observation.state listlengths 6 6 | action listlengths 6 6 | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | skill.natural_language large_stringclasses 94
values | skill.verification_question large_stringclasses 48
values | skill.type large_stringclasses 8
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 -100 30 | subtask.natural_language large_stringclasses 12
values | subtask.object_name large_stringclasses 1
value | subtask.target_position listlengths 3 3 | timestamp float32 0 90.9 | frame_index int64 0 909 | episode_index int64 0 699 | index int64 0 362k | task_index int64 0 6 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
4.257641792297363,
-97.72439575195312,
98.82086181640625,
58.813411712646484,
-0.07326007634401321,
0.3968254029750824
] | [
4.257641792297363,
-97.72439575195312,
98.82086181640625,
58.813411712646484,
-0.07326007634401321,
0.3968254029750824
] | [
0.18947649002075195,
-0.010168714448809624,
0.030992621555924416,
3.092378616333008,
0.7595893144607544,
3.0027084350585938
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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
] | 0 | 0 | 0 | 0 | 0 | ||
[
4.257641792297363,
-97.72439575195312,
98.82086181640625,
58.813411712646484,
-0.07326007634401321,
0.39573413133621216
] | [
4.25217342376709,
-97.602294921875,
98.66499328613281,
58.85176086425781,
-0.07366301119327545,
0.39573413133621216
] | [
0.18947649002075195,
-0.010168714448809624,
0.030992621555924416,
3.092378616333008,
0.7595893144607544,
3.0027084350585938
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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
] | 0.1 | 1 | 0 | 1 | 0 | ||
[
4.257641792297363,
-97.72439575195312,
98.82086181640625,
58.813411712646484,
-0.07326007634401321,
0.39247235655784607
] | [
4.235828399658203,
-97.23734283447266,
98.19910430908203,
58.96638488769531,
-0.0748673528432846,
0.39247235655784607
] | [
0.18947649002075195,
-0.010168714448809624,
0.030992621555924416,
3.092378616333008,
0.7595893144607544,
3.0027084350585938
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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
] | 0.2 | 2 | 0 | 2 | 0 | ||
[
4.257641792297363,
-97.72439575195312,
98.82086181640625,
58.813411712646484,
-0.07326007634401321,
0.3870769143104553
] | [
4.208791732788086,
-96.6336669921875,
97.42845916748047,
59.1559944152832,
-0.07685951888561249,
0.3870769143104553
] | [
0.18947649002075195,
-0.010168714448809624,
0.030992621555924416,
3.092378616333008,
0.7595893144607544,
3.0027084350585938
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.000001 | [
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
] | 0.3 | 3 | 0 | 3 | 0 | ||
[
4.257641792297363,
-97.72439575195312,
98.82086181640625,
58.985382080078125,
-0.07326007634401321,
0.3796050548553467
] | [
4.171350002288818,
-95.79766082763672,
96.36123657226562,
59.4185676574707,
-0.07961835712194443,
0.3796050548553467
] | [
0.18910633027553558,
-0.010143693536520004,
0.03067389689385891,
3.092679500579834,
0.7565291523933411,
3.002915382385254
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.000444 | [
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
] | 0.4 | 4 | 0 | 4 | 0 | ||
[
4.257641792297363,
-97.64012145996094,
98.73015594482422,
58.985382080078125,
-0.07326007634401321,
0.3701339662075043
] | [
4.123889446258545,
-94.73796844482422,
95.00845336914062,
59.751399993896484,
-0.08311537653207779,
0.3701339662075043
] | [
0.18911871314048767,
-0.010144530795514584,
0.03085143491625786,
3.092679500579834,
0.7565293312072754,
3.002915382385254
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.002096 | [
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
] | 0.5 | 5 | 0 | 5 | 0 | ||
[
4.148471832275391,
-96.29161071777344,
98.73015594482422,
59.32931900024414,
-0.07326007634401321,
0.3587678074836731
] | [
4.0669331550598145,
-93.46623992919922,
93.38499450683594,
60.15082931518555,
-0.08731210976839066,
0.3587678074836731
] | [
0.186239555478096,
-0.009722791612148285,
0.02731120027601719,
3.0955970287323,
0.7259251475334167,
3.0064194202423096
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.014035 | [
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
] | 0.6 | 6 | 0 | 6 | 0 | ||
[
4.148471832275391,
-94.85882568359375,
97.36961364746094,
59.8452262878418,
-0.07326007634401321,
0.34562602639198303
] | [
4.001079082489014,
-91.995849609375,
91.50791931152344,
60.61265563964844,
-0.09216446429491043,
0.34562602639198303
] | [
0.18510912358760834,
-0.009648130275309086,
0.028693709522485733,
3.096719741821289,
0.7136823534965515,
3.007159471511841
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.041437 | [
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
] | 0.7 | 7 | 0 | 7 | 0 | ||
[
4.148471832275391,
-93.67888641357422,
95.46485137939453,
60.275150299072266,
-0.07326007634401321,
0.33087822794914246
] | [
3.9271769523620605,
-90.34575653076172,
89.40145111083984,
61.130924224853516,
-0.09760980308055878,
0.33087822794914246
] | [
0.18555974960327148,
-0.009677905589342117,
0.03289181739091873,
3.0964412689208984,
0.7167431116104126,
3.006977081298828
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.072397 | [
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
] | 0.8 | 8 | 0 | 8 | 0 | ||
[
4.148471832275391,
-91.99325561523438,
93.3786849975586,
60.79105758666992,
-0.07326007634401321,
0.3146589398384094
] | [
3.8459014892578125,
-88.5310287475586,
87.08480834960938,
61.70090103149414,
-0.1035984605550766,
0.3146589398384094
] | [
0.1854265332221985,
-0.009669115766882896,
0.03656324744224548,
3.096858263015747,
0.7121519446372986,
3.0072503089904785
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.109591 | [
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
] | 0.9 | 9 | 0 | 9 | 0 | ||
[
4.148471832275391,
-89.97050476074219,
91.11111450195312,
61.392948150634766,
-0.07326007634401321,
0.29717111587524414
] | [
3.7582690715789795,
-86.57437133789062,
84.58697509765625,
62.31545639038086,
-0.11005549877882004,
0.29717111587524414
] | [
0.1850413978099823,
-0.009643686935305595,
0.0400601401925087,
3.0976827144622803,
0.7029694318771362,
3.0077860355377197
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.15165 | [
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
] | 1 | 10 | 0 | 10 | 0 | ||
[
4.148471832275391,
-88.03202819824219,
88.84353637695312,
61.994842529296875,
-0.07326007634401321,
0.2785978317260742
] | [
3.6651973724365234,
-84.49625396728516,
81.9341049194336,
62.96815490722656,
-0.1169133335351944,
0.2785978317260742
] | [
0.18491287529468536,
-0.009635207243263721,
0.04371276870369911,
3.098360061645508,
0.6953170895576477,
3.0082221031188965
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.193019 | [
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
] | 1.1 | 11 | 0 | 11 | 0 | ||
[
4.148471832275391,
-86.09355163574219,
86.21315002441406,
62.59673309326172,
-0.07326007634401321,
0.2591312825679779
] | [
3.5676493644714355,
-82.31819915771484,
79.15364074707031,
63.65224838256836,
-0.12410098314285278,
0.2591312825679779
] | [
0.18553368747234344,
-0.009676225483417511,
0.048735156655311584,
3.098494291305542,
0.6937865614891052,
3.008307933807373
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.238282 | [
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
] | 1.2 | 12 | 0 | 12 | 0 | ||
[
4.03930139541626,
-83.90223693847656,
83.4920654296875,
63.19862365722656,
-0.07326007634401321,
0.23900318145751953
] | [
3.4667866230010986,
-80.06612396240234,
76.27869415283203,
64.35958862304688,
-0.13153289258480072,
0.23900318145751953
] | [
0.18615899980068207,
-0.009490587748587132,
0.0535246841609478,
3.09889554977417,
0.6891950368881226,
3.0100977420806885
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.286586 | [
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
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
4.03930139541626,
-81.62663269042969,
80.86167907714844,
63.97248458862305,
-0.07326007634401321,
0.21844130754470825
] | [
3.3637499809265137,
-77.76551818847656,
73.34178924560547,
65.0821762084961,
-0.13912497460842133,
0.21844130754470825
] | [
0.18630129098892212,
-0.009499777108430862,
0.05744083598256111,
3.0998198986053467,
0.6784810423851013,
3.0106818675994873
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.334946 | [
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
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
4.03930139541626,
-79.26675415039062,
77.86848449707031,
64.74634552001953,
-0.07326007634401321,
0.19761881232261658
] | [
3.2594072818756104,
-75.43574523925781,
70.3676528930664,
65.81391906738281,
-0.1468132734298706,
0.19761881232261658
] | [
0.18714769184589386,
-0.009554391726851463,
0.06249840185046196,
3.1003410816192627,
0.6723586320877075,
3.011007785797119
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.387874 | [
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
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
3.820960760116577,
-77.07543182373047,
74.87528228759766,
65.52020263671875,
-0.07326007634401321,
0.17682324349880219
] | [
3.1551997661590576,
-73.10899353027344,
67.39736938476562,
66.54470825195312,
-0.15449164807796478,
0.17682324349880219
] | [
0.18835783004760742,
-0.009171925485134125,
0.06784094125032425,
3.100599765777588,
0.669297456741333,
3.0142364501953125
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.439583 | [
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
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
3.7117903232574463,
-74.63127136230469,
71.97278594970703,
66.20808410644531,
-0.07326007634401321,
0.15627595782279968
] | [
3.0522360801696777,
-70.81001281738281,
64.46253967285156,
67.26678466796875,
-0.16207833588123322,
0.15627595782279968
] | [
0.18955105543136597,
-0.009013193659484386,
0.07234527915716171,
3.101240873336792,
0.6616441607475281,
3.0161664485931396
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.492019 | [
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
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
3.7117903232574463,
-71.93425750732422,
68.9795913696289,
66.89595794677734,
-0.07326007634401321,
0.13619458675384521
] | [
2.9516072273254395,
-68.56317138671875,
61.59426498413086,
67.97248077392578,
-0.16949298977851868,
0.13619458675384521
] | [
0.19089281558990479,
-0.00909356214106083,
0.07652758806943893,
3.102125644683838,
0.6509290933609009,
3.0167062282562256
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.547295 | [
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
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
3.7117903232574463,
-69.49009704589844,
66.07709503173828,
67.58383178710938,
-0.07326007634401321,
0.11681066453456879
] | [
2.85447359085083,
-66.39435577392578,
58.82561111450195,
68.65367126464844,
-0.17665013670921326,
0.11681066453456879
] | [
0.19247522950172424,
-0.00918834563344717,
0.08081231266260147,
3.1027491092681885,
0.6432754993438721,
3.0170822143554688
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.59955 | [
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
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
3.1659388542175293,
-67.46733856201172,
63.35601043701172,
68.18572998046875,
-0.12210012227296829,
0.09829644113779068
] | [
2.761697769165039,
-64.3228530883789,
56.181175231933594,
69.3042984008789,
-0.18348614871501923,
0.09829644113779068
] | [
0.19444824755191803,
-0.00809710193425417,
0.08540195971727371,
3.1017274856567383,
0.6416842341423035,
3.0229127407073975
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.646709 | [
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 | 20 | 0 | 20 | 0 | ||
[
3.0567686557769775,
-65.44458770751953,
60.54421615600586,
68.95958709716797,
-0.12210012227296829,
0.0809032991528511
] | [
2.674539804458618,
-62.37678909301758,
53.69686508178711,
69.91551971435547,
-0.1899082362651825,
0.0809032991528511
] | [
0.1962270885705948,
-0.00794789008796215,
0.0899614542722702,
3.1019814014434814,
0.6386232376098633,
3.0245985984802246
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.695024 | [
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
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
3.0567686557769775,
-63.42182922363281,
57.91383361816406,
69.56147766113281,
-0.12210012227296829,
0.06480324268341064
] | [
2.5938615798950195,
-60.575401306152344,
51.39725112915039,
70.48130798339844,
-0.1958528757095337,
0.06480324268341064
] | [
0.19821318984031677,
-0.00804851297289133,
0.09402318298816681,
3.102234363555908,
0.6355619430541992,
3.0247488021850586
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.740814 | [
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
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
3.0567686557769775,
-61.48335266113281,
55.55555725097656,
70.07738494873047,
-0.12210012227296829,
0.05017663910984993
] | [
2.520566940307617,
-58.938873291015625,
49.3080940246582,
70.99531555175781,
-0.20125345885753632,
0.05017663910984993
] | [
0.20010213553905487,
-0.008144213818013668,
0.09731777012348175,
3.102611541748047,
0.6309700012207031,
3.0249722003936768
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.782627 | [
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
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
3.0567686557769775,
-59.713443756103516,
53.378684997558594,
70.67927551269531,
-0.12210012227296829,
0.03718038275837898
] | [
2.455442190170288,
-57.48475646972656,
47.451805114746094,
71.45203399658203,
-0.20605207979679108,
0.03718038275837898
] | [
0.2016439586877823,
-0.008222326636314392,
0.10012748092412949,
3.1031105518341064,
0.6248474717140198,
3.0252652168273926
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.821213 | [
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
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
3.0567686557769775,
-58.19637680053711,
51.38322067260742,
71.0232162475586,
-0.12210012227296829,
0.025956785306334496
] | [
2.399199962615967,
-56.228981018066406,
45.84870910644531,
71.84645080566406,
-0.21019618213176727,
0.025956785306334496
] | [
0.203650563955307,
-0.00832398608326912,
0.10321222245693207,
3.1031105518341064,
0.624847412109375,
3.0252652168273926
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.855242 | [
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
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
3.0567686557769775,
-56.84787368774414,
49.65986251831055,
71.53912353515625,
-0.12210012227296829,
0.016626033931970596
] | [
2.352443218231201,
-55.18498992919922,
44.51597213745117,
72.17434692382812,
-0.21364137530326843,
0.016626033931970596
] | [
0.20490007102489471,
-0.008387289941310883,
0.10539183020591736,
3.1034820079803467,
0.6202554702758789,
3.025481939315796
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.8851 | [
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
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
2.729257583618164,
-55.667930603027344,
48.2086181640625,
71.88306427001953,
-0.12210012227296829,
0.009294199757277966
] | [
2.3157029151916504,
-54.364654541015625,
43.468746185302734,
72.4320068359375,
-0.21634851396083832,
0.009294199757277966
] | [
0.2062322497367859,
-0.007682632189244032,
0.10721738636493683,
3.1037280559539795,
0.6171939373016357,
3.030226707458496
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.910317 | [
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 | ||
[
2.729257583618164,
-54.656551361083984,
47.21088409423828,
72.0550308227539,
-0.12210012227296829,
0.004045781213790178
] | [
2.289402961730957,
-53.77742385864258,
42.71910095214844,
72.61644744873047,
-0.218286395072937,
0.004045781213790178
] | [
0.20726683735847473,
-0.007730272598564625,
0.10804499685764313,
3.104095458984375,
0.6126018166542053,
3.0304384231567383
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.927629 | [
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 | ||
[
2.729257583618164,
-53.9822998046875,
46.39455795288086,
72.1410140991211,
-0.12210012227296829,
0.0009387858444824815
] | [
2.2738335132598877,
-53.42979049682617,
42.27532196044922,
72.72563171386719,
-0.21943359076976776,
0.0009387858444824815
] | [
0.20828385651111603,
-0.007777105085551739,
0.1091732308268547,
3.104095458984375,
0.6126018762588501,
3.0304384231567383
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.94039 | [
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 | ||
[
2.729257583618164,
-53.64517593383789,
46.03174591064453,
72.48495483398438,
-0.12210012227296829,
0
] | [
2.7292346954345703,
-53.36756134033203,
45.79929733276367,
72.48493194580078,
-0.12210012227296829,
0
] | [
0.20799902081489563,
-0.007763989269733429,
0.10911282151937485,
3.104581594467163,
0.6064788699150085,
3.030716896057129
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
2.729257583618164,
-53.64517593383789,
46.03174591064453,
72.48495483398438,
-0.12210012227296829,
0
] | [
2.562295436859131,
-53.26205825805664,
45.70248794555664,
72.31376647949219,
-0.12210012227296829,
0
] | [
0.20799902081489563,
-0.007763989269733429,
0.10911282151937485,
3.104581594467163,
0.6064788699150085,
3.030716896057129
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
2.729257583618164,
-53.64517593383789,
46.03174591064453,
72.48495483398438,
-0.12210012227296829,
0
] | [
2.1165590286254883,
-52.9803581237793,
45.44400405883789,
71.85673522949219,
-0.12210012227296829,
0
] | [
0.20799902081489563,
-0.007763989269733429,
0.10911282151937485,
3.104581594467163,
0.6064788699150085,
3.030716896057129
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
2.6200873851776123,
-53.64517593383789,
46.03174591064453,
72.48495483398438,
-0.12210012227296829,
0
] | [
1.401333212852478,
-52.52834701538086,
45.02924346923828,
71.12339782714844,
-0.12210012227296829,
0
] | [
0.2080107182264328,
-0.007504486478865147,
0.10911282896995544,
3.104581594467163,
0.6064788699150085,
3.0322508811950684
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
1.7467248439788818,
-53.64517593383789,
46.03174591064453,
72.48495483398438,
-0.12210012227296829,
0
] | [
0.42107734084129333,
-53.23945617675781,
42.25725173950195,
70.11831665039062,
-0.12210012227296829,
0
] | [
0.20809008181095123,
-0.005427878350019455,
0.10911282896995544,
3.104581594467163,
0.6064789295196533,
3.044522762298584
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.004776 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
0.7641921639442444,
-53.64517593383789,
46.03174591064453,
72.0550308227539,
-0.12210012227296829,
0
] | [
-0.779545247554779,
-52.480682373046875,
41.561004638671875,
68.88728332519531,
-0.12210012227296829,
0
] | [
0.20918357372283936,
-0.0031097771134227514,
0.10976413637399673,
3.103973388671875,
0.6141326427459717,
3.0579798221588135
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.014051 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-0.43668121099472046,
-53.64517593383789,
46.03174591064453,
70.67927551269531,
-0.12210012227296829,
0
] | [
-2.1931934356689453,
-51.587276458740234,
40.74122619628906,
67.43782806396484,
-0.12210012227296829,
0
] | [
0.2124893069267273,
-0.00024006262538023293,
0.11190130561590195,
3.1019814014434814,
0.6386233568191528,
3.073685884475708
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.031041 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-1.7467248439788818,
-52.54951477050781,
44.48979568481445,
69.21754455566406,
-0.12210012227296829,
0
] | [
-3.7987589836120605,
-50.57258224487305,
39.810150146484375,
65.79159545898438,
-0.12210012227296829,
0
] | [
0.2182265669107437,
0.0030536435078829527,
0.11709126830101013,
3.0992543697357178,
0.670764148235321,
3.090432643890381
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.060129 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-3.384279489517212,
-50.94816589355469,
43.40135955810547,
67.49784851074219,
-0.12210012227296829,
0
] | [
-5.5652055740356445,
-49.45621109008789,
38.772064208984375,
63.980411529541016,
-0.12210012227296829,
0
] | [
0.223749041557312,
0.007405312266200781,
0.11966908723115921,
3.0974955558776855,
0.6906591653823853,
3.112335443496704
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.093309 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-5.021833896636963,
-49.59966278076172,
42.312923431396484,
65.77816009521484,
-0.12210012227296829,
0.031871113926172256
] | [
-7.486010551452637,
-48.24229049682617,
37.64299392700195,
62.010955810546875,
-0.12210012227296829,
0.031871113926172256
] | [
0.22914251685142517,
0.012011288665235043,
0.12295252084732056,
3.095249652862549,
0.715143084526062,
3.1338932514190674
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.125311 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-6.986899375915527,
-48.33544158935547,
41.133785247802734,
63.88650131225586,
-0.12210012227296829,
1.4632272720336914
] | [
-9.528637886047363,
-46.951377868652344,
36.442317962646484,
59.91659164428711,
-0.12210012227296829,
1.4632272720336914
] | [
0.23480547964572906,
0.017811374738812447,
0.12717686593532562,
3.092303991317749,
0.7457442283630371,
-3.1236462593078613
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.167129 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-8.95196533203125,
-47.07121658325195,
40.045352935791016,
61.994842529296875,
-0.12210012227296829,
2.8947606086730957
] | [
-11.671764373779297,
-45.549068450927734,
35.18256378173828,
57.71918487548828,
-0.12210012227296829,
2.8947606086730957
] | [
0.24010086059570312,
0.023910604417324066,
0.13110336661338806,
3.0893471240997314,
0.7748109698295593,
-3.0980722904205322
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.208602 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-10.917030334472656,
-45.55414962768555,
38.775508880615234,
59.67325973510742,
-0.12210012227296829,
4.326613903045654
] | [
-13.905813217163086,
-44.07249069213867,
33.86936950683594,
55.42855453491211,
-0.12210012227296829,
4.326613903045654
] | [
0.24635179340839386,
0.030483676120638847,
0.13583356142044067,
3.08553409576416,
0.8099910020828247,
-3.073176383972168
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.254727 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-13.209607124328613,
-44.03708267211914,
37.50566864013672,
57.437660217285156,
-0.12210012227296829,
5.758296966552734
] | [
-16.198240280151367,
-42.55732727050781,
32.52185821533203,
53.07806396484375,
-0.12210012227296829,
5.758296966552734
] | [
0.2519511580467224,
0.0383545383810997,
0.14045587182044983,
3.081613540649414,
0.8436341285705566,
-3.0438477993011475
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.302326 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-15.502182960510254,
-42.520015716552734,
36.2358283996582,
55.202064514160156,
-0.12210012227296829,
7.189483165740967
] | [
-18.531269073486328,
-41.01532745361328,
31.15047836303711,
50.685943603515625,
-0.12210012227296829,
7.189483165740967
] | [
0.25716355443000793,
0.04659762978553772,
0.14512737095355988,
3.0773849487304688,
0.87726891040802,
-3.014840841293335
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.349905 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-17.9039306640625,
-40.834388732910156,
34.875282287597656,
52.8804817199707,
-0.12210012227296829,
8.621424674987793
] | [
-20.88668441772461,
-39.458534240722656,
29.765939712524414,
48.270870208740234,
-0.12210012227296829,
8.621424674987793
] | [
0.26223841309547424,
0.05562290549278259,
0.14980235695838928,
3.0727994441986084,
0.9108943343162537,
-2.984668731689453
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.399777 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-20.08733558654785,
-39.064476013183594,
33.42403793334961,
50.47291564941406,
-0.12210012227296829,
10.054313659667969
] | [
-23.242551803588867,
-37.90143966674805,
28.38113784790039,
45.8553352355957,
-0.12210012227296829,
10.054313659667969
] | [
0.26735275983810425,
0.0644005611538887,
0.15476202964782715,
3.0675599575042725,
0.9460361003875732,
-2.9581849575042725
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.449532 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-22.379913330078125,
-37.37884521484375,
32.15419387817383,
48.06534957885742,
-0.12210012227296829,
11.488340377807617
] | [
-25.578805923461914,
-36.35730743408203,
27.007863998413086,
43.45990753173828,
-0.12210012227296829,
11.488340377807617
] | [
0.27166277170181274,
0.07378736138343811,
0.15926650166511536,
3.0620474815368652,
0.9796366691589355,
-2.93049693107605
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.498878 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-24.89082908630371,
-35.777496337890625,
30.884353637695312,
45.74376678466797,
-0.07326007634401321,
12.92020034790039
] | [
-27.866954803466797,
-34.844970703125,
25.662921905517578,
41.113807678222656,
-0.12210012227296829,
12.92020034790039
] | [
0.27503839135169983,
0.08412178605794907,
0.16391289234161377,
3.0584053993225098,
1.0133509635925293,
-2.8974430561065674
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.54856 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-27.183406829833984,
-34.1761474609375,
29.5238094329834,
43.33620071411133,
-0.07326007634401321,
14.35128402709961
] | [
-30.093292236328125,
-33.37348937988281,
24.35436248779297,
38.831077575683594,
-0.12210012227296829,
14.35128402709961
] | [
0.2783437967300415,
0.0940966084599495,
0.1691834181547165,
3.0511727333068848,
1.0499790906906128,
-2.8714373111724854
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.597741 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-29.475982666015625,
-32.82764434814453,
28.253969192504883,
41.014617919921875,
-0.07326007634401321,
15.78420352935791
] | [
-32.233909606933594,
-31.997129440307617,
23.096189498901367,
36.63624572753906,
-0.12210012227296829,
15.78420352935791
] | [
0.2806715667247772,
0.1041221171617508,
0.17492495477199554,
3.042585849761963,
1.0881059169769287,
-2.8467535972595215
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.644911 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-31.44104766845703,
-31.394859313964844,
27.0748291015625,
38.77901840209961,
-0.07326007634401321,
17.217174530029297
] | [
-34.21748733520508,
-30.727052688598633,
21.930315017700195,
34.60242462158203,
-0.12210012227296829,
17.217174530029297
] | [
0.2828730344772339,
0.11315518617630005,
0.17971907556056976,
3.033926248550415,
1.121628999710083,
-2.8268797397613525
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.689479 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-33.40611267089844,
-30.21491813659668,
25.804988861083984,
36.71539306640625,
-0.07326007634401321,
18.6494197845459
] | [
-35.223148345947266,
-30.083133697509766,
21.3392276763916,
33.57129669189453,
-0.12210012227296829,
18.6494197845459
] | [
0.2842119038105011,
0.12211653590202332,
0.18562918901443481,
3.0229923725128174,
1.1581605672836304,
-2.809204339981079
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.732187 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-35.15283966064453,
-29.540666580200195,
25.079364776611328,
35.339637756347656,
-0.07326007634401321,
20.0820255279541
] | [
-36.25457000732422,
-29.422719955444336,
20.732995986938477,
32.51375198364258,
-0.12210012227296829,
20.0820255279541
] | [
0.28384989500045776,
0.12953349947929382,
0.18953336775302887,
3.014631748199463,
1.1824872493743896,
-2.7923600673675537
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.764998 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-35.69868850708008,
-28.950695037841797,
24.716552734375,
34.13585662841797,
-0.07326007634401321,
21.515609741210938
] | [
-37.31262969970703,
-28.745248794555664,
20.111108779907227,
31.428892135620117,
-0.12210012227296829,
21.515609741210938
] | [
0.2850015163421631,
0.1325678676366806,
0.19168958067893982,
3.0082833766937256,
1.1991959810256958,
-2.790586233139038
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.788112 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-36.68122100830078,
-28.107879638671875,
23.900226593017578,
33.104042053222656,
-0.07326007634401321,
22.949472427368164
] | [
-38.397850036621094,
-28.050384521484375,
19.473255157470703,
30.31618309020996,
-0.12210012227296829,
22.949472427368164
] | [
0.2856293320655823,
0.13733436167240143,
0.19438189268112183,
3.00136661529541,
1.2158899307250977,
-2.7832462787628174
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.815227 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-38.427947998046875,
-27.51791000366211,
23.26530647277832,
31.986242294311523,
-0.07326007634401321,
24.38111114501953
] | [
-39.51119613647461,
-27.33751678466797,
18.81887435913086,
29.17464256286621,
-0.12210012227296829,
24.38111114501953
] | [
0.2842734456062317,
0.1445799469947815,
0.19760453701019287,
2.9923434257507324,
1.235597014427185,
-2.7671942710876465
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.845267 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-38.97380065917969,
-26.759376525878906,
22.630386352539062,
30.868444442749023,
-0.07326007634401321,
25.81300926208496
] | [
-40.66264724731445,
-26.600248336791992,
18.1420955657959,
27.994028091430664,
-0.12210012227296829,
25.81300926208496
] | [
0.2854093313217163,
0.14780797064304352,
0.20004938542842865,
2.9838719367980957,
1.25225031375885,
-2.767547607421875
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.869035 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-40.1746711730957,
-26.337968826293945,
22.176870346069336,
29.66465950012207,
-0.07326007634401321,
27.2457332611084
] | [
-41.86080551147461,
-25.833070755004883,
17.4378604888916,
26.765520095825195,
-0.12210012227296829,
27.2457332611084
] | [
0.2846251428127289,
0.15303364396095276,
0.2034439742565155,
2.9717676639556885,
1.273410677909851,
-2.762209177017212
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.894251 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-41.48471450805664,
-25.2423095703125,
21.26984214782715,
28.46087646484375,
-0.07326007634401321,
28.67702865600586
] | [
-43.10444259643555,
-25.036775588989258,
16.706899642944336,
25.490385055541992,
-0.12210012227296829,
28.67702865600586
] | [
0.28451403975486755,
0.15931330621242523,
0.20581890642642975,
2.961019277572632,
1.2900042533874512,
-2.7541043758392334
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.924313 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-42.576419830322266,
-24.31521224975586,
20.544218063354492,
27.171110153198242,
-0.07326007634401321,
30
] | [
-44.337928771972656,
-24.246980667114258,
15.981902122497559,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28450000286102295,
0.1647113561630249,
0.20833729207515717,
2.9477899074554443,
1.3080666065216064,
-2.751508951187134
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.950055 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
-43.8864631652832,
-23.809524536132812,
20.090702056884766,
26.13929557800293,
-0.07326007634401321,
30
] | [
-44.337928771972656,
-24.246980667114258,
15.981902122497559,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.2829725742340088,
0.17028354108333588,
0.21087610721588135,
2.934002161026001,
1.3245799541473389,
-2.746445417404175
] | 1 | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.96856 | [
-44.337928771972656,
-22.79545783996582,
18.62627601623535,
24.225658416748047,
-0.12210012227296829,
30
] | [
0.28488242626190186,
0.17396080493927002,
0.21824117004871368,
2.885136127471924,
1.3635497093200684,
-2.788062572479248
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
-44.432315826416016,
-23.809524536132812,
19.909297943115234,
25.8813419342041,
-0.07326007634401321,
30
] | [
-44.32313919067383,
-23.864084243774414,
19.696456909179688,
25.872234344482422,
-0.07326007634401321,
30
] | [
0.2818773686885834,
0.17230558395385742,
0.21245568990707397,
2.9271185398101807,
1.332069754600525,
-2.745457649230957
] | 1 | Pick up the red block | move | 0 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
-44.432315826416016,
-23.47239875793457,
20,
25.96732521057129,
-0.07326007634401321,
30
] | [
-44.32310485839844,
-23.664751052856445,
19.719188690185547,
25.80080795288086,
-0.07326007634401321,
30
] | [
0.2822698950767517,
0.17258384823799133,
0.21014021337032318,
2.9353299140930176,
1.3230807781219482,
-2.737488031387329
] | 1 | Pick up the red block | move | 0.007094 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
-44.432315826416016,
-23.05099105834961,
20.453514099121094,
25.96732521057129,
-0.07326007634401321,
30
] | [
-44.323028564453125,
-23.230192184448242,
19.76874542236328,
25.64509391784668,
-0.07326007634401321,
30
] | [
0.2826958894729614,
0.17288583517074585,
0.20589497685432434,
2.9477899074554443,
1.308066725730896,
-2.725431203842163
] | 1 | Pick up the red block | move | 0.017783 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
-44.432315826416016,
-22.62958335876465,
20.453514099121094,
25.96732521057129,
-0.07326007634401321,
30
] | [
-44.32291793823242,
-22.578224182128906,
19.843095779418945,
25.41147804260254,
-0.07326007634401321,
30
] | [
0.2832481563091278,
0.173277348279953,
0.20383279025554657,
2.9535117149353027,
1.3005462884902954,
-2.7199113368988037
] | 1 | Pick up the red block | move | 0.027347 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-44.432315826416016,
-21.702486038208008,
20.453514099121094,
25.96732521057129,
-0.07326007634401321,
30
] | [
-44.32277297973633,
-21.73720932006836,
19.93900489807129,
25.11012077331543,
-0.07326007634401321,
30
] | [
0.28441765904426575,
0.1741064190864563,
0.1992780715227127,
2.9650676250457764,
1.283974051475525,
-2.7088003158569336
] | 1 | Pick up the red block | move | 0.048341 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-44.432315826416016,
-21.028234481811523,
20.453514099121094,
25.96732521057129,
-0.07326007634401321,
30
] | [
-44.32259750366211,
-20.70905303955078,
20.056255340576172,
24.7417049407959,
-0.07326007634401321,
30
] | [
0.28522875905036926,
0.1746813952922821,
0.1959506869316101,
2.9726874828338623,
1.2719008922576904,
-2.701504707336426
] | 1 | Pick up the red block | move | 0.063566 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-44.432315826416016,
-19.932575225830078,
20.453514099121094,
25.96732521057129,
-0.07326007634401321,
30
] | [
-44.322391510009766,
-19.50702476501465,
20.191909790039062,
24.315465927124023,
-0.07326007634401321,
30
] | [
0.2864755392074585,
0.1755652278661728,
0.19051843881607056,
2.983872175216675,
1.2522505521774292,
-2.6908483505249023
] | 1 | Pick up the red block | move | 0.088223 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-44.432315826416016,
-18.668352127075195,
20.453514099121094,
25.8813419342041,
-0.07326007634401321,
30
] | [
-44.32216262817383,
-18.153642654418945,
20.34333038330078,
23.839685440063477,
-0.07326007634401321,
30
] | [
0.2878791391849518,
0.17656025290489197,
0.18444059789180756,
2.9945151805877686,
1.2310518026351929,
-2.6807758808135986
] | 1 | Pick up the red block | move | 0.117314 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-44.432315826416016,
-17.319849014282227,
20.634920120239258,
25.8813419342041,
-0.07326007634401321,
30
] | [
-44.3219108581543,
-16.657094955444336,
20.51076889038086,
23.313575744628906,
-0.07326007634401321,
30
] | [
0.2890314757823944,
0.1773771494626999,
0.17681261897087097,
3.0064570903778076,
1.203750729560852,
-2.6695709228515625
] | 1 | Pick up the red block | move | 0.147842 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-44.432315826416016,
-15.802781105041504,
20.816326141357422,
25.107481002807617,
-0.07326007634401321,
30
] | [
-44.32164001464844,
-15.050274848937988,
20.69054412841797,
22.748699188232422,
-0.07326007634401321,
30
] | [
0.29090166091918945,
0.1787029206752777,
0.17029990255832672,
3.012953042984009,
1.1870458126068115,
-2.663527011871338
] | 1 | Pick up the red block | move | 0.189252 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-44.432315826416016,
-14.117151260375977,
21.26984214782715,
24.247634887695312,
-0.07326007634401321,
30
] | [
-44.321353912353516,
-13.349346160888672,
20.880847930908203,
22.150737762451172,
-0.07326007634401321,
30
] | [
0.292575478553772,
0.1798894852399826,
0.16179096698760986,
3.020991325378418,
1.1642448902130127,
-2.6561076641082764
] | 1 | Pick up the red block | move | 0.235871 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-44.432315826416016,
-12.17867660522461,
21.541950225830078,
23.64574432373047,
-0.07326007634401321,
30
] | [
-44.32105255126953,
-11.564970016479492,
21.080490112304688,
21.523441314697266,
-0.07326007634401321,
30
] | [
0.2940828204154968,
0.18095804750919342,
0.15210820734500885,
3.0300281047821045,
1.1353340148925781,
-2.6478590965270996
] | 1 | Pick up the red block | move | 0.285288 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-44.432315826416016,
-10.408764839172363,
21.541950225830078,
23.043851852416992,
-0.07326007634401321,
30
] | [
-44.320743560791016,
-9.71959114074707,
21.286956787109375,
20.87470054626465,
-0.07326007634401321,
30
] | [
0.2955767810344696,
0.18201713263988495,
0.14448630809783936,
3.0359983444213867,
1.1140131950378418,
-2.642472982406616
] | 1 | Pick up the red block | move | 0.330283 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-44.432315826416016,
-8.723134994506836,
21.541950225830078,
22.355976104736328,
-0.07326007634401321,
30
] | [
-44.3204231262207,
-9.65605354309082,
21.49905014038086,
20.20827865600586,
-0.07326007634401321,
30
] | [
0.29696980118751526,
0.18300464749336243,
0.13744162023067474,
3.040717601776123,
1.0957279205322266,
-2.638256311416626
] | 1 | Pick up the red block | move | 0.374174 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-44.432315826416016,
-7.964601993560791,
22.176870346069336,
21.668100357055664,
-0.07326007634401321,
30
] | [
-44.320098876953125,
-7.7339091300964355,
21.7141056060791,
19.532548904418945,
-0.07326007634401321,
30
] | [
0.29713138937950134,
0.18311919271945953,
0.13226383924484253,
3.0436816215515137,
1.0835329294204712,
-2.6356287002563477
] | 1 | Pick up the red block | move | 0.398971 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-44.432315826416016,
-6.700379371643066,
22.267574310302734,
20.980222702026367,
-0.07326007634401321,
30
] | [
-44.31977462768555,
-5.802525997161865,
21.930185317993164,
18.85360336303711,
-0.07326007634401321,
30
] | [
0.29806917905807495,
0.18378399312496185,
0.12692752480506897,
3.0465123653411865,
1.0713346004486084,
-2.6331357955932617
] | 1 | Pick up the red block | move | 0.4337 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-44.432315826416016,
-4.509060382843018,
22.267574310302734,
20.292346954345703,
-0.07326007634401321,
30
] | [
-44.31944274902344,
-3.8335230350494385,
22.15046501159668,
18.161455154418945,
-0.07326007634401321,
30
] | [
0.2990937829017639,
0.18451036512851715,
0.11709704250097275,
3.0524415969848633,
1.0438766479492188,
-2.627969741821289
] | 1 | Pick up the red block | move | 0.488958 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-44.432315826416016,
-2.654867172241211,
22.630386352539062,
19.60447120666504,
-0.07326007634401321,
30
] | [
-44.319122314453125,
-1.935560941696167,
22.3627986907959,
17.494279861450195,
-0.07326007634401321,
30
] | [
0.2992691397666931,
0.18463470041751862,
0.10735736042261124,
3.0578360557556152,
1.0164048671722412,
-2.6233439445495605
] | 1 | Pick up the red block | move | 0.537498 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-44.432315826416016,
-0.5478297472000122,
22.811790466308594,
18.916595458984375,
-0.07326007634401321,
30
] | [
-44.318809509277344,
-0.07559359073638916,
22.570880889892578,
16.84046173095703,
-0.07326007634401321,
30
] | [
0.29942432045936584,
0.184744730591774,
0.09707251936197281,
3.0630340576171875,
0.9873940348625183,
-2.618964195251465
] | 1 | Pick up the red block | move | 0.591236 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-44.432315826416016,
1.2220817804336548,
22.993196487426758,
18.22871971130371,
-0.07326007634401321,
30
] | [
-44.31850814819336,
1.7221752405166626,
22.772005081176758,
16.208505630493164,
-0.07326007634401321,
30
] | [
0.29941698908805847,
0.18473954498767853,
0.08854001760482788,
3.0668253898620605,
0.9644825458526611,
-2.615823984146118
] | 1 | Pick up the red block | move | 0.637458 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-44.432315826416016,
3.244837760925293,
23.26530647277832,
17.626827239990234,
-0.07326007634401321,
30
] | [
-44.31821823120117,
3.4447288513183594,
22.96471405029297,
15.602991104125977,
-0.07326007634401321,
30
] | [
0.2987450361251831,
0.18426324427127838,
0.07809415459632874,
3.071507692337036,
0.9339242577552795,
-2.6120169162750244
] | 1 | Pick up the red block | move | 0.688598 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-44.432315826416016,
4.84618616104126,
23.26530647277832,
17.024934768676758,
-0.07326007634401321,
30
] | [
-44.317996978759766,
4.75208044052124,
23.110973358154297,
15.143427848815918,
-0.07326007634401321,
30
] | [
0.29863837361335754,
0.184187650680542,
0.07101187109947205,
3.0741350650787354,
0.9155846238136292,
-2.6099188327789307
] | 1 | Pick up the red block | move | 0.729794 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-44.432315826416016,
6.2789716720581055,
23.356008529663086,
16.595012664794922,
-0.07326007634401321,
30
] | [
-44.31785583496094,
5.5807719230651855,
23.20368194580078,
14.85212516784668,
-0.07326007634401321,
30
] | [
0.2980507016181946,
0.1837710738182068,
0.06405787169933319,
3.076843738555908,
0.8957130312919617,
-2.607787609100342
] | 1 | Pick up the red block | move | 0.765659 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-44.432315826416016,
6.953223705291748,
23.62811851501465,
16.251075744628906,
-0.07326007634401321,
30
] | [
-44.31771469116211,
6.4321064949035645,
23.298776626586914,
14.553328514099121,
-0.07326007634401321,
30
] | [
0.2974301278591156,
0.18333116173744202,
0.06015201285481453,
3.0782470703125,
0.8850114941596985,
-2.606696605682373
] | 1 | Pick up the red block | move | 0.784546 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-44.432315826416016,
8.048883438110352,
23.718820571899414,
15.993121147155762,
-0.07326007634401321,
30
] | [
-44.31756591796875,
7.332481861114502,
23.39640998840332,
14.24655532836914,
-0.07326007634401321,
30
] | [
0.2966642379760742,
0.18278825283050537,
0.05461936071515083,
3.0803797245025635,
0.8681929707527161,
-2.60505747795105
] | 1 | Pick up the red block | move | 0.811125 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-44.432315826416016,
8.975979804992676,
23.718820571899414,
15.735167503356934,
-0.07326007634401321,
30
] | [
-44.31741714477539,
8.25738525390625,
23.496702194213867,
13.931425094604492,
-0.07326007634401321,
30
] | [
0.296192467212677,
0.18245382606983185,
0.05033756420016289,
3.081878423690796,
0.855959951877594,
-2.603919744491577
] | 1 | Pick up the red block | move | 0.833729 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-44.432315826416016,
9.987358093261719,
23.718820571899414,
15.219260215759277,
-0.07326007634401321,
30
] | [
-44.3172607421875,
9.212723731994629,
23.60029411315918,
13.605925559997559,
-0.07326007634401321,
30
] | [
0.2959970533847809,
0.18231531977653503,
0.04614809527993202,
3.082974672317505,
0.8467844724655151,
-2.6030948162078857
] | 1 | Pick up the red block | move | 0.861067 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-44.432315826416016,
10.830172538757324,
23.900226593017578,
14.96130657196045,
-0.07326007634401321,
30
] | [
-44.31709671020508,
10.201095581054688,
23.707468032836914,
13.269170761108398,
-0.07326007634401321,
30
] | [
0.2950659990310669,
0.18165531754493713,
0.041597411036491394,
3.0845775604248047,
0.8330201506614685,
-2.6019015312194824
] | 1 | Pick up the red block | move | 0.882087 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-44.432315826416016,
11.841550827026367,
23.900226593017578,
14.703352928161621,
-0.07326007634401321,
30
] | [
-44.31692886352539,
11.224461555480957,
23.818437576293945,
12.920492172241211,
-0.07326007634401321,
30
] | [
0.2943307161331177,
0.18113408982753754,
0.036898378282785416,
3.086132287979126,
0.8192545771598816,
-2.6007580757141113
] | 1 | Pick up the red block | move | 0.905586 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-44.432315826416016,
12.85292911529541,
23.990930557250977,
14.187446594238281,
-0.07326007634401321,
30
] | [
-44.31675720214844,
12.293486595153809,
23.934358596801758,
12.556257247924805,
-0.07326007634401321,
30
] | [
0.29373282194137573,
0.18071027100086212,
0.03236870840191841,
3.087310314178467,
0.8085471987724304,
-2.5999016761779785
] | 1 | Pick up the red block | move | 0.932475 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-44.432315826416016,
13.864306449890137,
24.263038635253906,
13.757523536682129,
-0.07326007634401321,
30
] | [
-44.316650390625,
12.947979927062988,
24.005329132080078,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29245129227638245,
0.1798018217086792,
0.026997610926628113,
3.0889482498168945,
0.7932498455047607,
-2.5987257957458496
] | 1 | Pick up the red block | move | 0.957224 | [
-44.316650390625,
14.894168853759766,
24.36212730407715,
12.333260536193848,
-0.07326007634401321,
30
] | [
0.29351481795310974,
0.17993450164794922,
0.024113839492201805,
3.088421106338501,
0.7982253432273865,
-2.6007275581359863
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
28.663715362548828
] | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
28.663715362548828
] | [
0.2921346127986908,
0.17957733571529388,
0.025963306427001953,
3.0892696380615234,
0.7901902198791504,
-2.598496913909912
] | 0 | grasp red block | gripper_close | 0.032595 | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.757523536682129,
-0.07326007634401321,
0
] | [
0.29198744893074036,
0.17947299778461456,
0.025798192247748375,
3.0894296169281006,
0.7886604070663452,
-2.5983834266662598
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
26.65898323059082
] | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
26.65898323059082
] | [
0.2921346127986908,
0.17957733571529388,
0.025963306427001953,
3.0892696380615234,
0.7901902198791504,
-2.598496913909912
] | 0 | grasp red block | gripper_close | 0.100255 | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.757523536682129,
-0.07326007634401321,
0
] | [
0.29198744893074036,
0.17947299778461456,
0.025798192247748375,
3.0894296169281006,
0.7886604070663452,
-2.5983834266662598
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
24.653240203857422
] | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
24.653240203857422
] | [
0.2921346127986908,
0.17957733571529388,
0.025963306427001953,
3.0892696380615234,
0.7901902198791504,
-2.598496913909912
] | 0 | grasp red block | gripper_close | 0.167948 | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.757523536682129,
-0.07326007634401321,
0
] | [
0.29198744893074036,
0.17947299778461456,
0.025798192247748375,
3.0894296169281006,
0.7886604070663452,
-2.5983834266662598
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
22.645648956298828
] | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
22.645648956298828
] | [
0.2921346127986908,
0.17957733571529388,
0.025963306427001953,
3.0892696380615234,
0.7901902198791504,
-2.598496913909912
] | 0 | grasp red block | gripper_close | 0.235704 | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.757523536682129,
-0.07326007634401321,
0
] | [
0.29198744893074036,
0.17947299778461456,
0.025798192247748375,
3.0894296169281006,
0.7886604070663452,
-2.5983834266662598
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
20.640230178833008
] | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
20.640230178833008
] | [
0.2921346127986908,
0.17957733571529388,
0.025963306427001953,
3.0892696380615234,
0.7901902198791504,
-2.598496913909912
] | 0 | grasp red block | gripper_close | 0.303386 | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.757523536682129,
-0.07326007634401321,
0
] | [
0.29198744893074036,
0.17947299778461456,
0.025798192247748375,
3.0894296169281006,
0.7886604070663452,
-2.5983834266662598
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
18.63072967529297
] | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
18.63072967529297
] | [
0.2921346127986908,
0.17957733571529388,
0.025963306427001953,
3.0892696380615234,
0.7901902198791504,
-2.598496913909912
] | 0 | grasp red block | gripper_close | 0.371206 | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.757523536682129,
-0.07326007634401321,
0
] | [
0.29198744893074036,
0.17947299778461456,
0.025798192247748375,
3.0894296169281006,
0.7886604070663452,
-2.5983834266662598
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
16.62521743774414
] | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.671539306640625,
-0.07326007634401321,
16.62521743774414
] | [
0.2921346127986908,
0.17957733571529388,
0.025963306427001953,
3.0892696380615234,
0.7901902198791504,
-2.598496913909912
] | 0 | grasp red block | gripper_close | 0.438891 | [
-44.432315826416016,
14.032869338989258,
24.353740692138672,
13.757523536682129,
-0.07326007634401321,
0
] | [
0.29198744893074036,
0.17947299778461456,
0.025798192247748375,
3.0894296169281006,
0.7886604070663452,
-2.5983834266662598
] | 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": 700,
"total_frames": 362160,
"total_tasks": 7,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:700"
},
"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
- 78