835418343544006
] | [
-0.41662612557411194,
-0.9082235097885132,
0.42939168214797974,
0.8975322842597961,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.108363 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-30.240175247192383,
-51.95954513549805,
31.700679779052734,
56.06190872192383,
-0.07326007634401321,
30
] | [
-30.33765411376953,
-50.186241149902344,
32.0758056640625,
53.13252258300781,
-0.07326007634401321,
30
] | [
0.23620055615901947,
0.08750162273645401,
0.19531665742397308,
3.03721022605896,
1.1094422340393066,
-2.840804100036621
] | 1 | [
-0.41724279522895813,
-0.9127185940742493,
0.4463883936405182,
0.9249904155731201,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4186124801635742,
-0.8804432153701782,
0.4527325928211212,
0.8727295994758606,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.151456 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-30.240175247192383,
-50.44247817993164,
32.97052001953125,
54.6861572265625,
-0.07326007634401321,
30
] | [
-30.488162994384766,
-48.56117248535156,
33.54521560668945,
51.652313232421875,
-0.07326007634401321,
30
] | [
0.23954248428344727,
0.08898303657770157,
0.18799708783626556,
3.043318271636963,
1.085057020187378,
-2.8353676795959473
] | 1 | [
-0.41724279522895813,
-0.8851069211959839,
0.46786412596702576,
0.9004467129707336,
-0.003067961661145091,
0.6835418343544006
] | [
-0.42072731256484985,
-0.85086590051651,
0.4775834381580353,
0.8463223576545715,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.190325 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-30.240175247192383,
-48.67256546020508,
34.42176818847656,
53.22441864013672,
-0.07326007634401321,
30
] | [
-30.646150588989258,
-46.855350494384766,
35.087642669677734,
50.09855270385742,
-0.07326007634401321,
30
] | [
0.24288557469844818,
0.09046497941017151,
0.17903755605220795,
3.050203561782837,
1.0545560121536255,
-2.8293275833129883
] | 1 | [
-0.41724279522895813,
-0.8528932929039001,
0.49240782856941223,
0.8743690252304077,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4229472577571869,
-0.8198187351226807,
0.5036692023277283,
0.818602979183197,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.234107 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-30.240175247192383,
-46.986934661865234,
35.873016357421875,
51.67669677734375,
-0.07326007634401321,
30
] | [
-30.810638427734375,
-45.00775146484375,
39.671630859375,
48.48086929321289,
-0.07326007634401321,
30
] | [
0.24585919082164764,
0.09178314357995987,
0.17039409279823303,
3.0557961463928223,
1.0270893573760986,
-2.8245017528533936
] | 1 | [
-0.41724279522895813,
-0.8222136497497559,
0.5169515609741211,
0.8467573523521423,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4252585172653198,
-0.7861911654472351,
0.5811942219734192,
0.789743185043335,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.277783 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-30.240175247192383,
-45.13274383544922,
37.95918273925781,
50.042991638183594,
-0.07326007634401321,
30
] | [
-30.979753494262695,
-43.0981330871582,
38.34457778930664,
46.817684173583984,
-0.07326007634401321,
30
] | [
0.24814625084400177,
0.09279697388410568,
0.15839599072933197,
3.0630338191986084,
0.9873935580253601,
-2.8183820247650146
] | 1 | [
-0.41724279522895813,
-0.7884661555290222,
0.5522330403327942,
0.8176117539405823,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4276348054409027,
-0.7514348030090332,
0.5587509274482727,
0.7600716352462769,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.329157 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-30.34934425354004,
-43.02570724487305,
40.045352935791016,
48.495269775390625,
-0.07326007634401321,
30
] | [
-31.151662826538086,
-41.156951904296875,
40.019813537597656,
45.127010345458984,
-0.07326007634401321,
30
] | [
0.24958215653896332,
0.09382057934999466,
0.1451471447944641,
3.070373773574829,
0.9415643215179443,
-2.81081485748291
] | 1 | [
-0.4187767505645752,
-0.7501166462898254,
0.5875146389007568,
0.7900000810623169,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4300503432750702,
-0.7161040306091309,
0.5870827436447144,
0.7299096584320068,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.382384 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-30.786026000976562,
-41.171512603759766,
40.589569091796875,
46.77558135986328,
-0.07326007634401321,
30
] | [
-31.325237274169922,
-39.19699478149414,
44.62964630126953,
43.41998291015625,
-0.07326007634401321,
30
] | [
0.25196900963783264,
0.09645425528287888,
0.13976545631885529,
3.072176218032837,
0.9293391704559326,
-2.8032279014587402
] | 1 | [
-0.4249126613140106,
-0.7163690328598022,
0.5967185497283936,
0.7593204975128174,
-0.003067961661145091,
0.6835418343544006
] | [
-0.432489275932312,
-0.6804314255714417,
0.6650448441505432,
0.699455976486206,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.422598 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-30.89519691467285,
-39.14875793457031,
43.67346954345703,
45.141876220703125,
-0.07326007634401321,
30
] | [
-31.498672485351562,
-37.23857498168945,
43.36206817626953,
41.71429443359375,
-0.07326007634401321,
30
] | [
0.25083544850349426,
0.09633345156908035,
0.12253474444150925,
3.0801889896392822,
0.869721531867981,
-2.7954165935516357
] | 1 | [
-0.42644667625427246,
-0.6795535087585449,
0.6488738656044006,
0.7301748991012573,
-0.003067961661145091,
0.6835418343544006
] | [
-0.43492627143859863,
-0.6447868943214417,
0.6436074376106262,
0.6690261363983154,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.483528 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-31.004365921020508,
-36.95743942260742,
45.48752975463867,
43.422183990478516,
-0.07326007634401321,
30
] | [
-31.670583724975586,
-35.29738998413086,
45.01783752441406,
40.023616790771484,
-0.07326007634401321,
30
] | [
0.2508089244365692,
0.09671398997306824,
0.11031609028577805,
3.0849268436431885,
0.8299607634544373,
-2.79032301902771
] | 1 | [
-0.4279806315898895,
-0.6396700143814087,
0.6795535087585449,
0.699495255947113,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4373418390750885,
-0.6094560027122498,
0.6716099977493286,
0.6388641595840454,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.536911 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-31.004365921020508,
-35.10324478149414,
45.850341796875,
41.61650848388672,
-0.07326007634401321,
30
] | [
-31.839231491088867,
-33.39302444458008,
49.58025360107422,
38.36500549316406,
-0.07326007634401321,
30
] | [
0.25322088599205017,
0.09781430661678314,
0.10552357137203217,
3.0857906341552734,
0.8223132491111755,
-2.7896878719329834
] | 1 | [
-0.4279806315898895,
-0.6059224009513855,
0.6856894493103027,
0.6672816276550293,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4397115409374237,
-0.5747952461242676,
0.7487702369689941,
0.6092742085456848,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.576378 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-31.44104766845703,
-33.164772033691406,
47.93650817871094,
39.81083297729492,
-0.07326007634401321,
30
] | [
-32.003543853759766,
-31.58926010131836,
48.224788665771484,
36.749053955078125,
-0.07326007634401321,
30
] | [
0.2514115869998932,
0.09856923669576645,
0.0932200476527214,
3.0899064540863037,
0.7840703725814819,
-2.7805895805358887
] | 1 | [
-0.43411657214164734,
-0.5706408619880676,
0.7209709882736206,
0.6350679993629456,
-0.003067961661145091,
0.6835418343544006
] | [
-0.44202032685279846,
-0.5419654846191406,
0.7258464097976685,
0.5804452896118164,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.630466 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-31.65938949584961,
-31.226295471191406,
50.20408248901367,
38.349098205566406,
-0.07326007634401321,
30
] | [
-32.16114044189453,
-29.86530876159668,
49.74268341064453,
35.199161529541016,
-0.07326007634401321,
30
] | [
0.2481079250574112,
0.09781881421804428,
0.0796840712428093,
3.0945944786071777,
0.7366383075714111,
-2.774289608001709
] | 1 | [
-0.43718454241752625,
-0.535359263420105,
0.7593204975128174,
0.6089903712272644,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4442347586154938,
-0.5105884075164795,
0.7515172362327576,
0.552794873714447,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.681969 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-31.768558502197266,
-29.540666580200195,
50.3854866027832,
36.6294059753418,
-0.07326007634401321,
30
] | [
-32.30745315551758,
-28.264759063720703,
54.07597732543945,
33.76020812988281,
-0.07326007634401321,
30
] | [
0.24988606572151184,
0.09904459118843079,
0.07588177174329758,
3.0948829650878906,
0.7335779070854187,
-2.772562265396118
] | 1 | [
-0.4387184977531433,
-0.5046796798706055,
0.7623884081840515,
0.5783107280731201,
-0.003067961661145091,
0.6835418343544006
] | [
-0.44629064202308655,
-0.48145729303359985,
0.8248025178909302,
0.5271236896514893,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.717996 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-31.877729415893555,
-28.02359962463379,
52.10884475708008,
35.16767120361328,
-0.07326007634401321,
30
] | [
-32.381526947021484,
-27.45445442199707,
51.865379333496094,
33.03171157836914,
-0.07326007634401321,
30
] | [
0.24737665057182312,
0.09825777262449265,
0.06620084494352341,
3.0976829528808594,
0.7029707431793213,
-2.7691853046417236
] | 1 | [
-0.44025248289108276,
-0.4770680367946625,
0.7915341258049011,
0.552233099937439,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4473314881324768,
-0.4667091965675354,
0.7874165773391724,
0.5141271948814392,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.760994 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-31.877729415893555,
-27.265066146850586,
52.380950927734375,
34.307823181152344,
-0.07326007634401321,
30
] | [
-32.45759963989258,
-26.622303009033203,
52.59806823730469,
32.28357696533203,
-0.07326007634401321,
30
] | [
0.247804656624794,
0.0984594076871872,
0.06387847661972046,
3.0979549884796143,
0.6999098658561707,
-2.769009828567505
] | 1 | [
-0.44025248289108276,
-0.4632622003555298,
0.7961360216140747,
0.5368932485580444,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4484004080295563,
-0.4515634775161743,
0.7998079061508179,
0.5007802844047546,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.779313 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-31.986900329589844,
-26.337968826293945,
53.28798294067383,
33.44797897338867,
-0.07326007634401321,
30
] | [
-32.53541946411133,
-25.771034240722656,
53.34375762939453,
31.51825714111328,
-0.07326007634401321,
30
] | [
0.24623648822307587,
0.09810971468687057,
0.05853472277522087,
3.099426031112671,
0.6830741167068481,
-2.766537666320801
] | 1 | [
-0.4417864680290222,
-0.4463884234428406,
0.8114758729934692,
0.5215534567832947,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4494938552379608,
-0.4360698163509369,
0.8124191164970398,
0.4871268570423126,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.804201 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-31.986900329589844,
-25.410871505737305,
54.013607025146484,
32.588134765625,
-0.07326007634401321,
30
] | [
-32.615272521972656,
-24.897491455078125,
54.10235595703125,
30.732908248901367,
-0.07326007634401321,
30
] | [
0.24517230689525604,
0.09760639816522598,
0.053912028670310974,
3.100600004196167,
0.6692986488342285,
-2.765803098678589
] | 1 | [
-0.4417864680290222,
-0.429514616727829,
0.8237476944923401,
0.5062136650085449,
-0.003067961661145091,
0.6835418343544006
] | [
-0.45061591267585754,
-0.42017072439193726,
0.825248658657074,
0.47311607003211975,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.827582 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-32.0960693359375,
-24.568058013916016,
54.37641906738281,
31.814273834228516,
-0.07326007634401321,
30
] | [
-32.697425842285156,
-23.99880599975586,
54.882789611816406,
29.924957275390625,
-0.07326007634401321,
30
] | [
0.244765043258667,
0.09780062735080719,
0.05081309750676155,
3.101241111755371,
0.6616453528404236,
-2.7638731002807617
] | 1 | [
-0.44332045316696167,
-0.4141748249530792,
0.8298836350440979,
0.49240782856941223,
-0.003067961661145091,
0.6835418343544006
] | [
-0.45177024602890015,
-0.40381404757499695,
0.8384474515914917,
0.45870205760002136,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.846822 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-32.0960693359375,
-23.640960693359375,
55.55555725097656,
31.04041290283203,
-0.07326007634401321,
30
] | [
-32.782230377197266,
-23.071115493774414,
55.688411712646484,
29.09092903137207,
-0.07326007634401321,
30
] | [
0.2420482039451599,
0.09651055186986923,
0.04446663334965706,
3.1031198501586914,
0.6386842727661133,
-2.7627358436584473
] | 1 | [
-0.44332045316696167,
-0.3973010182380676,
0.849825382232666,
0.47860202193260193,
-0.003067961661145091,
0.6835418343544006
] | [
-0.45296186208724976,
-0.386929452419281,
0.8520722389221191,
0.44382283091545105,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.872395 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-32.0960693359375,
-22.798145294189453,
56.371883392333984,
30.180566787719727,
-0.07326007634401321,
30
] | [
-32.870426177978516,
-22.106332778930664,
56.5262451171875,
28.223554611206055,
-0.07326007634401321,
30
] | [
0.24050195515155792,
0.09577632695436478,
0.039934493601322174,
3.1042163372039795,
0.6249068975448608,
-2.7620880603790283
] | 1 | [
-0.44332045316696167,
-0.3819611966609955,
0.8636311888694763,
0.4632621705532074,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4542011320590973,
-0.3693697452545166,
0.8662418127059937,
0.42834869027137756,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.895042 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-32.31441116333008,
-21.702486038208008,
56.64398956298828,
29.234737396240234,
-0.07326007634401321,
30
] | [
-32.962074279785156,
-21.103811264038086,
60.29465866088867,
27.322250366210938,
-0.07326007634401321,
30
] | [
0.24003498256206512,
0.09631218016147614,
0.0365922749042511,
3.104816198348999,
0.61725252866745,
-2.7586710453033447
] | 1 | [
-0.4463884234428406,
-0.36201944947242737,
0.8682330846786499,
0.4463883936405182,
-0.003067961661145091,
0.6835418343544006
] | [
-0.4554888904094696,
-0.351123183965683,
0.9299737215042114,
0.41226926445961,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.918633 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-32.75109100341797,
-20.69110870361328,
59.09297180175781,
28.288908004760742,
-0.07326007634401321,
30
] | [
-33.053367614746094,
-20.103900909423828,
58.26413345336914,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.2326239049434662,
0.09423096477985382,
0.026166535913944244,
3.108060598373413,
0.5743850469589233,
-2.750714063644409
] | 1 | [
-0.452524334192276,
-0.3436117172241211,
0.9096506237983704,
0.429514616727829,
-0.003067961661145091,
0.6835418343544006
] | [
-0.45677170157432556,
-0.33292412757873535,
0.8956332206726074,
0.3962511718273163,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.94757 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-32.75109100341797,
-19.932575225830078,
59.63718795776367,
27.687015533447266,
-0.07326007634401321,
30
] | [
-33.053367614746094,
-20.103900909423828,
55.3663215637207,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23109672963619232,
0.09348849207162857,
0.022678010165691376,
3.1089541912078857,
0.5621364116668701,
-2.7502329349517822
] | 1 | [
-0.452524334192276,
-0.3298058807849884,
0.9188544750213623,
0.4187767505645752,
-0.003067961661145091,
0.6835418343544006
] | [
-0.45677170157432556,
-0.33292412757873535,
0.846625030040741,
0.3962511718273163,
-0.003067961661145091,
0.6835418343544006
] | Pick up the red block | move | 0.960107 | [
-33.053367614746094,
-18.095626831054688,
58.61971664428711,
26.42438507080078,
-0.07326007634401321,
30
] | [
0.23391182720661163,
0.09588371217250824,
0.021585077047348022,
3.108497142791748,
0.5684240460395813,
-2.746230363845825
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
29.33150863647461
] | [
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
29.33150863647461
] | [
0.2315768599510193,
0.0937219187617302,
0.023095453158020973,
3.108731985092163,
0.565198540687561,
-2.750351667404175
] | 0 | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.6680369973182678
] | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.6680369973182678
] | grasp red block | gripper_close | 0.007847 | [
-32.75109100341797,
-19.932575225830078,
59.63718795776367,
27.601032257080078,
-0.07326007634401321,
0
] | [
0.23128822445869446,
0.09358158707618713,
0.02279828116297722,
3.1088430881500244,
0.5636674761772156,
-2.7502923011779785
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
27.324533462524414
] | [
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
27.324533462524414
] | [
0.2315768599510193,
0.0937219187617302,
0.023095453158020973,
3.108731985092163,
0.565198540687561,
-2.750351667404175
] | 0 | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.6214876174926758
] | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.6214876174926758
] | grasp red block | gripper_close | 0.075733 | [
-32.75109100341797,
-19.932575225830078,
59.63718795776367,
27.601032257080078,
-0.07326007634401321,
0
] | [
0.23128822445869446,
0.09358158707618713,
0.02279828116297722,
3.1088430881500244,
0.5636674761772156,
-2.7502923011779785
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
25.319705963134766
] | [
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
25.319705963134766
] | [
0.2315768599510193,
0.0937219187617302,
0.023095453158020973,
3.108731985092163,
0.565198540687561,
-2.750351667404175
] | 0 | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.574988067150116
] | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.574988067150116
] | grasp red block | gripper_close | 0.143547 | [
-32.75109100341797,
-19.932575225830078,
59.63718795776367,
27.601032257080078,
-0.07326007634401321,
0
] | [
0.23128822445869446,
0.09358158707618713,
0.02279828116297722,
3.1088430881500244,
0.5636674761772156,
-2.7502923011779785
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
23.310333251953125
] | [
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
23.310333251953125
] | [
0.2315768599510193,
0.0937219187617302,
0.023095453158020973,
3.108731985092163,
0.565198540687561,
-2.750351667404175
] | 0 | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.5283831357955933
] | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.5283831357955933
] | grasp red block | gripper_close | 0.211514 | [
-32.75109100341797,
-19.932575225830078,
59.63718795776367,
27.601032257080078,
-0.07326007634401321,
0
] | [
0.23128822445869446,
0.09358158707618713,
0.02279828116297722,
3.1088430881500244,
0.5636674761772156,
-2.7502923011779785
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
21.3040828704834
] | [
-32.75109100341797,
-19.932575225830078,
59.546485900878906,
27.601032257080078,
-0.07326007634401321,
21.3040828704834
] | [
0.2315768599510193,
0.0937219187617302,
0.023095453158020973,
3.108731985092163,
0.565198540687561,
-2.750351667404175
] | 0 | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.4818505644798279
] | [
-0.452524334192276,
-0.3298058807849884,
0.9173205494880676,
0.41724279522895813,
-0.003067961661145091,
0.4818505644798279
] | grasp red block | gripper_close | 0.279376 | [
-32.75109100341797,
-19.932575225830078,
59.63718795776367,
27.601032257080078,
-0.07326007634401321,
0
] | [
0.23128822445869446,
0.09358158707618713,
0.02279828116297722,
3.1088430881500244,
0.5636674761772156,
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] | 9.6 | 96 | 0 | 96 | 0 | ||
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] | 9.7 | 97 | 0 | 97 | 0 | ||
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0,
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] | 9.8 | 98 | 0 | 98 | 0 | ||
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] | 0 | 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": 100,
"total_frames": 30778,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
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},
"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": {
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],
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]
},
"action": {
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],
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]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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"video.codec": "av1",
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}
},
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640,
3
],
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}
},
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},
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},
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},
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},
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],
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},
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1
],
"names": [
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]
},
"subtask.natural_language": {
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},
"subtask.object_name": {
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},
"subtask.target_position": {
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"names": [
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]
},
"timestamp": {
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},
"frame_index": {
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],
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},
"episode_index": {
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1
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},
"index": {
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},
"task_index": {
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],
"names": null
}
}
}
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