Cache-SCA/smolVLA_table3_stateseeding_pnp_100epi_50ep
Robotics • 0.5B • Updated • 2
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 14
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 35 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 34.9 | frame_index int64 0 349 | episode_index int64 0 99 | index int64 0 32.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.1530815362930298,
-97.18189239501953,
99.18809509277344,
60.54771041870117,
-3.0525031089782715,
0.6557376980781555
] | [
-1.1530815362930298,
-97.18189239501953,
99,
60.54771041870117,
-3.0525031089782715,
0.6557376980781555
] | [
0.1654711216688156,
0.004705564584583044,
0.03600101172924042,
3.039290189743042,
0.609216034412384,
2.9963040351867676
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0 | 0 | 0 | 0 | 0 | ||
[
-1.1530815362930298,
-97.18189239501953,
99.18809509277344,
60.54771041870117,
-3.0525031089782715,
0.6553636193275452
] | [
-1.1448829174041748,
-97.09923553466797,
99,
60.6025390625,
-3.0525031089782715,
0.6553636193275452
] | [
0.1654711216688156,
0.004705564584583044,
0.03600101172924042,
3.039290189743042,
0.609216034412384,
2.9963040351867676
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | ||
[
-1.1530815362930298,
-97.18189239501953,
99.18809509277344,
60.54771041870117,
-3.0525031089782715,
0.6542455554008484
] | [
-1.1203771829605103,
-96.85218048095703,
98.5282211303711,
60.766422271728516,
-3.0525031089782715,
0.6542455554008484
] | [
0.1654711216688156,
0.004705564584583044,
0.03600101172924042,
3.039290189743042,
0.609216034412384,
2.9963040351867676
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.2 | 2 | 0 | 2 | 0 | ||
[
-1.1530815362930298,
-97.09649658203125,
99.18809509277344,
60.54771041870117,
-3.0525031089782715,
0.652396023273468
] | [
-1.0798399448394775,
-96.44349670410156,
97.7103042602539,
61.037513732910156,
-3.0525031089782715,
0.652396023273468
] | [
0.16534744203090668,
0.00470157852396369,
0.03585335239768028,
3.0396201610565186,
0.6077061295509338,
2.996492624282837
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.00073 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.3 | 3 | 0 | 3 | 0 | ||
[
-1.1530815362930298,
-97.09649658203125,
99.18809509277344,
60.54771041870117,
-3.0525031089782715,
0.6498351097106934
] | [
-1.023711085319519,
-95.87762451171875,
96.57778930664062,
61.412879943847656,
-3.0525031089782715,
0.6498351097106934
] | [
0.16534744203090668,
0.00470157852396369,
0.03585335239768028,
3.0396201610565186,
0.6077061295509338,
2.996492624282837
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.00073 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | ||
[
-1.1530815362930298,
-96.8403091430664,
99.18809509277344,
60.6332893371582,
-3.0525031089782715,
0.6465904116630554
] | [
-0.9525948166847229,
-95.16065216064453,
95.14287567138672,
61.88846969604492,
-3.0525031089782715,
0.6465904116630554
] | [
0.16478575766086578,
0.004683476407080889,
0.03529191389679909,
3.040933132171631,
0.6016660928726196,
2.997239112854004
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.002921 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.5 | 5 | 0 | 5 | 0 | ||
[
-1.1530815362930298,
-96.66950988769531,
99.18809509277344,
61.14677047729492,
-3.0525031089782715,
0.6426985859870911
] | [
-0.8672943711280823,
-94.3006820678711,
93.4217758178711,
62.458919525146484,
-3.0525031089782715,
0.6426985859870911
] | [
0.16339433193206787,
0.0046386318281292915,
0.034290872514247894,
3.0435264110565186,
0.5895833969116211,
2.9986941814422607
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.004381 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | ||
[
-1.1530815362930298,
-95.47395324707031,
98.73703002929688,
61.660247802734375,
-3.0525031089782715,
0.6382017135620117
] | [
-0.768734335899353,
-93.30703735351562,
91.4331283569336,
63.1180419921875,
-3.0525031089782715,
0.6382017135620117
] | [
0.161237895488739,
0.0045691304840147495,
0.03319377452135086,
3.048278331756592,
0.5669205188751221,
3.001291513442993
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.019198 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.7 | 7 | 0 | 7 | 0 | ||
[
-1.1530815362930298,
-94.53458404541016,
97.29364013671875,
62.344886779785156,
-3.0525031089782715,
0.6331496834754944
] | [
-0.6580058932304382,
-92.19071197509766,
89.19896697998047,
63.858543395996094,
-3.0525031089782715,
0.6331496834754944
] | [
0.16081872582435608,
0.0045556132681667805,
0.0358029343187809,
3.0492122173309326,
0.5623866319656372,
3.00179123878479
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.042234 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.8 | 8 | 0 | 8 | 0 | ||
[
-1.1530815362930298,
-93.59521484375,
95.12855529785156,
62.943946838378906,
-3.0525031089782715,
0.6275975704193115
] | [
-0.5363162755966187,
-90.96387481689453,
86.74363708496094,
64.67234802246094,
-3.0525031089782715,
0.6275975704193115
] | [
0.16184525191783905,
0.004588685464113951,
0.04104281961917877,
3.0473392009735107,
0.5714537501335144,
3.0007853507995605
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.07279 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 0.9 | 9 | 0 | 9 | 0 | ||
[
-1.1530815362930298,
-92.48505401611328,
92.78304290771484,
63.71416473388672,
-3.0525031089782715,
0.6216057538986206
] | [
-0.404990017414093,
-89.639892578125,
84.0938720703125,
65.55059051513672,
-3.0525031089782715,
0.6216057538986206
] | [
0.1625390499830246,
0.0046110330149531364,
0.04639313369989395,
3.0460784435272217,
0.5774977207183838,
3.0001001358032227
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.106433 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1 | 10 | 0 | 10 | 0 | ||
[
-1.1530815362930298,
-91.28949737548828,
90.1668930053711,
64.56996154785156,
-3.0525031089782715,
0.6152417063713074
] | [
-0.2655046284198761,
-88.23365020751953,
81.27947998046875,
66.48340606689453,
-3.0525031089782715,
0.6152417063713074
] | [
0.16335748136043549,
0.004637395963072777,
0.052417099475860596,
3.0444881916046143,
0.5850517153739929,
2.9992270469665527
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.143304 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.1 | 11 | 0 | 11 | 0 | ||
[
-1.1530815362930298,
-89.92314147949219,
87.55074310302734,
65.51133728027344,
-3.0525031089782715,
0.6085742712020874
] | [
-0.11937093734741211,
-86.7603759765625,
78.33094024658203,
67.46067810058594,
-3.0525031089782715,
0.6085742712020874
] | [
0.16378426551818848,
0.0046511366963386536,
0.0580100417137146,
3.0438477993011475,
0.5880730152130127,
2.9988725185394287
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.181249 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | ||
[
-1.1530815362930298,
-88.5567855834961,
84.6639633178711,
66.45272064208984,
-3.0525031089782715,
0.6016764044761658
] | [
0.03181483596563339,
-85.23617553710938,
75.28047180175781,
68.47174072265625,
-3.0525031089782715,
0.6016764044761658
] | [
0.16462159156799316,
0.004678107798099518,
0.06452113389968872,
3.0422351360321045,
0.5956250429153442,
2.9979727268218994
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.221512 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
-1.1530815362930298,
-87.01963806152344,
81.59675598144531,
67.39409637451172,
-3.0525031089782715,
0.5946239829063416
] | [
0.18638752400875092,
-83.67782592773438,
72.16165924072266,
69.50544738769531,
-3.0525031089782715,
0.5946239829063416
] | [
0.16555491089820862,
0.004708171356469393,
0.07133416086435318,
3.0406057834625244,
0.6031760573387146,
2.997053623199463
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.264561 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
-1.1530815362930298,
-85.5678939819336,
78.89039611816406,
68.3354721069336,
-3.0525031089782715,
0.5874948501586914
] | [
0.34264039993286133,
-82.1025390625,
69.00894927978516,
70.5503921508789,
-3.0525031089782715,
0.5874948501586914
] | [
0.1660684049129486,
0.004724706988781691,
0.07698529958724976,
3.039949417114258,
0.6061962842941284,
2.996680498123169
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.302668 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
-0.6759443283081055,
-84.03074645996094,
75.73297119140625,
69.3624267578125,
-3.0525031089782715,
0.5803667902946472
] | [
0.498871386051178,
-80.52747344970703,
65.85668182373047,
71.5951919555664,
-3.0525031089782715,
0.5803667902946472
] | [
0.1669837087392807,
0.0035736593417823315,
0.0838993564248085,
3.0382962226867676,
0.6137456297874451,
2.986529588699341
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.345104 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
-0.11928429454565048,
-82.49359893798828,
72.39512634277344,
70.47496795654297,
-3.0525031089782715,
0.5733181834220886
] | [
0.6533600091934204,
-78.969970703125,
62.739566802978516,
72.62834167480469,
-3.0525031089782715,
0.5733181834220886
] | [
0.167914479970932,
0.0022084680385887623,
0.09126295149326324,
3.0362889766693115,
0.6228029727935791,
2.974628210067749
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.387827 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
-0.03976143151521683,
-80.87104797363281,
69.32791900634766,
71.50192260742188,
-3.0525031089782715,
0.5664265751838684
] | [
0.8044079542160034,
-77.44715881347656,
59.69187545776367,
73.63847351074219,
-3.0525031089782715,
0.5664265751838684
] | [
0.16863566637039185,
0.002018157858401537,
0.09758798032999039,
3.03527569770813,
0.6273308992385864,
2.972501277923584
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.427726 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
0.03976143151521683,
-79.33390045166016,
66.26071166992188,
72.52888488769531,
-3.0525031089782715,
0.5597673058509827
] | [
0.9503629207611084,
-75.9756851196289,
56.7469482421875,
74.61455535888672,
-3.0525031089782715,
0.5597673058509827
] | [
0.16939830780029297,
0.0018260243814438581,
0.10399951040744781,
3.033914089202881,
0.6333673000335693,
2.9701645374298096
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.465277 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
0.35785287618637085,
-77.7967529296875,
63.103294372558594,
73.47026062011719,
-3.0525031089782715,
0.5534136891365051
] | [
1.0896196365356445,
-74.57174682617188,
53.93716812133789,
75.54583740234375,
-3.0525031089782715,
0.5534136891365051
] | [
0.1704462319612503,
0.0010280472924932837,
0.11078140884637833,
3.031848907470703,
0.6424204111099243,
2.962798833847046
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.502023 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.5168986320495605,
-76.43040466308594,
60.21650695800781,
74.4972152709961,
-3.0525031089782715,
0.5474345088005066
] | [
1.220668911933899,
-73.25055694580078,
51.29298782348633,
76.42223358154297,
-3.0525031089782715,
0.5474345088005066
] | [
0.17103272676467896,
0.000624253589194268,
0.1167408674955368,
3.030456304550171,
0.6484548449516296,
2.958893299102783
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.532343 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.5168986320495605,
-75.06404876708984,
57.41993713378906,
75.35301971435547,
-3.0525031089782715,
0.5418976545333862
] | [
1.3420238494873047,
-72.027099609375,
48.84440994262695,
77.23379516601562,
-3.0525031089782715,
0.5418976545333862
] | [
0.1718863993883133,
0.00062424351926893,
0.12258150428533554,
3.0286977291107178,
0.6559962034225464,
2.9578258991241455
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.560551 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
0.5168986320495605,
-73.61229705810547,
54.71357727050781,
76.29439544677734,
-3.0525031089782715,
0.5368621945381165
] | [
1.4523895978927612,
-70.9144287109375,
46.6175651550293,
77.97187042236328,
-3.0525031089782715,
0.5368621945381165
] | [
0.17249150574207306,
0.0006242335657589138,
0.12776008248329163,
3.0279886722564697,
0.6590123772621155,
2.957392454147339
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.585864 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
0.5168986320495605,
-72.41674041748047,
52.18764114379883,
77.06461334228516,
-3.0525031089782715,
0.5323837399482727
] | [
1.5505465269088745,
-69.92484283447266,
44.637054443359375,
78.6282958984375,
-3.0525031089782715,
0.5323837399482727
] | [
0.17325758934020996,
0.0006242245435714722,
0.13299599289894104,
3.0262012481689453,
0.6665518283843994,
2.9562926292419434
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.605813 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
0.5168986320495605,
-71.30657196044922,
50.022552490234375,
77.92041015625,
-3.0525031089782715,
0.5285117626190186
] | [
1.6354107856750488,
-69.06926727294922,
42.92475128173828,
79.19583129882812,
-3.0525031089782715,
0.5285117626190186
] | [
0.17352227866649628,
0.0006242156377993524,
0.1369772106409073,
3.025841236114502,
0.6680594086647034,
2.9560697078704834
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.619796 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
0.5168986320495605,
-70.28180694580078,
47.94767761230469,
78.51947021484375,
-3.0525031089782715,
0.5252896547317505
] | [
1.706032633781433,
-68.35728454589844,
41.49981689453125,
79.6681137084961,
-3.0525031089782715,
0.5252896547317505
] | [
0.17423006892204285,
0.0006242090021260083,
0.14116522669792175,
3.024392604827881,
0.6740894913673401,
2.9551689624786377
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.632144 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
0.5168986320495605,
-69.51323699951172,
46.32386016845703,
79.03295135498047,
-3.0525031089782715,
0.5227512717247009
] | [
1.7616679668426514,
-67.79638671875,
40.377262115478516,
80.04017639160156,
-3.0525031089782715,
0.5227512717247009
] | [
0.17467130720615387,
0.0006242031813599169,
0.14440865814685822,
3.02329683303833,
0.6786114573478699,
2.9544830322265625
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.639344 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
0.9145129323005676,
-68.83006286621094,
44.970680236816406,
79.54642486572266,
-3.0525031089782715,
0.520924985408783
] | [
1.801695466041565,
-67.3928451538086,
39.56962966918945,
80.307861328125,
-3.0525031089782715,
0.520924985408783
] | [
0.17487984895706177,
-0.00041925275581888855,
0.14687688648700714,
3.0229296684265137,
0.68011873960495,
2.946582555770874
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.643521 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
1.1530815362930298,
-68.31768035888672,
43.97834777832031,
79.71759033203125,
-3.0525031089782715,
0.5198308229446411
] | [
1.8256771564483643,
-67.15106964111328,
39.085750579833984,
80.4682388305664,
-3.0525031089782715,
0.5198308229446411
] | [
0.17546549439430237,
-0.001052545732818544,
0.14897629618644714,
3.0218231678009033,
0.6846397519111633,
2.9412827491760254
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.647864 | [
-0.03976143151521683,
-50.3842887878418,
41.903472900390625,
60.975608825683594,
-2.808302879333496,
0.5194805264472961
] | [
0.22579263150691986,
0.002580138621851802,
0.14453375339508057,
3.0163350105285645,
0.7338096499443054,
2.9664957523345947
] | 0.519481 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
1.1530815362930298,
-68.2322769165039,
43.076229095458984,
79.97432708740234,
-3.0525031089782715,
0.5194805264472961
] | [
1.1530671119689941,
-67.72726440429688,
42.855770111083984,
79.97431182861328,
-3.0525031089782715,
0.5194805264472961
] | [
0.17555420100688934,
-0.0010536403860896826,
0.1514449119567871,
3.019585609436035,
0.6936800479888916,
2.9398598670959473
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
1.1530815362930298,
-68.2322769165039,
43.076229095458984,
79.97432708740234,
-3.0525031089782715,
0.5194805264472961
] | [
0.9822673201560974,
-67.59237670898438,
42.881893157958984,
79.78746795654297,
-3.0525031089782715,
0.5194805264472961
] | [
0.17555420100688934,
-0.0010536403860896826,
0.1514449119567871,
3.019585609436035,
0.6936800479888916,
2.9398598670959473
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
1.1530815362930298,
-68.2322769165039,
43.346866607666016,
79.97432708740234,
-3.0525031089782715,
0.5194805264472961
] | [
0.5263420939445496,
-67.2323226928711,
42.951629638671875,
79.28870391845703,
-3.0525031089782715,
0.5194805264472961
] | [
0.17538604140281677,
-0.0010515752946957946,
0.15053361654281616,
3.0207085609436035,
0.689160168170929,
2.9405758380889893
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
1.1530815362930298,
-68.2322769165039,
43.437076568603516,
79.97432708740234,
-3.0525031089782715,
0.5194805264472961
] | [
-0.20582622289657593,
-68.49410247802734,
43.06361389160156,
78.48774719238281,
-3.0525031089782715,
0.5194805264472961
] | [
0.1753290444612503,
-0.0010508755221962929,
0.1502300351858139,
3.02108097076416,
0.6876534223556519,
2.940812587738037
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
0.9940357804298401,
-68.2322769165039,
43.437076568603516,
79.97432708740234,
-3.0525031089782715,
0.5194805264472961
] | [
-1.2087781429290771,
-67.70204162597656,
43.217018127441406,
77.39057159423828,
-3.0525031089782715,
0.5194805264472961
] | [
0.17533163726329803,
-0.0006321135442703962,
0.1502300351858139,
3.02108097076416,
0.6876534223556519,
2.943880558013916
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.000716 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
0.11928429454565048,
-68.2322769165039,
43.437076568603516,
79.63200378417969,
-3.0525031089782715,
0.5194805264472961
] | [
-2.436324119567871,
-66.73260498046875,
43.4047737121582,
76.04769134521484,
-3.0525031089782715,
0.5194805264472961
] | [
0.17603440582752228,
0.0016765380278229713,
0.15077441930770874,
3.019585609436035,
0.6936802268028259,
2.959801435470581
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.008401 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-0.9145129323005676,
-68.14688110351562,
43.437076568603516,
78.77620697021484,
-3.0525031089782715,
0.5194805264472961
] | [
-3.8838412761688232,
-65.5894546508789,
43.62617492675781,
74.46417999267578,
-3.0525031089782715,
0.5194805264472961
] | [
0.17779159545898438,
0.004462230019271374,
0.15198776125907898,
3.016165256500244,
0.7072361707687378,
2.977538585662842
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.020891 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-2.1868786811828613,
-67.20751190185547,
43.437076568603516,
77.40692901611328,
-3.0525031089782715,
0.5194805264472961
] | [
-5.527151107788086,
-64.29167938232422,
43.87752151489258,
72.6664810180664,
-3.0525031089782715,
0.5194805264472961
] | [
0.18103648722171783,
0.008048358373343945,
0.15236206352710724,
3.014230489730835,
0.7147647738456726,
3.000819683074951
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.042452 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-3.5387673377990723,
-65.92655944824219,
44.248985290527344,
75.78091430664062,
-3.0525031089782715,
0.5194805264472961
] | [
-7.334192752838135,
-62.86459732055664,
44.15391159057617,
70.68966674804688,
-3.0525031089782715,
0.5194805264472961
] | [
0.18434222042560577,
0.012032896280288696,
0.14958946406841278,
3.016165256500244,
0.7072363495826721,
3.0281598567962646
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.06853 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-5.288270473480225,
-64.47480773925781,
44.519622802734375,
73.89816284179688,
-3.0525031089782715,
0.5362016558647156
] | [
-9.30044174194336,
-61.31178283691406,
44.454654693603516,
68.53868865966797,
-3.0525031089782715,
0.5362016558647156
] | [
0.18833178281784058,
0.017439253628253937,
0.148635134100914,
3.0153942108154297,
0.7102479338645935,
3.061405658721924
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.098955 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-6.958250522613525,
-63.02305603027344,
44.70004653930664,
71.92982482910156,
-3.0525031089782715,
2.1798012256622314
] | [
-11.391822814941406,
-59.660152435302734,
44.7745361328125,
66.25081634521484,
-3.0525031089782715,
2.1798012256622314
] | [
0.19234760105609894,
0.02292115055024624,
0.14802609384059906,
3.013840675354004,
0.7162704467773438,
3.0926027297973633
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.137254 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-8.946322441101074,
-61.22971725463867,
45.4217414855957,
69.70475006103516,
-3.0525031089782715,
3.8235533237457275
] | [
-13.58681869506836,
-57.982810974121094,
45.11026382446289,
63.8495979309082,
-3.0525031089782715,
3.8235533237457275
] | [
0.19615720212459564,
0.029676327481865883,
0.14498765766620636,
3.015007495880127,
0.7117539048194885,
3.131716251373291
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.181272 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-11.013916969299316,
-58.838600158691406,
45.69237518310547,
67.39409637451172,
-2.9059829711914062,
5.467274188995361
] | [
-15.874473571777344,
-56.240821838378906,
45.460166931152344,
61.34701919555664,
-3.0525031089782715,
5.467274188995361
] | [
0.20034590363502502,
0.03713693469762802,
0.1420758068561554,
3.0204429626464844,
0.7062958478927612,
-3.1045801639556885
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.228833 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-13.240556716918945,
-57.47224426269531,
46.143436431884766,
65.08344268798828,
-2.857142925262451,
7.111104488372803
] | [
-18.222434997558594,
-54.452911376953125,
45.81929016113281,
58.778465270996094,
-3.0525031089782715,
7.111104488372803
] | [
0.20330142974853516,
0.045304082334041595,
0.1408119946718216,
3.0195183753967285,
0.7155285477638245,
-3.0610783100128174
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.272554 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-15.467196464538574,
-55.849700927734375,
46.23365020751953,
62.601627349853516,
-2.9059829711914062,
8.754695892333984
] | [
-20.613161087036133,
-52.63243865966797,
46.184959411621094,
56.163124084472656,
-3.0525031089782715,
8.754695892333984
] | [
0.20657020807266235,
0.05404406785964966,
0.14041660726070404,
3.014756441116333,
0.7289034128189087,
-3.0224170684814453
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.318359 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-17.852882385253906,
-54.05636215209961,
46.59449768066406,
60.03423309326172,
-2.857142925262451,
10.398354530334473
] | [
-23.02570915222168,
-50.795345306396484,
46.55396270751953,
53.5239143371582,
-3.0525031089782715,
10.398354530334473
] | [
0.20905113220214844,
0.06359550356864929,
0.1385776549577713,
3.0141892433166504,
0.7366316318511963,
-2.9756457805633545
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.366704 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-20.238569259643555,
-52.263023376464844,
47.04555892944336,
57.38125991821289,
-2.857142925262451,
12.084549903869629
] | [
-25.499832153320312,
-48.91136932373047,
46.9323844909668,
50.81734848022461,
-3.0525031089782715,
12.084549903869629
] | [
0.21093538403511047,
0.07347062975168228,
0.13638994097709656,
3.0122365951538086,
0.7441649436950684,
-2.930943727493286
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.415883 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-22.703777313232422,
-50.29888916015625,
47.85746383666992,
54.7282829284668,
-2.857142925262451,
13.728262901306152
] | [
-27.889545440673828,
-47.0916633605957,
47.29789733886719,
48.20311737060547,
-3.0525031089782715,
13.728262901306152
] | [
0.21160942316055298,
0.0836639478802681,
0.1321662813425064,
3.012629270553589,
0.7426586747169495,
-2.883124589920044
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.46636 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-25.16898536682129,
-48.334754943847656,
47.94767761230469,
52.07530975341797,
-2.857142925262451,
15.371987342834473
] | [
-30.23354721069336,
-45.24559020996094,
47.65641784667969,
45.63889694213867,
-3.0525031089782715,
15.371987342834473
] | [
0.21241402626037598,
0.09447205066680908,
0.1305459886789322,
3.009857416152954,
0.7532025575637817,
-2.837456464767456
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.516303 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-27.475149154663086,
-46.45602035522461,
47.94767761230469,
49.42233657836914,
-2.808302879333496,
17.018068313598633
] | [
-32.5186767578125,
-43.42579650878906,
48.00593185424805,
43.139076232910156,
-3.0525031089782715,
17.018068313598633
] | [
0.212899312376976,
0.10499761998653412,
0.12939907610416412,
3.007676362991333,
0.7669591903686523,
-2.7933716773986816
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.564799 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-29.8608341217041,
-44.491886138916016,
48.66937255859375,
46.854942321777344,
-2.808302879333496,
18.66170310974121
] | [
-34.70986557006836,
-41.68081283569336,
48.3410758972168,
40.74202346801758,
-3.0525031089782715,
18.66170310974121
] | [
0.2114398032426834,
0.11525362730026245,
0.1248638704419136,
3.0080819129943848,
0.7654533982276917,
-2.7470710277557373
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.614038 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-32.16699981689453,
-42.69854736328125,
49.12043380737305,
44.37312698364258,
-2.808302879333496,
20.305482864379883
] | [
-36.742027282714844,
-40.06247329711914,
48.65190124511719,
38.51893615722656,
-3.0525031089782715,
20.305482864379883
] | [
0.20962564647197723,
0.12535680830478668,
0.12164289504289627,
3.006862163543701,
0.7699709534645081,
-2.703432559967041
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.661171 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-34.31411361694336,
-40.99060821533203,
49.12043380737305,
41.97689437866211,
-2.808302879333496,
21.949199676513672
] | [
-37.771995544433594,
-39.242244720458984,
48.8094367980957,
37.3922004699707,
-3.0525031089782715,
21.949199676513672
] | [
0.2080211490392685,
0.1352895200252533,
0.12022615969181061,
3.003556489944458,
0.782014012336731,
-2.6643307209014893
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.706122 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-36.14314270019531,
-39.45345687866211,
49.12043380737305,
40.0085563659668,
-2.808302879333496,
23.593042373657227
] | [
-38.828147888183594,
-38.40116500854492,
48.970977783203125,
36.23682403564453,
-3.0525031089782715,
23.593042373657227
] | [
0.20607054233551025,
0.14367467164993286,
0.11853808909654617,
3.0014500617980957,
0.7895380258560181,
-2.6305391788482666
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.745667 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-37.33598327636719,
-38.68488311767578,
49.12043380737305,
38.72486114501953,
-2.808302879333496,
25.236703872680664
] | [
-39.91068649291992,
-37.53907012939453,
49.13655471801758,
35.052581787109375,
-3.0525031089782715,
25.236703872680664
] | [
0.2045578509569168,
0.14912906289100647,
0.11820490658283234,
2.9988796710968018,
0.7985638976097107,
-2.609362840652466
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.773553 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-38.449302673339844,
-37.74551773071289,
49.84212875366211,
37.5267448425293,
-2.808302879333496,
26.880361557006836
] | [
-41.02069091796875,
-36.65510559082031,
49.306331634521484,
33.83829116821289,
-3.0525031089782715,
26.880361557006836
] | [
0.20200422406196594,
0.15329556167125702,
0.11421547830104828,
3.0010249614715576,
0.791042685508728,
-2.5863559246063232
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.80156 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-39.562625885009766,
-36.891544342041016,
50.383399963378906,
36.3286247253418,
-2.808302879333496,
28.524232864379883
] | [
-42.161128997802734,
-35.74689865112305,
49.48076248168945,
32.59070587158203,
-3.0525031089782715,
28.524232864379883
] | [
0.19952870905399323,
0.15759743750095367,
0.11122192442417145,
3.0018739700317383,
0.7880336046218872,
-2.564277172088623
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.828643 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-40.67594528198242,
-36.12297058105469,
50.47361373901367,
35.13050842285156,
-2.808302879333496,
30.167949676513672
] | [
-43.33991622924805,
-34.80815505981445,
49.66106033325195,
31.301170349121094,
-3.0525031089782715,
30.167949676513672
] | [
0.19752824306488037,
0.1624591052532196,
0.11030735820531845,
3.000170946121216,
0.7940515279769897,
-2.5440125465393066
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.854763 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-41.78926467895508,
-34.84201431274414,
50.47361373901367,
33.93239212036133,
-2.808302879333496,
31.81170082092285
] | [
-44.566898345947266,
-33.831031799316406,
49.848731994628906,
29.958913803100586,
-3.0525031089782715,
31.81170082092285
] | [
0.1954471468925476,
0.16736505925655365,
0.10790931433439255,
3.000598669052124,
0.7925472259521484,
-2.5222320556640625
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.882956 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-42.98210906982422,
-34.15884017944336,
50.47361373901367,
32.563114166259766,
-2.808302879333496,
33.45560073852539
] | [
-45.840904235839844,
-32.828128814697266,
50.04359436035156,
28.56521224975586,
-3.0525031089782715,
33.45560073852539
] | [
0.19321615993976593,
0.17277389764785767,
0.10792810469865799,
2.9971396923065186,
0.8045795559883118,
-2.5017001628875732
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.908615 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-44.174949645996094,
-33.13407516479492,
50.47361373901367,
31.193838119506836,
-2.759462833404541,
35
] | [
-47.12425231933594,
-31.838045120239258,
50.23988342285156,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.19076894223690033,
0.17809410393238068,
0.10669729858636856,
2.996974229812622,
0.810815691947937,
-2.4777610301971436
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.933803 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
-45.44731521606445,
-32.109310150146484,
50.47361373901367,
29.824562072753906,
-2.759462833404541,
35
] | [
-47.12425231933594,
-31.838045120239258,
50.23988342285156,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18784455955028534,
0.1835985779762268,
0.10543923079967499,
2.995208740234375,
0.8168306350708008,
-2.454500675201416
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.957649 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
-46.48111343383789,
-31.596925735473633,
50.47361373901367,
29.225502014160156,
-2.759462833404541,
35
] | [
-47.12425231933594,
-31.838045120239258,
50.23988342285156,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18477465212345123,
0.1873263269662857,
0.10464191436767578,
2.9947638511657715,
0.81833416223526,
-2.4348833560943604
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.970094 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | |
[
-46.40159225463867,
-31.596925735473633,
50.47361373901367,
29.225502014160156,
-2.759462833404541,
35
] | [
-47.12425231933594,
-31.838045120239258,
50.23988342285156,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18506182730197906,
0.18710224330425262,
0.10464191436767578,
2.9947638511657715,
0.81833416223526,
-2.4364173412323
] | 1 | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.969862 | [
-47.12425231933594,
-30.106067657470703,
50.490379333496094,
27.161293029785156,
-3.0525031089782715,
35
] | [
0.18447598814964294,
0.19189415872097015,
0.10281389951705933,
2.9819560050964355,
0.8266509771347046,
-2.4380526542663574
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | |
[
-46.32206726074219,
-31.596925735473633,
50.47361373901367,
29.225502014160156,
-2.759462833404541,
35
] | [
-46.32206726074219,
-31.496967315673828,
50.223182678222656,
29.225500106811523,
-2.759462833404541,
35
] | [
0.18534867465496063,
0.18687769770622253,
0.10464191436767578,
2.9947638511657715,
0.81833416223526,
-2.4379513263702393
] | 1 | Pick up the blue block | move | 0.000037 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
-46.32206726074219,
-31.340734481811523,
50.47361373901367,
29.225502014160156,
-2.710622787475586,
35
] | [
-46.29897689819336,
-31.163007736206055,
50.046390533447266,
28.924785614013672,
-2.759462833404541,
35
] | [
0.18532097339630127,
0.1868257075548172,
0.1036883220076561,
2.997701406478882,
0.8140445947647095,
-2.4347715377807617
] | 1 | Pick up the blue block | move | 0.002043 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-46.32206726074219,
-31.084543228149414,
50.47361373901367,
29.225502014160156,
-2.710622787475586,
35
] | [
-46.237709045410156,
-30.273771286010742,
49.57610321044922,
28.125537872314453,
-2.759462833404541,
35
] | [
0.1852828413248062,
0.18677730858325958,
0.10273582488298416,
2.9990053176879883,
0.8095309734344482,
-2.4338254928588867
] | 1 | Pick up the blue block | move | 0.004046 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-46.32206726074219,
-30.48676300048828,
50.47361373901367,
29.225502014160156,
-2.710622787475586,
35
] | [
-46.14042663574219,
-30.65068244934082,
48.44766616821289,
26.852903366088867,
-2.759462833404541,
35
] | [
0.1851833313703537,
0.18665100634098053,
0.10051451623439789,
3.001999855041504,
0.7989959120750427,
-2.431668519973755
] | 1 | Pick up the blue block | move | 0.008708 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-46.32206726074219,
-30.230571746826172,
50.47361373901367,
28.96876335144043,
-2.710622787475586,
35
] | [
-46.009761810302734,
-28.722915649414062,
47.43289566040039,
25.135324478149414,
-2.759462833404541,
35
] | [
0.18543767929077148,
0.18697385489940643,
0.10002580285072327,
3.001999855041504,
0.7989959120750427,
-2.431668519973755
] | 1 | Pick up the blue block | move | 0.012162 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-46.32206726074219,
-29.547395706176758,
50.47361373901367,
27.941804885864258,
-2.710622787475586,
35
] | [
-45.8535270690918,
-26.389467239379883,
46.20882034301758,
23.06975555419922,
-2.759462833404541,
35
] | [
0.18650908768177032,
0.18833380937576294,
0.09933381527662277,
3.0002965927124023,
0.8050164580345154,
-2.4328925609588623
] | 1 | Pick up the blue block | move | 0.023293 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-46.32206726074219,
-27.41246795654297,
50.47361373901367,
26.230209350585938,
-2.710622787475586,
35
] | [
-45.67474365234375,
-23.67563819885254,
44.79164123535156,
20.687875747680664,
-2.759462833404541,
35
] | [
0.18804199993610382,
0.19027955830097198,
0.09437326341867447,
3.002422332763672,
0.7974905371665955,
-2.431365728378296
] | 1 | Pick up the blue block | move | 0.049525 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-46.32206726074219,
-24.935951232910156,
50.11276626586914,
24.176294326782227,
-2.710622787475586,
35
] | [
-45.479095458984375,
-20.64617919921875,
43.21829605102539,
18.056427001953125,
-2.759462833404541,
35
] | [
0.19031019508838654,
0.19315862655639648,
0.09000854939222336,
3.0028436183929443,
0.7959850430488586,
-2.4310646057128906
] | 1 | Pick up the blue block | move | 0.081615 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-46.32206726074219,
-22.28864288330078,
48.57916259765625,
21.86564064025879,
-2.710622787475586,
35
] | [
-45.27222442626953,
-17.318801879882812,
41.52820587158203,
15.244704246520996,
-2.759462833404541,
35
] | [
0.19450604915618896,
0.19848446547985077,
0.0898575410246849,
2.9972641468048096,
0.8155488967895508,
-2.435089588165283
] | 1 | Pick up the blue block | move | 0.121038 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-46.32206726074219,
-19.128950119018555,
46.955345153808594,
19.212665557861328,
-2.710622787475586,
35
] | [
-45.0580940246582,
-13.766386032104492,
39.741607666015625,
12.293888092041016,
-2.759462833404541,
35
] | [
0.19901981949806213,
0.20421385765075684,
0.08839677274227142,
2.9919042587280273,
0.8335935473442078,
-2.439025402069092
] | 1 | Pick up the blue block | move | 0.166676 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-46.32206726074219,
-15.542271614074707,
45.33152770996094,
16.474111557006836,
-2.710622787475586,
35
] | [
-44.84208679199219,
-10.0718412399292,
37.87384796142578,
9.27173137664795,
-2.759462833404541,
35
] | [
0.20340055227279663,
0.20977437496185303,
0.08498343825340271,
2.988211154937744,
0.8456150889396667,
-2.441774606704712
] | 1 | Pick up the blue block | move | 0.216098 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-46.163021087646484,
-12.126387596130371,
43.70771408081055,
13.564398765563965,
-2.710622787475586,
35
] | [
-44.627933502197266,
-6.283768177032471,
35.97518539428711,
6.224282264709473,
-2.759462833404541,
35
] | [
0.2085699588060379,
0.21497805416584015,
0.08224308490753174,
2.9824795722961426,
0.8636341691017151,
-2.4491660594940186
] | 1 | Pick up the blue block | move | 0.265165 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-45.84492874145508,
-8.53971004486084,
41.632835388183594,
10.569106101989746,
-2.710622787475586,
35
] | [
-44.420310974121094,
-2.446593999862671,
34.072792053222656,
3.202456474304199,
-2.759462833404541,
35
] | [
0.21505843102931976,
0.22037526965141296,
0.08034390956163406,
2.9744503498077393,
0.887633204460144,
-2.4614686965942383
] | 1 | Pick up the blue block | move | 0.317879 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-45.52684020996094,
-4.611443042755127,
39.557960510253906,
7.573812484741211,
-2.710622787475586,
35
] | [
-44.2217903137207,
1.387498378753662,
32.19187927246094,
0.24547170102596283,
-2.759462833404541,
35
] | [
0.22131098806858063,
0.22532150149345398,
0.07648054510354996,
2.968111038208008,
0.9056106209754944,
-2.4725570678710938
] | 1 | Pick up the blue block | move | 0.37326 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-45.52684020996094,
-0.7685738801956177,
37.663509368896484,
4.578519344329834,
-2.710622787475586,
35
] | [
-44.035369873046875,
5.179559230804443,
30.35375213623047,
-2.609739303588867,
-2.759462833404541,
35
] | [
0.22575481235980988,
0.2307875007390976,
0.07185619324445724,
2.9620397090911865,
0.9220719933509827,
-2.477365016937256
] | 1 | Pick up the blue block | move | 0.427085 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-45.44731521606445,
3.1596925258636475,
35.76905822753906,
1.6688061952590942,
-2.710622787475586,
35
] | [
-43.86429214477539,
8.963545799255371,
28.582595825195312,
-5.32203483581543,
-2.759462833404541,
35
] | [
0.23019930720329285,
0.23551636934280396,
0.06622112542390823,
2.9568729400634766,
0.9355267286300659,
-2.483037233352661
] | 1 | Pick up the blue block | move | 0.481145 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-45.12922286987305,
7.173356056213379,
33.87460708618164,
-1.2409071922302246,
-2.710622787475586,
35
] | [
-43.70878601074219,
12.670642852783203,
26.888092041015625,
-7.879811763763428,
-2.759462833404541,
35
] | [
0.23545093834400177,
0.23895153403282166,
0.05973678454756737,
2.9521193504333496,
0.9474753737449646,
-2.493016242980957
] | 1 | Pick up the blue block | move | 0.535976 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-44.890655517578125,
11.016225814819336,
31.980154037475586,
-3.89388108253479,
-2.710622787475586,
35
] | [
-43.571250915527344,
16.221988677978516,
25.290414810180664,
-10.250195503234863,
-2.759462833404541,
35
] | [
0.23995386064052582,
0.24212943017482758,
0.05317239835858345,
2.947828531265259,
0.9579213857650757,
-2.501115322113037
] | 1 | Pick up the blue block | move | 0.588072 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-44.57256317138672,
14.859094619750977,
30.266124725341797,
-6.461275100708008,
-2.710622787475586,
35
] | [
-43.45204544067383,
19.590673446655273,
23.80009651184082,
-12.420005798339844,
-2.759462833404541,
35
] | [
0.2441679984331131,
0.24412795901298523,
0.04536867514252663,
2.9453189373016357,
0.9638866186141968,
-2.509308338165283
] | 1 | Pick up the blue block | move | 0.639009 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-44.57256317138672,
18.360376358032227,
28.642309188842773,
-8.85750961303711,
-2.710622787475586,
35
] | [
-43.35010528564453,
22.695009231567383,
22.418415069580078,
-14.392646789550781,
-2.759462833404541,
35
] | [
0.24656273424625397,
0.2469652146100998,
0.03832618519663811,
2.9421205520629883,
0.9713388085365295,
-2.511942148208618
] | 1 | Pick up the blue block | move | 0.685803 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-44.57256317138672,
21.861656188964844,
27.198917388916016,
-10.997004508972168,
-2.710622787475586,
35
] | [
-43.26687240600586,
25.558366775512695,
21.163564682006836,
-16.141693115234375,
-2.759462833404541,
35
] | [
0.24809123575687408,
0.2487761676311493,
0.02980894036591053,
2.9421205520629883,
0.9713388681411743,
-2.511942148208618
] | 1 | Pick up the blue block | move | 0.730482 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-44.57256317138672,
24.850555419921875,
25.84573745727539,
-12.965340614318848,
-2.710622787475586,
35
] | [
-43.20050048828125,
28.167556762695312,
20.041257858276367,
-17.669288635253906,
-2.759462833404541,
35
] | [
0.24954582750797272,
0.25049957633018494,
0.023110423237085342,
2.9401679039001465,
0.9758078455924988,
-2.513556957244873
] | 1 | Pick up the blue block | move | 0.76979 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-44.57256317138672,
27.668659210205078,
24.492557525634766,
-14.676936149597168,
-2.710622787475586,
35
] | [
-43.17169952392578,
29.43816566467285,
19.502582550048828,
-18.38860511779785,
-2.759462833404541,
35
] | [
0.2507352828979492,
0.2519088089466095,
0.01662917621433735,
2.938851833343506,
0.9787862300872803,
-2.514647960662842
] | 1 | Pick up the blue block | move | 0.806423 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-44.57256317138672,
29.974380493164062,
23.500225067138672,
-15.960633277893066,
-2.710622787475586,
35
] | [
-43.14529800415039,
30.718400955200195,
18.96567726135254,
-19.095056533813477,
-2.759462833404541,
35
] | [
0.25122514367103577,
0.25248923897743225,
0.010564720258116722,
2.939511299133301,
0.9772971868515015,
-2.514101028442383
] | 1 | Pick up the blue block | move | 0.835208 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-44.413516998291016,
31.25533676147461,
22.868741989135742,
-16.816431045532227,
-2.710622787475586,
35
] | [
-43.12160110473633,
32.006465911865234,
18.431882858276367,
-19.785829544067383,
-2.759462833404541,
35
] | [
0.2525177597999573,
0.2524475157260895,
0.0077542951330542564,
2.9381895065307617,
0.9802750945091248,
-2.518265962600708
] | 1 | Pick up the blue block | move | 0.852401 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-44.25447463989258,
32.536293029785156,
22.507892608642578,
-17.58664894104004,
-2.710622787475586,
35
] | [
-43.10083770751953,
33.301734924316406,
17.901958465576172,
-20.459012985229492,
-2.759462833404541,
35
] | [
0.2531348168849945,
0.2516077756881714,
0.0037721204571425915,
2.939511299133301,
0.9772971272468567,
-2.5202367305755615
] | 1 | Pick up the blue block | move | 0.867775 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-44.174949645996094,
33.8172492980957,
22.147045135498047,
-18.27128791809082,
-2.710622787475586,
35
] | [
-43.08317947387695,
34.60569381713867,
17.375717163085938,
-21.11406898498535,
-2.759462833404541,
35
] | [
0.2532290816307068,
0.25093874335289,
-0.0004001616616733372,
2.9414725303649902,
0.97282874584198,
-2.5201475620269775
] | 1 | Pick up the blue block | move | 0.8825 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-44.01590347290039,
35.01280975341797,
21.33513832092285,
-18.9559268951416,
-2.710622787475586,
35
] | [
-43.06867599487305,
35.925872802734375,
16.8504695892334,
-21.753686904907227,
-2.759462833404541,
35
] | [
0.25471919775009155,
0.25111594796180725,
-0.0025381816085428,
2.939511299133301,
0.9772971272468567,
-2.52483868598938
] | 1 | Pick up the blue block | move | 0.899066 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-44.01590347290039,
36.293766021728516,
20.70365333557129,
-19.64056396484375,
-2.710622787475586,
35
] | [
-43.05747985839844,
37.27471160888672,
16.321910858154297,
-22.381872177124023,
-2.759462833404541,
35
] | [
0.25490832328796387,
0.2513352036476135,
-0.005794678349047899,
2.939511299133301,
0.9772971272468567,
-2.52483868598938
] | 1 | Pick up the blue block | move | 0.915005 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-44.01590347290039,
37.57472229003906,
19.891746520996094,
-20.496362686157227,
-2.808302879333496,
35
] | [
-43.05051040649414,
38.63998031616211,
15.796653747558594,
-22.98723602294922,
-2.759462833404541,
35
] | [
0.2555905282497406,
0.25215795636177063,
-0.008076537400484085,
2.9323506355285645,
0.9826216697692871,
-2.532458782196045
] | 1 | Pick up the blue block | move | 0.932685 | [
-43.04806137084961,
41.77545928955078,
16.09466552734375,
-23.566801071166992,
-2.759462833404541,
35
] | [
0.2649604082107544,
0.2532995939254761,
-0.011168581433594227,
2.913776397705078,
1.0256471633911133,
-2.5659990310668945
] | 35 | pick blue block and place on red plate | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
34.9999885559082
] | [
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
34.9999885559082
] | [
0.25559186935424805,
0.25220730900764465,
-0.008503475226461887,
2.925612688064575,
0.9816506505012512,
-2.540560245513916
] | 0 | grasp blue block | gripper_close | 0 | [
-44.01590347290039,
37.660118103027344,
19.801532745361328,
-20.58194351196289,
-2.857142925262451,
0
] | [
0.2557319104671478,
0.25233781337738037,
-0.008041802793741226,
2.9294097423553467,
0.9837866425514221,
-2.535737991333008
] | 0 | pick blue block and place on red plate | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
32.66547393798828
] | [
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
32.66547393798828
] | [
0.25559186935424805,
0.25220730900764465,
-0.008503475226461887,
2.925612688064575,
0.9816506505012512,
-2.540560245513916
] | 0 | grasp blue block | gripper_close | 0.051142 | [
-44.01590347290039,
37.660118103027344,
19.801532745361328,
-20.58194351196289,
-2.857142925262451,
0
] | [
0.2557319104671478,
0.25233781337738037,
-0.008041802793741226,
2.9294097423553467,
0.9837866425514221,
-2.535737991333008
] | 0 | pick blue block and place on red plate | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
30.329504013061523
] | [
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
30.329504013061523
] | [
0.25559186935424805,
0.25220730900764465,
-0.008503475226461887,
2.925612688064575,
0.9816506505012512,
-2.540560245513916
] | 0 | grasp blue block | gripper_close | 0.118996 | [
-44.01590347290039,
37.660118103027344,
19.801532745361328,
-20.58194351196289,
-2.857142925262451,
0
] | [
0.2557319104671478,
0.25233781337738037,
-0.008041802793741226,
2.9294097423553467,
0.9837866425514221,
-2.535737991333008
] | 0 | pick blue block and place on red plate | [
0,
0,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
27.993358612060547
] | [
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
27.993358612060547
] | [
0.25559186935424805,
0.25220730900764465,
-0.008503475226461887,
2.925612688064575,
0.9816506505012512,
-2.540560245513916
] | 0 | grasp blue block | gripper_close | 0.186854 | [
-44.01590347290039,
37.660118103027344,
19.801532745361328,
-20.58194351196289,
-2.857142925262451,
0
] | [
0.2557319104671478,
0.25233781337738037,
-0.008041802793741226,
2.9294097423553467,
0.9837866425514221,
-2.535737991333008
] | 0 | pick blue block and place on red plate | [
0,
0,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
25.65761375427246
] | [
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
25.65761375427246
] | [
0.25559186935424805,
0.25220730900764465,
-0.008503475226461887,
2.925612688064575,
0.9816506505012512,
-2.540560245513916
] | 0 | grasp blue block | gripper_close | 0.254701 | [
-44.01590347290039,
37.660118103027344,
19.801532745361328,
-20.58194351196289,
-2.857142925262451,
0
] | [
0.2557319104671478,
0.25233781337738037,
-0.008041802793741226,
2.9294097423553467,
0.9837866425514221,
-2.535737991333008
] | 0 | pick blue block and place on red plate | [
0,
0,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
23.32147789001465
] | [
-44.01590347290039,
37.74551773071289,
19.801532745361328,
-20.58194351196289,
-2.9548230171203613,
23.32147789001465
] | [
0.25559186935424805,
0.25220730900764465,
-0.008503475226461887,
2.925612688064575,
0.9816506505012512,
-2.540560245513916
] | 0 | grasp blue block | gripper_close | 0.322559 | [
-44.01590347290039,
37.660118103027344,
19.801532745361328,
-20.58194351196289,
-2.857142925262451,
0
] | [
0.2557319104671478,
0.25233781337738037,
-0.008041802793741226,
2.9294097423553467,
0.9837866425514221,
-2.535737991333008
] | 0 | pick blue block and place on red plate | [
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": 32666,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.ee_pos.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.gripper_binary": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.verification_question": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.type": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.progress": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.goal_position.joint": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"skill.goal_position.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper.pos"
]
},
"subtask.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.object_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.target_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 18
Models trained or fine-tuned on Cache-SCA/table3_stateseeding_pnp