Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 35
values | skill.verification_question stringclasses 23
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 30 | subtask.natural_language stringclasses 4
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 90.9 | frame_index int64 0 909 | episode_index int64 0 99 | index int64 0 87.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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99.81859588623047,
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] | [
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99,
66.12210083007812,
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3.0975852012634277,
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3.066438913345337
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1.5845638513565063,
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-0.012271846644580364
] | move to initial state | move_initial | 0 | [
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72.75862121582031,
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0
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] | 0 | [
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0,
0
] | 0 | 0 | 0 | 0 | 0 | |||
[
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] | [
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] | 1 | [
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1.5845638513565063,
1.1047914028167725,
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] | move to initial state | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | |||
[
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0
] | [
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99,
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0
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0.00005031092223362066,
0.027525555342435837,
3.0975852012634277,
0.6245312094688416,
3.066438913345337
] | 1 | [
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] | [
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1.5845638513565063,
1.10576331615448,
-0.012221427634358406,
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] | move to initial state | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
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0
] | 0.2 | 2 | 0 | 2 | 0 | |||
[
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] | [
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] | 1 | [
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1.5744725465774536,
1.10737144947052,
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] | move to initial state | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
0,
0
] | 0.3 | 3 | 0 | 3 | 0 | |||
[
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0
] | [
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66.40975189208984,
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0
] | [
0.16528236865997314,
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0.027082599699497223,
3.0980098247528076,
0.6199421882629395,
3.0666863918304443
] | 1 | [
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] | [
0.0017144038574770093,
-1.7223842144012451,
1.5561288595199585,
1.10959792137146,
-0.012072383426129818,
-0.012271846644580364
] | move to initial state | move_initial | 0.002103 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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] | 0 | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | |||
[
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0
] | [
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0
] | [
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3.0988504886627197,
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] | 1 | [
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1.5968739986419678,
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] | [
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1.5328915119171143,
1.1124184131622314,
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] | move to initial state | move_initial | 0.007954 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 0.5 | 5 | 0 | 5 | 0 | |||
[
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99.18367004394531,
66.12210083007812,
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0
] | [
-0.27635541558265686,
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94.2967758178711,
66.75745391845703,
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0
] | [
0.16399990022182465,
0.00005030197280575521,
0.02686125971376896,
3.09940505027771,
0.6046450734138489,
3.067488670349121
] | 1 | [
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1.587670087814331,
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] | [
0.0037867610808461905,
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1.5050221681594849,
1.1158010959625244,
-0.011831273324787617,
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] | move to initial state | move_initial | 0.020727 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.2059362828731537,
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | |||
[
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0
] | [
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0
] | [
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3.1005003452301025,
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] | 1 | [
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1.5815341472625732,
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] | [
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1.4728375673294067,
1.1197075843811035,
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] | move to initial state | move_initial | 0.032882 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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0
] | [
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 0.7 | 7 | 0 | 7 | 0 | |||
[
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66.46603393554688,
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0
] | [
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90.25563049316406,
67.22244262695312,
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0
] | [
0.1626448780298233,
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0.028743470087647438,
3.1009063720703125,
0.5878171324729919,
3.068331718444824
] | 1 | [
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1.558524489402771,
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] | [
0.0065580992959439754,
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1.4366778135299683,
1.1240965127944946,
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] | move to initial state | move_initial | 0.057607 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
0,
0
] | 0.8 | 8 | 0 | 8 | 0 | |||
[
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0
] | [
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0
] | [
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] | 1 | [
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] | [
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1.3969441652297974,
1.1289193630218506,
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] | move to initial state | move_initial | 0.090574 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
0,
0
] | 0.9 | 9 | 0 | 9 | 0 | |||
[
-0.5458515286445618,
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67.06792449951172,
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0
] | [
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0
] | [
0.16375775635242462,
0.00005027223960496485,
0.03748916834592819,
3.1006360054016113,
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] | 1 | [
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1.4864274263381958,
1.1213399171829224,
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] | [
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1.354025959968567,
1.1341285705566406,
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-0.012271846644580364
] | move to initial state | move_initial | 0.130474 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 1 | 10 | 0 | 10 | 0 | |||
[
-0.5458515286445618,
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67.32588195800781,
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0
] | [
0.2909266948699951,
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68.09486389160156,
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0
] | [
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3.1006360054016113,
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] | 1 | [
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1.4465439319610596,
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] | [
0.011757791973650455,
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1.3084474802017212,
1.1396607160568237,
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] | move to initial state | move_initial | 0.172031 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.2059362828731537,
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3.0976736545562744,
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] | 0 | [
0,
0,
0
] | 1.1 | 11 | 0 | 11 | 0 | |||
[
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67.6698226928711,
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0
] | [
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0
] | [
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3.1006360054016113,
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] | 1 | [
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1.4051264524459839,
1.132077932357788,
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] | [
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1.26068913936615,
1.1454575061798096,
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] | move to initial state | move_initial | 0.214937 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | |||
[
0.10917030274868011,
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85.4875259399414,
68.01375579833984,
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0
] | [
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68.75586700439453,
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0
] | [
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0.05295085161924362,
3.1002283096313477,
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3.0587494373321533
] | 1 | [
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] | [
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1.2112926244735718,
1.1514531373977661,
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] | move to initial state | move_initial | 0.263999 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | |||
[
0.21834060549736023,
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82.76644134521484,
68.27171325683594,
-0.3663003742694855,
0
] | [
0.7170393466949463,
-78.17704772949219,
73.94267272949219,
69.09945678710938,
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0
] | [
0.1681349128484726,
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0.05812662094831467,
3.1002283096313477,
0.5954661965370178,
3.057215452194214
] | 1 | [
0.01073786523193121,
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1.310019612312317,
1.1428157091140747,
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] | [
0.017745213583111763,
-1.389894962310791,
1.1607908010482788,
1.1575828790664673,
-0.010207267478108406,
-0.012271846644580364
] | move to initial state | move_initial | 0.312272 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | |||
[
0.21834060549736023,
-80.78382110595703,
79.95465087890625,
68.7016372680664,
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0
] | [
0.8642839193344116,
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70.92572021484375,
69.44659423828125,
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0
] | [
0.16944758594036102,
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0.06332176923751831,
3.1003644466400146,
0.5939363837242126,
3.0572919845581055
] | 1 | [
0.01073786523193121,
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1.2624661922454834,
1.150485634803772,
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] | [
0.019814185798168182,
-1.3469833135604858,
1.1097676753997803,
1.1637758016586304,
-0.009966551326215267,
-0.012271846644580364
] | move to initial state | move_initial | 0.361667 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | |||
[
0.21834060549736023,
-78.50821685791016,
76.9614486694336,
68.87360382080078,
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0
] | [
1.0115931034088135,
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67.90743255615234,
69.79389190673828,
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0
] | [
0.1718035340309143,
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0.06943302601575851,
3.099817991256714,
0.6000556945800781,
3.0569846630096436
] | 1 | [
0.01073786523193121,
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1.211844801902771,
1.1535536050796509,
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] | [
0.021884065121412277,
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1.0587220191955566,
1.1699717044830322,
-0.009725729934871197,
-0.012271846644580364
] | move to initial state | move_initial | 0.412725 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | |||
[
0.43668121099472046,
-76.1483383178711,
73.96825408935547,
69.30352783203125,
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0
] | [
1.157152771949768,
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64.92500305175781,
70.13705444335938,
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0
] | [
0.17368865013122559,
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0.07494919747114182,
3.099817991256714,
0.6000556945800781,
3.0539166927337646
] | 1 | [
0.013805827125906944,
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1.1612234115600586,
1.1612235307693481,
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] | [
0.02392936311662197,
-1.261631965637207,
1.0082827806472778,
1.1760938167572021,
-0.009487767703831196,
-0.012271846644580364
] | move to initial state | move_initial | 0.464892 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | |||
[
0.6550218462944031,
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71.06575775146484,
69.6474609375,
-0.3663003742694855,
0
] | [
1.2995994091033936,
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62.006351470947266,
70.47288513183594,
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0
] | [
0.1757488250732422,
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0.080003522336483,
3.0999550819396973,
0.5985259413719177,
3.0509259700775146
] | 1 | [
0.016873788088560104,
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1.1121360063552856,
1.1673593521118164,
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] | [
0.025930918753147125,
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0.9589220881462097,
1.1820850372314453,
-0.009254895150661469,
-0.012271846644580364
] | move to initial state | move_initial | 0.516601 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | |||
[
0.6550218462944031,
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68.34467315673828,
69.8194351196289,
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0
] | [
1.4371968507766724,
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59.18705749511719,
70.79727935791016,
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0
] | [
0.17815956473350525,
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0.08471076190471649,
3.0999550819396973,
0.5985258221626282,
3.0509259700775146
] | 1 | [
0.016873788088560104,
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1.0661166906356812,
1.1704274415969849,
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] | [
0.02786433696746826,
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0.9112418293952942,
1.187872290611267,
-0.009029950015246868,
-0.012271846644580364
] | move to initial state | move_initial | 0.56525 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | |||
[
0.8733624219894409,
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65.53288269042969,
70.33534240722656,
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0
] | [
1.5684720277786255,
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56.4973030090332,
71.10677337646484,
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0
] | [
0.17995122075080872,
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0.08847543597221375,
3.1009063720703125,
0.5878170132637024,
3.0483899116516113
] | 1 | [
0.019941749051213264,
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1.0185632705688477,
1.179631233215332,
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] | [
0.029708918184041977,
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0.8657523393630981,
1.1933937072753906,
-0.008815341629087925,
-0.012271846644580364
] | move to initial state | move_initial | 0.617929 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | |||
[
1.3100436925888062,
-66.3716812133789,
62.3582763671875,
70.59329223632812,
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0
] | [
1.6919217109680176,
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53.96788787841797,
71.39781188964844,
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0
] | [
0.18327638506889343,
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0.09457848966121674,
3.1002283096313477,
0.5954662561416626,
3.0418758392333984
] | 1 | [
0.026077672839164734,
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0.9648739099502563,
1.1842331886291504,
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] | [
0.03144354373216629,
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0.8229745030403137,
1.1985859870910645,
-0.008613524958491325,
-0.012271846644580364
] | move to initial state | move_initial | 0.671292 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | |||
[
1.4192140102386475,
-64.34892272949219,
59.546485900878906,
71.0232162475586,
-0.3663003742694855,
0
] | [
1.8062573671340942,
-60.736328125,
51.62521743774414,
71.66736602783203,
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0
] | [
0.1858980655670166,
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0.09959516674280167,
3.0999550819396973,
0.5985257625579834,
3.0401880741119385
] | 1 | [
0.02761165425181389,
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0.9173205494880676,
1.1919031143188477,
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] | [
0.03305010125041008,
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0.7833549380302429,
1.203394889831543,
-0.008426609449088573,
-0.012271846644580364
] | move to initial state | move_initial | 0.718663 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | |||
[
1.5283843278884888,
-62.326168060302734,
56.916099548339844,
71.10919952392578,
-0.3663003742694855,
0
] | [
1.910225510597229,
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49.494964599609375,
71.91248321533203,
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0
] | [
0.18911579251289368,
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0.10434837639331818,
3.09940505027771,
0.6046450138092041,
3.0383429527282715
] | 1 | [
0.029145635664463043,
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0.8728350400924683,
1.1934369802474976,
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] | [
0.03451098874211311,
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0.7473278045654297,
1.2077677249908447,
-0.0082566412165761,
-0.012271846644580364
] | move to initial state | move_initial | 0.763499 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | |||
[
1.5283843278884888,
-60.640541076660156,
54.64852523803711,
71.28116607666016,
-0.3663003742694855,
0
] | [
2.002736806869507,
-57.590267181396484,
47.59946060180664,
72.13058471679688,
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0
] | [
0.1917755901813507,
-0.004408521577715874,
0.1083591878414154,
3.098989725112915,
0.6092343926429749,
3.0381059646606445
] | 1 | [
0.029145635664463043,
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0.8344855308532715,
1.1965049505233765,
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] | [
0.035810887813568115,
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0.7152707576751709,
1.2116587162017822,
-0.008105402812361717,
-0.012271846644580364
] | move to initial state | move_initial | 0.80172 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
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0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | |||
[
1.5283843278884888,
-58.870628356933594,
52.56235885620117,
71.62510681152344,
-0.3663003742694855,
0
] | [
2.082710027694702,
-56.30972671508789,
45.96085739135742,
72.31912231445312,
-0.22948338091373444,
0
] | [
0.1938568651676178,
-0.004469193052500486,
0.11122734844684601,
3.09926700592041,
0.6061747670173645,
3.038264274597168
] | 1 | [
0.029145635664463043,
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0.7992039918899536,
1.2026408910751343,
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] | [
0.036934614181518555,
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0.6875584721565247,
1.215022325515747,
-0.007974663749337196,
-0.012271846644580364
] | move to initial state | move_initial | 0.838444 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | |||
[
1.5283843278884888,
-57.437843322753906,
50.56689453125,
71.71109008789062,
-0.3663003742694855,
0
] | [
2.149240732192993,
-55.24442672729492,
44.597679138183594,
72.4759750366211,
-0.2260204404592514,
0
] | [
0.19647209346294403,
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0.11483174562454224,
3.0987112522125244,
0.6122937798500061,
3.0379462242126465
] | 1 | [
0.029145635664463043,
-1.0124273300170898,
0.7654564380645752,
1.2041748762130737,
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-0.012271846644580364
] | [
0.03786945343017578,
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0.6645042300224304,
1.2178205251693726,
-0.007865898311138153,
-0.012271846644580364
] | move to initial state | move_initial | 0.871327 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | |||
[
1.5283843278884888,
-56.17361831665039,
49.02494430541992,
72.0550308227539,
-0.3663003742694855,
0
] | [
2.2016425132751465,
-54.40536117553711,
43.52399444580078,
72.59951782226562,
-0.22329291701316833,
0
] | [
0.19791585206985474,
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0.11682223528623581,
3.098989725112915,
0.6092342138290405,
3.0381059646606445
] | 1 | [
0.029145635664463043,
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0.7393787503242493,
1.2103108167648315,
-0.012271846644580364,
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] | [
0.038605764508247375,
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0.6463459134101868,
1.220024585723877,
-0.007780231535434723,
-0.012271846644580364
] | move to initial state | move_initial | 0.897749 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | |||
[
1.5283843278884888,
-54.99367904663086,
47.75510025024414,
72.1410140991211,
-0.3663003742694855,
0
] | [
2.2393555641174316,
-53.80149459838867,
42.751277923583984,
72.68843078613281,
-0.2213299423456192,
0
] | [
0.19957391917705536,
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0.11837303638458252,
3.099128484725952,
0.6077045798301697,
3.0381853580474854
] | 1 | [
0.029145635664463043,
-0.9679418802261353,
0.7179029583930969,
1.211844801902771,
-0.012271846644580364,
-0.012271846644580364
] | [
0.039135679602622986,
-0.9462432861328125,
0.6332776546478271,
1.2216107845306396,
-0.007718577980995178,
-0.012271846644580364
] | move to initial state | move_initial | 0.91928 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | |||
[
1.8558951616287231,
-54.235145568847656,
46.66666793823242,
72.22699737548828,
-0.3663003742694855,
0
] | [
2.26192045211792,
-53.440181732177734,
42.288936614990234,
72.74162292480469,
-0.22015543282032013,
0
] | [
0.20095743238925934,
-0.005422989837825298,
0.12026024609804153,
3.0988504886627197,
0.6107640266418457,
3.0334243774414062
] | 1 | [
0.03374757617712021,
-0.954136073589325,
0.699495255947113,
1.2133787870407104,
-0.012271846644580364,
-0.012271846644580364
] | [
0.039452746510505676,
-0.9396671652793884,
0.6254584789276123,
1.2225598096847534,
-0.007681688759475946,
-0.012271846644580364
] | move to initial state | move_initial | 0.936547 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | |||
[
1.9650654792785645,
-53.64517593383789,
45.75963592529297,
72.39897155761719,
-0.3663003742694855,
0
] | [
1.9650152921676636,
-53.36757278442383,
45.52830123901367,
72.39894104003906,
-0.3663003742694855,
0
] | [
0.20190511643886566,
-0.005705423653125763,
0.12178188562393188,
3.0987112522125244,
0.6122937202453613,
3.0318102836608887
] | 1 | [
0.03528155758976936,
-0.9433981776237488,
0.6841554045677185,
1.216446876525879,
-0.012271846644580364,
-0.012271846644580364
] | [
0.035280853509902954,
-0.9383456110954285,
0.6802430748939514,
1.2164462804794312,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
1.9650654792785645,
-53.64517593383789,
45.75963592529297,
72.39897155761719,
-0.3663003742694855,
0
] | [
1.6691523790359497,
-53.33943176269531,
45.51618576049805,
72.22488403320312,
-0.3663003742694855,
0
] | [
0.20190511643886566,
-0.005705423653125763,
0.12178188562393188,
3.0987112522125244,
0.6122937202453613,
3.0318102836608887
] | 1 | [
0.03528155758976936,
-0.9433981776237488,
0.6841554045677185,
1.216446876525879,
-0.012271846644580364,
-0.012271846644580364
] | [
0.031123604625463486,
-0.9378334283828735,
0.6800381541252136,
1.2133411169052124,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
1.9650654792785645,
-53.64517593383789,
45.850341796875,
72.39897155761719,
-0.3663003742694855,
0
] | [
0.8801019191741943,
-53.26438903808594,
45.48386764526367,
71.76066589355469,
-0.3663003742694855,
0
] | [
0.20177675783634186,
-0.005700892768800259,
0.12146373093128204,
3.0988504886627197,
0.6107639074325562,
3.031890392303467
] | 1 | [
0.03528155758976936,
-0.9433981776237488,
0.6856894493103027,
1.216446876525879,
-0.012271846644580364,
-0.012271846644580364
] | [
0.020036447793245316,
-0.9364676475524902,
0.6794915795326233,
1.205059289932251,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
1.9650654792785645,
-53.64517593383789,
45.850341796875,
72.39897155761719,
-0.3663003742694855,
0
] | [
-0.38706132769584656,
-53.14387130737305,
45.43197250366211,
71.01517486572266,
-0.3663003742694855,
0
] | [
0.20177675783634186,
-0.005700892768800259,
0.12146373093128204,
3.0988504886627197,
0.6107639074325562,
3.031890392303467
] | 1 | [
0.03528155758976936,
-0.9433981776237488,
0.6856894493103027,
1.216446876525879,
-0.012271846644580364,
-0.012271846644580364
] | [
0.002231203019618988,
-0.9342741370201111,
0.6786139011383057,
1.1917595863342285,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
0.9825327396392822,
-53.64517593383789,
45.850341796875,
72.39897155761719,
-0.3663003742694855,
0
] | [
-2.122833013534546,
-52.97878646850586,
45.36088562011719,
69.99398803710938,
-0.3663003742694855,
0
] | [
0.20183992385864258,
-0.003450879594311118,
0.12146373093128204,
3.0988504886627197,
0.6107639670372009,
3.045696258544922
] | 1 | [
0.02147573046386242,
-0.9433981776237488,
0.6856894493103027,
1.216446876525879,
-0.012271846644580364,
-0.012271846644580364
] | [
-0.022158583626151085,
-0.9312694668769836,
0.677411675453186,
1.1735414266586304,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.007863 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-0.32751092314720154,
-53.64517593383789,
45.850341796875,
72.0550308227539,
-0.3663003742694855,
0
] | [
-4.24659538269043,
-52.77680206298828,
45.27390670776367,
68.74453735351562,
-0.3663003742694855,
0
] | [
0.2026308923959732,
-0.00045222582411952317,
0.12194599956274033,
3.0982911586761475,
0.6168829202651978,
3.06378173828125
] | 1 | [
0.0030679614283144474,
-0.9433981776237488,
0.6856894493103027,
1.2103108167648315,
-0.012271846644580364,
-0.012271846644580364
] | [
-0.052000127732753754,
-0.9275932312011719,
0.6759406924247742,
1.151250958442688,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.019993 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-2.183406114578247,
-53.64517593383789,
45.850341796875,
70.9372329711914,
-0.3663003742694855,
0
] | [
-6.752894401550293,
-52.53843307495117,
45.171260833740234,
67.27003479003906,
-0.3663003742694855,
0
] | [
0.20501960813999176,
0.003874846501275897,
0.12354516983032227,
3.0964391231536865,
0.6367682218551636,
3.088772773742676
] | 1 | [
-0.023009711876511574,
-0.9433981776237488,
0.6856894493103027,
1.1903691291809082,
-0.012271846644580364,
-0.012271846644580364
] | [
-0.08721679449081421,
-0.9232547283172607,
0.6742047071456909,
1.1249456405639648,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.04016 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-4.148471832275391,
-53.64517593383789,
45.850341796875,
69.6474609375,
-0.3663003742694855,
0
] | [
-9.597118377685547,
-53.59854507446289,
45.054779052734375,
65.59672546386719,
-0.3663003742694855,
0
] | [
0.20761306583881378,
0.008601449429988861,
0.1254502236843109,
3.0942330360412598,
0.6597108244895935,
3.1150524616241455
] | 1 | [
-0.05062136799097061,
-0.9433981776237488,
0.6856894493103027,
1.1673593521118164,
-0.012271846644580364,
-0.012271846644580364
] | [
-0.127181738615036,
-0.942549467086792,
0.6722347736358643,
1.0950933694839478,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.061966 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-6.877729415893555,
-53.64517593383789,
45.850341796875,
68.09973907470703,
-0.3663003742694855,
0
] | [
-12.724255561828613,
-53.30113220214844,
44.92670440673828,
63.75697708129883,
-0.3663003742694855,
0
] | [
0.21040812134742737,
0.01535592507570982,
0.12781958281993866,
3.091479778289795,
0.6872385740280151,
-3.1315009593963623
] | 1 | [
-0.08897088468074799,
-0.9433981776237488,
0.6856894493103027,
1.1397476196289062,
-0.012271846644580364,
-0.012271846644580364
] | [
-0.1711219698190689,
-0.9371363520622253,
0.6700687408447266,
1.0622719526290894,
-0.012271846644580364,
-0.012271846644580364
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.090994 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-9.716156959533691,
-53.64517593383789,
45.850341796875,
66.38005065917969,
-0.3663003742694855,
0.012709072791039944
] | [
-16.12816047668457,
-52.97739791870117,
44.78730010986328,
61.754398345947266,
-0.3663003742694855,
0.012709072791039944
] | [
0.213175967335701,
0.022640490904450417,
0.13055667281150818,
3.088270425796509,
0.7178203463554382,
-3.093691349029541
] | 1 | [
-0.12885437905788422,
-0.9433981776237488,
0.6856894493103027,
1.1090680360794067,
-0.012271846644580364,
-0.011977074667811394
] | [
-0.21895113587379456,
-0.9312441945075989,
0.6677111387252808,
1.026545524597168,
-0.012271846644580364,
-0.011977074667811394
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.121618 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-12.554585456848145,
-53.64517593383789,
45.850341796875,
64.48839569091797,
-0.3663003742694855,
1.4433534145355225
] | [
-19.75016975402832,
-52.63291549682617,
44.63896179199219,
59.623504638671875,
-0.3663003742694855,
1.4433534145355225
] | [
0.21588212251663208,
0.03021240048110485,
0.13369151949882507,
3.084536075592041,
0.7514540553092957,
-3.0563113689422607
] | 1 | [
-0.16873788833618164,
-0.9433981776237488,
0.6856894493103027,
1.0753206014633179,
-0.012271846644580364,
0.021204989403486252
] | [
-0.2698449492454529,
-0.9249743819236755,
0.6652024388313293,
0.9885299801826477,
-0.012271846644580364,
0.021204989403486252
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.157636 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-15.829694747924805,
-53.64517593383789,
45.850341796875,
62.682716369628906,
-0.3663003742694855,
2.873817205429077
] | [
-23.551002502441406,
-52.27143096923828,
42.279762268066406,
57.38740539550781,
-0.3663003742694855,
2.873817205429077
] | [
0.2177518904209137,
0.039077028632164,
0.13680192828178406,
3.0807459354400635,
0.7835521697998047,
-3.0129241943359375
] | 1 | [
-0.21475732326507568,
-0.9433981776237488,
0.6856894493103027,
1.0431069135665894,
-0.012271846644580364,
0.05438286438584328
] | [
-0.3232514560222626,
-0.9183951020240784,
0.625303328037262,
0.9486375451087952,
-0.012271846644580364,
0.05438286438584328
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.196672 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-19.978166580200195,
-53.64517593383789,
45.850341796875,
60.447120666503906,
-0.3663003742694855,
4.470302104949951
] | [
-27.977710723876953,
-51.85041809082031,
42.09846878051758,
54.7830924987793,
-0.3663003742694855,
4.470302104949951
] | [
0.21924129128456116,
0.05057377740740776,
0.14080773293972015,
3.075702428817749,
0.8232818841934204,
-2.958263635635376
] | 1 | [
-0.2730485796928406,
-0.9433981776237488,
0.6856894493103027,
1.0032234191894531,
-0.012271846644580364,
0.09141139686107635
] | [
-0.3854523003101349,
-0.9107323884963989,
0.6222372651100159,
0.9021760821342468,
-0.012271846644580364,
0.09141139686107635
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.245135 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-23.79912757873535,
-53.13948440551758,
45.850341796875,
57.95356750488281,
-0.3663003742694855,
5.916494846343994
] | [
-32.101531982421875,
-51.458213806152344,
41.9295768737793,
52.356971740722656,
-0.3663003742694855,
5.916494846343994
] | [
0.22079473733901978,
0.06171640753746033,
0.14398302137851715,
3.070866823196411,
0.858415961265564,
-2.9081785678863525
] | 1 | [
-0.3267379105091095,
-0.9341942667961121,
0.6856894493103027,
0.9587379693984985,
-0.012271846644580364,
0.12495408952236176
] | [
-0.44339719414711,
-0.9035940170288086,
0.6193809509277344,
0.858893632888794,
-0.012271846644580364,
0.12495408952236176
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.292259 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-28.275108337402344,
-51.79098129272461,
45.850341796875,
55.37403106689453,
-0.3663003742694855,
7.3566484451293945
] | [
-36.27578353881836,
-51.06121063232422,
41.75862121582031,
49.901187896728516,
-0.3663003742694855,
7.3566484451293945
] | [
0.22140765190124512,
0.0750230997800827,
0.1448824405670166,
3.0677266120910645,
0.879796028137207,
-2.847683906555176
] | 1 | [
-0.38963112235069275,
-0.9096506237983704,
0.6856894493103027,
0.9127185344696045,
-0.012271846644580364,
0.158356711268425
] | [
-0.5020506978034973,
-0.8963682651519775,
0.6164897084236145,
0.8150819540023804,
-0.012271846644580364,
0.158356711268425
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.345744 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-32.205238342285156,
-51.62241744995117,
45.850341796875,
53.052452087402344,
-0.3663003742694855,
8.788968086242676
] | [
-40.461395263671875,
-50.66312789916992,
41.58720016479492,
47.43871307373047,
-0.3663003742694855,
8.788968086242676
] | [
0.22065646946430206,
0.08673452585935593,
0.1489247977733612,
3.0616939067840576,
0.9179614186286926,
-2.797183036804199
] | 1 | [
-0.44485440850257874,
-0.9065825939178467,
0.6856894493103027,
0.8713011145591736,
-0.012271846644580364,
0.19157762825489044
] | [
-0.5608638525009155,
-0.8891229033470154,
0.6135905981063843,
0.7711508870124817,
-0.012271846644580364,
0.19157762825489044
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.392506 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-36.35371017456055,
-51.453857421875,
45.850341796875,
50.55889892578125,
-0.3663003742694855,
10.223774909973145
] | [
-44.64717102050781,
-50.26502990722656,
41.415775299072266,
44.97614669799805,
-0.3663003742694855,
10.223774909973145
] | [
0.21894967555999756,
0.09919152408838272,
0.15345847606658936,
3.0544626712799072,
0.9591583013534546,
-2.7447266578674316
] | 1 | [
-0.503145694732666,
-0.9035146832466125,
0.6856894493103027,
0.826815664768219,
-0.012271846644580364,
0.22485624253749847
] | [
-0.6196792721748352,
-0.8818772435188293,
0.6106914281845093,
0.7272182106971741,
-0.012271846644580364,
0.22485624253749847
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.441756 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-40.61135482788086,
-50.44247817993164,
45.850341796875,
48.15133285522461,
-0.3663003742694855,
11.653557777404785
] | [
-48.778743743896484,
-49.87208938598633,
41.24656677246094,
42.545467376708984,
-0.3663003742694855,
11.653557777404785
] | [
0.21646609902381897,
0.11216184496879578,
0.15520912408828735,
3.0497639179229736,
0.9835585951805115,
-2.688781261444092
] | 1 | [
-0.5629709362983704,
-0.8851069211959839,
0.6856894493103027,
0.7838642001152039,
-0.012271846644580364,
0.2580183148384094
] | [
-0.6777331233024597,
-0.8747254610061646,
0.607829749584198,
0.6838544607162476,
-0.012271846644580364,
0.2580183148384094
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.492244 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-44.65065383911133,
-50.105350494384766,
45.850341796875,
45.829750061035156,
-0.3663003742694855,
13.08487606048584
] | [
-52.82827377319336,
-49.4869499206543,
41.080718994140625,
40.163055419921875,
-0.3663003742694855,
13.08487606048584
] | [
0.21285413205623627,
0.12422433495521545,
0.15903939306735992,
3.042370557785034,
1.0186142921447754,
-2.6382505893707275
] | 1 | [
-0.6197282075881958,
-0.8789709806442261,
0.6856894493103027,
0.7424467206001282,
-0.012271846644580364,
0.29121601581573486
] | [
-0.7346341013908386,
-0.8677156567573547,
0.6050249338150024,
0.6413517594337463,
-0.012271846644580364,
0.29121601581573486
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.539911 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-49.0174674987793,
-49.68394470214844,
45.39682388305664,
43.5081672668457,
-0.3663003742694855,
14.514702796936035
] | [
-56.759098052978516,
-49.11309814453125,
40.919734954833984,
37.85048294067383,
-0.3663003742694855,
14.514702796936035
] | [
0.20802269876003265,
0.1371849924325943,
0.16463860869407654,
3.0325393676757812,
1.0597314834594727,
-2.585367441177368
] | 1 | [
-0.6810874938964844,
-0.8713011145591736,
0.6780194640159607,
0.7010291814804077,
-0.012271846644580364,
0.3243791162967682
] | [
-0.7898671627044678,
-0.8609113097190857,
0.6023023128509521,
0.6000949740409851,
-0.012271846644580364,
0.3243791162967682
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.59046 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-52.83842849731445,
-49.59966278076172,
44.85260772705078,
41.186588287353516,
-0.3663003742694855,
15.94502067565918
] | [
-60.541587829589844,
-48.75335693359375,
40.76482391357422,
35.62517166137695,
-0.3663003742694855,
15.94502067565918
] | [
0.20303255319595337,
0.1484297662973404,
0.17193348705768585,
3.0188400745391846,
1.1083998680114746,
-2.543790340423584
] | 1 | [
-0.7347767949104309,
-0.8697671294212341,
0.6688156127929688,
0.6596117615699768,
-0.012271846644580364,
0.3575536012649536
] | [
-0.8430159091949463,
-0.854363739490509,
0.5996824502944946,
0.5603950023651123,
-0.012271846644580364,
0.3575536012649536
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.636467 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-56.87772750854492,
-49.34681701660156,
44.58049774169922,
38.86500549316406,
-0.3663003742694855,
17.37485122680664
] | [
-63.837074279785156,
-48.4399299621582,
40.62985610961914,
33.686378479003906,
-0.3663003742694855,
17.37485122680664
] | [
0.1966327428817749,
0.1598179191350937,
0.17759586870670319,
3.005017042160034,
1.1493942737579346,
-2.499530792236328
] | 1 | [
-0.7915340662002563,
-0.865165114402771,
0.6642136573791504,
0.6181942820549011,
-0.012271846644580364,
0.3907167911529541
] | [
-0.8893216848373413,
-0.8486591577529907,
0.597399890422821,
0.5258065462112427,
-0.012271846644580364,
0.3907167911529541
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.684044 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-60.807861328125,
-48.50400161743164,
44.58049774169922,
36.6294059753418,
-0.3174603283405304,
18.804670333862305
] | [
-65.62315368652344,
-48.27006149291992,
40.55670928955078,
32.63559341430664,
-0.3663003742694855,
18.804670333862305
] | [
0.1898936778306961,
0.17089495062828064,
0.17982907593250275,
2.9991886615753174,
1.1738691329956055,
-2.4490509033203125
] | 1 | [
-0.8467574119567871,
-0.8498253226280212,
0.6642136573791504,
0.5783107280731201,
-0.010737866163253784,
0.4238797128200531
] | [
-0.9144183397293091,
-0.8455674648284912,
0.5961627960205078,
0.5070603489875793,
-0.012271846644580364,
0.4238797128200531
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.73077 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-63.75545883178711,
-48.41972351074219,
44.58049774169922,
34.82373046875,
-0.3174603283405304,
20.234432220458984
] | [
-67.45475769042969,
-48.095863342285156,
40.48169708251953,
31.558029174804688,
-0.3663003742694855,
20.234432220458984
] | [
0.18397215008735657,
0.17858245968818665,
0.1838110387325287,
2.98604416847229,
1.2041560411453247,
-2.419832944869995
] | 1 | [
-0.8881748914718628,
-0.8482913970947266,
0.6642136573791504,
0.5460971593856812,
-0.010737866163253784,
0.45704132318496704
] | [
-0.9401547312736511,
-0.8423969149589539,
0.5948941707611084,
0.48783639073371887,
-0.012271846644580364,
0.45704132318496704
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.767138 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-65.72052764892578,
-48.25115966796875,
44.58049774169922,
33.7059326171875,
-0.3174603283405304,
21.664838790893555
] | [
-69.33385467529297,
-47.91714859008789,
40.40473937988281,
30.4525203704834,
-0.3663003742694855,
21.664838790893555
] | [
0.17980526387691498,
0.18358729779720306,
0.1858777403831482,
2.977893114089966,
1.2207860946655273,
-2.399854898452759
] | 1 | [
-0.9157865643501282,
-0.8452234268188477,
0.6642136573791504,
0.526155412197113,
-0.010737866163253784,
0.4902178645133972
] | [
-0.9665583968162537,
-0.8391441702842712,
0.593592643737793,
0.46811389923095703,
-0.012271846644580364,
0.4902178645133972
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.792946 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-67.68559265136719,
-48.25115966796875,
44.39909362792969,
32.67411804199219,
-0.3174603283405304,
23.095186233520508
] | [
-71.26190185546875,
-47.7337760925293,
40.325775146484375,
29.318218231201172,
-0.3663003742694855,
23.095186233520508
] | [
0.17531444132328033,
0.18828000128269196,
0.1891925036907196,
2.966378927230835,
1.2419172525405884,
-2.383101224899292
] | 1 | [
-0.9433982372283936,
-0.8452234268188477,
0.6611457467079163,
0.5077476501464844,
-0.010737866163253784,
0.5233930349349976
] | [
-0.9936498999595642,
-0.835806667804718,
0.5922572016716003,
0.4478777050971985,
-0.012271846644580364,
0.5233930349349976
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.818143 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-69.6506576538086,
-48.25115966796875,
44.39909362792969,
31.556320190429688,
-0.3174603283405304,
24.525684356689453
] | [
-73.245361328125,
-47.545135498046875,
40.24454116821289,
28.151309967041016,
-0.3663003742694855,
24.525684356689453
] | [
0.17064400017261505,
0.1928238421678543,
0.19191712141036987,
2.954334259033203,
1.2614980936050415,
-2.366926908493042
] | 1 | [
-0.9710098505020142,
-0.8452234268188477,
0.6611457467079163,
0.48780590295791626,
-0.010737866163253784,
0.5565717220306396
] | [
-1.0215200185775757,
-0.832373321056366,
0.5908833742141724,
0.4270598590373993,
-0.012271846644580364,
0.5565717220306396
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.843309 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-71.50655364990234,
-48.25115966796875,
44.39909362792969,
30.352537155151367,
-0.3174603283405304,
25.955446243286133
] | [
-75.29998016357422,
-47.34972381591797,
40.160396575927734,
26.942541122436523,
-0.3663003742694855,
25.955446243286133
] | [
0.16613847017288208,
0.19707277417182922,
0.1948736011981964,
2.9395973682403564,
1.28253173828125,
-2.354933738708496
] | 1 | [
-0.9970875382423401,
-0.8452234268188477,
0.6611457467079163,
0.4663301706314087,
-0.010737866163253784,
0.5897333025932312
] | [
-1.0503900051116943,
-0.8288166522979736,
0.5894603133201599,
0.40549516677856445,
-0.012271846644580364,
0.5897333025932312
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.867696 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-73.2532730102539,
-48.25115966796875,
44.39909362792969,
29.234737396240234,
-0.3174603283405304,
27.385202407836914
] | [
-77.42191314697266,
-47.14791488647461,
40.07349395751953,
25.694171905517578,
-0.3663003742694855,
27.385202407836914
] | [
0.16174040734767914,
0.20091652870178223,
0.1976384073495865,
2.923912525177002,
1.302002191543579,
-2.3454713821411133
] | 1 | [
-1.021631121635437,
-0.8452234268188477,
0.6611457467079163,
0.4463883936405182,
-0.010737866163253784,
0.6228947639465332
] | [
-1.0802057981491089,
-0.8251436352729797,
0.5879905819892883,
0.3832240104675293,
-0.012271846644580364,
0.6228947639465332
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.890153 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-75.54585266113281,
-48.25115966796875,
44.39909362792969,
27.944969177246094,
-0.3174603283405304,
28.815671920776367
] | [
-79.64154815673828,
-46.93680953979492,
39.98258972167969,
24.38831901550293,
-0.3663003742694855,
28.815671920776367
] | [
0.15569229423999786,
0.20562708377838135,
0.2008504569530487,
2.902820587158203,
1.3243769407272339,
-2.3336551189422607
] | 1 | [
-1.0538448095321655,
-0.8452234268188477,
0.6611457467079163,
0.42337867617607117,
-0.010737866163253784,
0.6560727953910828
] | [
-1.1113945245742798,
-0.8213013410568237,
0.5864531993865967,
0.35992735624313354,
-0.012271846644580364,
0.6560727953910828
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.916189 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-77.62008666992188,
-48.25115966796875,
44.39909362792969,
26.655202865600586,
-0.3174603283405304,
30
] | [
-81.61528778076172,
-46.74909210205078,
39.901756286621094,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.15007725358009338,
0.2097497135400772,
0.20408429205417633,
2.87762188911438,
1.3466259241104126,
-2.3290152549743652
] | 1 | [
-1.0829904079437256,
-0.8452234268188477,
0.6611457467079163,
0.40036898851394653,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1391280889511108,
-0.8178848028182983,
0.5850861668586731,
0.3392115533351898,
-0.012271846644580364,
0.6835418343544006
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.937817 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
-79.8034896850586,
-48.25115966796875,
44.39909362792969,
25.451417922973633,
-0.3174603283405304,
30
] | [
-81.61528778076172,
-46.74909210205078,
39.901756286621094,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.14393635094165802,
0.2137657105922699,
0.20712073147296906,
2.849241256713867,
1.3672417402267456,
-2.3260715007781982
] | 1 | [
-1.113669991493225,
-0.8452234268188477,
0.6611457467079163,
0.3788932263851166,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1391280889511108,
-0.8178848028182983,
0.5850861668586731,
0.3392115533351898,
-0.012271846644580364,
0.6835418343544006
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.955386 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
-81.22270965576172,
-48.25115966796875,
44.39909362792969,
25.021495819091797,
-0.3174603283405304,
30
] | [
-81.61528778076172,
-46.74909210205078,
39.901756286621094,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.13976451754570007,
0.2160578966140747,
0.20820914208889008,
2.8376858234405518,
1.3745605945587158,
-2.3174550533294678
] | 1 | [
-1.133611798286438,
-0.8452234268188477,
0.6611457467079163,
0.3712233304977417,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1391280889511108,
-0.8178848028182983,
0.5850861668586731,
0.3392115533351898,
-0.012271846644580364,
0.6835418343544006
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.960978 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | |
[
-81.11354064941406,
-48.25115966796875,
44.39909362792969,
24.84952735900879,
-0.3174603283405304,
30
] | [
-81.61528778076172,
-46.74909210205078,
39.901756286621094,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.140139639377594,
0.21599619090557098,
0.2086450755596161,
2.83282208442688,
1.3774805068969727,
-2.323760986328125
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.6611457467079163,
0.3681553900241852,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1391280889511108,
-0.8178848028182983,
0.5850861668586731,
0.3392115533351898,
-0.012271846644580364,
0.6835418343544006
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.961588 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | |
[
-81.11354064941406,
-48.25115966796875,
44.39909362792969,
24.84952735900879,
-0.3174603283405304,
30
] | [
-81.61528778076172,
-46.74909210205078,
39.901756286621094,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.140139639377594,
0.21599619090557098,
0.2086450755596161,
2.83282208442688,
1.3774805068969727,
-2.323760986328125
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.6611457467079163,
0.3681553900241852,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1391280889511108,
-0.8178848028182983,
0.5850861668586731,
0.3392115533351898,
-0.012271846644580364,
0.6835418343544006
] | Approach red block and open gripper | Is the gripper above the red block and open? | move_and_open | 0.961588 | [
-81.61528778076172,
-45.401065826416016,
42.32270050048828,
23.22713279724121,
-0.3663003742694855,
30
] | [
0.1410837173461914,
0.2220909148454666,
0.21144415438175201,
2.804107427597046,
1.3885294198989868,
-2.3451926708221436
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | |
[
-81.11354064941406,
-48.25115966796875,
44.39909362792969,
24.84952735900879,
-0.3174603283405304,
30
] | [
-81.11354064941406,
-48.16657638549805,
44.173274993896484,
24.849525451660156,
-0.3174603283405304,
30
] | [
0.140139639377594,
0.21599619090557098,
0.2086450755596161,
2.83282208442688,
1.3774805068969727,
-2.323760986328125
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.6611457467079163,
0.3681553900241852,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1320778131484985,
-0.8436839580535889,
0.6573266386985779,
0.3681553602218628,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.000016 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-81.11354064941406,
-48.25115966796875,
44.39909362792969,
24.93551254272461,
-0.3174603283405304,
30
] | [
-81.11532592773438,
-48.01643753051758,
44.22821807861328,
24.7525634765625,
-0.3174603283405304,
30
] | [
0.1401177942752838,
0.2159496545791626,
0.2084270715713501,
2.8352718353271484,
1.3760210275650024,
-2.321357011795044
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.6611457467079163,
0.36968937516212463,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1321029663085938,
-0.8409513235092163,
0.6582558751106262,
0.3664255440235138,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-81.11354064941406,
-48.25115966796875,
44.94330978393555,
24.93551254272461,
-0.3174603283405304,
30
] | [
-81.12007904052734,
-47.61568069458008,
44.3748779296875,
24.49374771118164,
-0.3174603283405304,
30
] | [
0.1400979459285736,
0.21590735018253326,
0.20590762794017792,
2.8492414951324463,
1.3672417402267456,
-2.3076634407043457
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.6703495979309082,
0.36968937516212463,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1321697235107422,
-0.8336572647094727,
0.6607362031936646,
0.3618082106113434,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.002058 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-81.11354064941406,
-48.25115966796875,
45.57823181152344,
24.93551254272461,
-0.3174603283405304,
30
] | [
-81.12771606445312,
-48.74665451049805,
44.610260009765625,
24.078367233276367,
-0.3174603283405304,
30
] | [
0.1400623321533203,
0.2158314734697342,
0.20296895503997803,
2.864105463027954,
1.3569546937942505,
-2.293121576309204
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.6810874938964844,
0.36968937516212463,
-0.010737866163253784,
0.6835418343544006
] | [
-1.132277011871338,
-0.8542417883872986,
0.6647170186042786,
0.3543977439403534,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.005261 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-81.11354064941406,
-48.25115966796875,
45.57823181152344,
24.93551254272461,
-0.3174603283405304,
30
] | [
-81.13817596435547,
-47.86558151245117,
44.93269729614258,
23.50935173034668,
-0.3174603283405304,
30
] | [
0.1400623321533203,
0.2158314734697342,
0.20296895503997803,
2.864105463027954,
1.3569546937942505,
-2.293121576309204
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.6810874938964844,
0.36968937516212463,
-0.010737866163253784,
0.6835418343544006
] | [
-1.132423996925354,
-0.8382056355476379,
0.6701701283454895,
0.34424638748168945,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.005261 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-81.11354064941406,
-48.25115966796875,
45.6689338684082,
24.93551254272461,
-0.3174603283405304,
30
] | [
-81.15097045898438,
-46.78739929199219,
45.3272705078125,
22.813039779663086,
-0.3174603283405304,
30
] | [
0.14005614817142487,
0.21581830084323883,
0.20254923403263092,
2.866114616394043,
1.3554816246032715,
-2.291158676147461
] | 1 | [
-1.1320778131484985,
-0.8452234268188477,
0.682621419429779,
0.36968937516212463,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1326037645339966,
-0.8185819983482361,
0.6768431663513184,
0.33182406425476074,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.005708 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-81.11354064941406,
-47.914031982421875,
45.6689338684082,
24.76354217529297,
-0.3174603283405304,
30
] | [
-81.16606140136719,
-45.46461868286133,
45.792476654052734,
21.99207878112793,
-0.3174603283405304,
30
] | [
0.14032714068889618,
0.21639582514762878,
0.20170457661151886,
2.8700525760650635,
1.3525328636169434,
-2.2873129844665527
] | 1 | [
-1.1320778131484985,
-0.8390874862670898,
0.682621419429779,
0.3666214048862457,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1328158378601074,
-0.7945064902305603,
0.6847108006477356,
0.317177951335907,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.012422 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-81.11354064941406,
-46.22840118408203,
46.485260009765625,
23.903697967529297,
-0.3174603283405304,
30
] | [
-81.18319702148438,
-43.955345153808594,
46.32061004638672,
21.0600643157959,
-0.3174603283405304,
30
] | [
0.1415453553199768,
0.2189921736717224,
0.19363939762115479,
2.9028213024139404,
1.3243770599365234,
-2.2554214000701904
] | 1 | [
-1.1320778131484985,
-0.8084078431129456,
0.6964272856712341,
0.35128161311149597,
-0.010737866163253784,
0.6835418343544006
] | [
-1.133056640625,
-0.7670366764068604,
0.6936426758766174,
0.300550639629364,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.049998 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-81.11354064941406,
-44.54277420043945,
47.120182037353516,
23.043851852416992,
-0.3174603283405304,
30
] | [
-81.20203399658203,
-42.29579544067383,
46.90133285522461,
20.03525161743164,
-0.3174603283405304,
30
] | [
0.14266547560691833,
0.22137945890426636,
0.18631483614444733,
2.926468849182129,
1.2990113496780396,
-2.2325611114501953
] | 1 | [
-1.1320778131484985,
-0.777728259563446,
0.7071651816368103,
0.33594179153442383,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1333212852478027,
-0.7368317246437073,
0.7034639716148376,
0.2822677791118622,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.086666 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-81.11354064941406,
-43.109989166259766,
47.93650817871094,
22.0980224609375,
-0.3174603283405304,
30
] | [
-81.22252655029297,
-40.48998260498047,
47.53323745727539,
18.920116424560547,
-0.3174603283405304,
30
] | [
0.1435297578573227,
0.22322146594524384,
0.17927244305610657,
2.9440174102783203,
1.2765287160873413,
-2.215709686279297
] | 1 | [
-1.1320778131484985,
-0.7516506314277649,
0.7209709882736206,
0.3190680146217346,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1336092948913574,
-0.7039647102355957,
0.7141507863998413,
0.26237353682518005,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.121191 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-81.11354064941406,
-41.255794525146484,
47.93650817871094,
21.066207885742188,
-0.3174603283405304,
30
] | [
-81.24433135986328,
-38.569026947021484,
48.20542907714844,
17.73387908935547,
-0.3174603283405304,
30
] | [
0.1447775512933731,
0.22588084638118744,
0.17445920407772064,
2.9543352127075195,
1.2614983320236206,
-2.205857753753662
] | 1 | [
-1.1320778131484985,
-0.7179030179977417,
0.7209709882736206,
0.30066022276878357,
-0.010737866163253784,
0.6835418343544006
] | [
-1.133915662765503,
-0.6690019965171814,
0.7255190014839172,
0.24121083319187164,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.158992 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-81.11354064941406,
-39.48588180541992,
48.843536376953125,
19.862424850463867,
-0.3174603283405304,
30
] | [
-81.26724243164062,
-36.550445556640625,
48.91178512573242,
16.487356185913086,
-0.3174603283405304,
30
] | [
0.1456579715013504,
0.2277572602033615,
0.16613397002220154,
2.9698123931884766,
1.2358843088150024,
-2.1911754608154297
] | 1 | [
-1.1320778131484985,
-0.685689389705658,
0.7363107800483704,
0.279184490442276,
-0.010737866163253784,
0.6835418343544006
] | [
-1.13423752784729,
-0.6322624683380127,
0.737464964389801,
0.21897262334823608,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.201527 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-81.11354064941406,
-37.37884521484375,
49.75056838989258,
18.658641815185547,
-0.3174603283405304,
30
] | [
-81.29113006591797,
-34.44622802734375,
49.64810562133789,
15.187950134277344,
-0.3174603283405304,
30
] | [
0.14649683237075806,
0.22954511642456055,
0.15637169778347015,
2.9860455989837646,
1.2041563987731934,
-2.175928831100464
] | 1 | [
-1.1320778131484985,
-0.6473398804664612,
0.7516506314277649,
0.2577087879180908,
-0.010737866163253784,
0.6835418343544006
] | [
-1.134573221206665,
-0.5939642786979675,
0.74991774559021,
0.19579096138477325,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.2491 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-81.11354064941406,
-35.27180862426758,
50.3854866027832,
17.368873596191406,
-0.3174603283405304,
30
] | [
-81.31560516357422,
-32.31793212890625,
50.40269470214844,
13.856307983398438,
-0.3174603283405304,
30
] | [
0.14733242988586426,
0.23132599890232086,
0.14796677231788635,
2.9973413944244385,
1.17841637134552,
-2.165435552597046
] | 1 | [
-1.1320778131484985,
-0.6089903712272644,
0.7623884081840515,
0.2346990555524826,
-0.010737866163253784,
0.6835418343544006
] | [
-1.134917140007019,
-0.5552278161048889,
0.7626794576644897,
0.17203420400619507,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.296216 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-81.11354064941406,
-33.164772033691406,
51.201812744140625,
15.993121147155762,
-0.3174603283405304,
30
] | [
-81.34053039550781,
-30.19037437438965,
51.17119216918945,
12.500123977661133,
-0.3174603283405304,
30
] | [
0.1479470431804657,
0.23263593018054962,
0.13887254893779755,
3.007863759994507,
1.1511189937591553,
-2.1557679176330566
] | 1 | [
-1.1320778131484985,
-0.5706408619880676,
0.7761942744255066,
0.21015536785125732,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1352673768997192,
-0.5165048241615295,
0.7756763696670532,
0.14783960580825806,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.344999 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-81.11354064941406,
-30.889169692993164,
51.92743682861328,
14.789338111877441,
-0.3174603283405304,
30
] | [
-81.3656997680664,
-28.042232513427734,
51.94712448120117,
11.130816459655762,
-0.3174603283405304,
30
] | [
0.14837969839572906,
0.2335580438375473,
0.12903398275375366,
3.018620729446411,
1.119226336479187,
-2.1460142135620117
] | 1 | [
-1.1320778131484985,
-0.5292233824729919,
0.7884660959243774,
0.18867963552474976,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1356210708618164,
-0.47740715742111206,
0.7887990474700928,
0.1234108954668045,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.394223 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-81.11354064941406,
-28.697851181030273,
52.56235885620117,
13.4995698928833,
-0.3174603283405304,
30
] | [
-81.39086151123047,
-25.894731521606445,
52.72282409667969,
9.761919021606445,
-0.3174603283405304,
30
] | [
0.14873529970645905,
0.2343159317970276,
0.12009891867637634,
3.02677321434021,
1.0918577909469604,
-2.1387276649475098
] | 1 | [
-1.1320778131484985,
-0.4893398880958557,
0.7992039918899536,
0.16566991806030273,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1359745264053345,
-0.43832120299339294,
0.8019177913665771,
0.09898949414491653,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.44259 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-81.11354064941406,
-26.675094604492188,
53.378684997558594,
12.037833213806152,
-0.3174603283405304,
30
] | [
-81.4157943725586,
-23.766433715820312,
53.48578643798828,
8.405261039733887,
-0.3174603283405304,
30
] | [
0.14887867867946625,
0.2346215397119522,
0.1114422008395195,
3.033330202102661,
1.0675095319747925,
-2.1329452991485596
] | 1 | [
-1.1320778131484985,
-0.452524334192276,
0.8130097985267639,
0.139592245221138,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1363248825073242,
-0.39958471059799194,
0.8148211240768433,
0.07478644698858261,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.490929 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-81.11354064941406,
-24.483776092529297,
54.10430908203125,
10.576096534729004,
-0.3174603283405304,
30
] | [
-81.44025421142578,
-21.678993225097656,
54.229469299316406,
7.074647426605225,
-0.3174603283405304,
30
] | [
0.14892999827861786,
0.23473094403743744,
0.10246606916189194,
3.039689540863037,
1.0416213274002075,
-2.1274139881134033
] | 1 | [
-1.1320778131484985,
-0.41264083981513977,
0.8252816796302795,
0.11351457983255386,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1366685628890991,
-0.3615918755531311,
0.827398419380188,
0.05104804039001465,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.541379 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-81.11354064941406,
-22.208175659179688,
54.829933166503906,
9.286328315734863,
-0.3174603283405304,
30
] | [
-81.46407318115234,
-19.636005401611328,
54.9537239074707,
5.778783321380615,
-0.3174603283405304,
30
] | [
0.14869095385074615,
0.23422151803970337,
0.09277622401714325,
3.0464863777160645,
1.0111442804336548,
-2.121598958969116
] | 1 | [
-1.1320778131484985,
-0.3712233603000641,
0.8375535011291504,
0.09050486236810684,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1370033025741577,
-0.3244081139564514,
0.839647114276886,
0.027929572388529778,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.5914 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-81.11354064941406,
-20.101137161254883,
55.374149322509766,
7.996560573577881,
-0.3174603283405304,
30
] | [
-81.48695373535156,
-17.645610809326172,
55.64942169189453,
4.534022331237793,
-0.3174603283405304,
30
] | [
0.1485002040863037,
0.233814999461174,
0.0845559686422348,
3.051464796066284,
0.9867488145828247,
-2.1174123287200928
] | 1 | [
-1.1320778131484985,
-0.3328738212585449,
0.8467574119567871,
0.06749515235424042,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1373248100280762,
-0.2881815731525421,
0.851412832736969,
0.005722790956497192,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.63809 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-81.11354064941406,
-18.246944427490234,
56.28117752075195,
6.534823894500732,
-0.3174603283405304,
30
] | [
-81.50849151611328,
-15.771906852722168,
56.3043327331543,
3.3622395992279053,
-0.3174603283405304,
30
] | [
0.1479576975107193,
0.23265878856182098,
0.0763275995850563,
3.055809259414673,
0.9638684988021851,
-2.1138155460357666
] | 1 | [
-1.1320778131484985,
-0.2991262376308441,
0.8620972037315369,
0.04141748324036598,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1376274824142456,
-0.25407886505126953,
0.8624888062477112,
-0.015182043425738811,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.684203 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-81.11354064941406,
-16.055625915527344,
56.73469543457031,
5.245055675506592,
-0.3174603283405304,
30
] | [
-81.51922607421875,
-14.838083267211914,
56.6307258605957,
2.7782418727874756,
-0.3174603283405304,
30
] | [
0.14756309986114502,
0.2318178117275238,
0.06818936765193939,
3.060138463973999,
0.9394536018371582,
-2.1102895736694336
] | 1 | [
-1.1320778131484985,
-0.2592427432537079,
0.8697671294212341,
0.01840776577591896,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1377782821655273,
-0.23708264529705048,
0.8680087924003601,
-0.025600677356123924,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.7318 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-81.11354064941406,
-14.87568473815918,
56.916099548339844,
4.3852105140686035,
-0.3174603283405304,
30
] | [
-81.53023529052734,
-13.880656242370605,
56.96537399291992,
2.17948317527771,
-0.3174603283405304,
30
] | [
0.1474858671426773,
0.23165325820446014,
0.06439270079135895,
3.06168794631958,
0.9302958846092224,
-2.1090428829193115
] | 1 | [
-1.1320778131484985,
-0.2377670258283615,
0.8728350400924683,
0.003067958867177367,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1379330158233643,
-0.2196568250656128,
0.873668372631073,
-0.036282651126384735,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.758776 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-81.11354064941406,
-13.864306449890137,
57.188209533691406,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-81.54151153564453,
-12.899321556091309,
57.30837631225586,
1.5657721757888794,
-0.3174603283405304,
30
] | [
0.14715392887592316,
0.23094582557678223,
0.060429900884628296,
3.0636956691741943,
0.9180837869644165,
-2.10744047164917
] | 1 | [
-1.1320778131484985,
-0.21935924887657166,
0.8774370551109314,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1380914449691772,
-0.20179586112499237,
0.8794692754745483,
-0.04723137617111206,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.781056 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-81.11354064941406,
-13.021492004394531,
57.732425689697266,
3.009458303451538,
-0.3174603283405304,
30
] | [
-81.5530776977539,
-11.893274307250977,
57.66001510620117,
0.9366068243980408,
-0.3174603283405304,
30
] | [
0.14664782583713531,
0.22986719012260437,
0.05650249123573303,
3.0654006004333496,
0.907396674156189,
-2.1060914993286133
] | 1 | [
-1.1320778131484985,
-0.2040194422006607,
0.8866409063339233,
-0.02147573046386242,
-0.010737866163253784,
0.6835418343544006
] | [
-1.138253927230835,
-0.18348512053489685,
0.8854162693023682,
-0.05845580995082855,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.8036 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-81.11354064941406,
-11.925832748413086,
57.91383361816406,
2.407566547393799,
-0.3174603283405304,
30
] | [
-81.56495666503906,
-10.85988998413086,
58.02121353149414,
0.29034534096717834,
-0.3174603283405304,
30
] | [
0.14632637798786163,
0.22918209433555603,
0.05257105827331543,
3.0672929286956787,
0.8951811194419861,
-2.104607582092285
] | 1 | [
-1.1320778131484985,
-0.18407770991325378,
0.8897088766098022,
-0.03221359848976135,
-0.010737866163253784,
0.6835418343544006
] | [
-1.138420820236206,
-0.16467681527137756,
0.8915249109268188,
-0.06998524069786072,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.826795 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-81.11354064941406,
-11.083017349243164,
58.54875183105469,
1.633705973625183,
-0.3174603283405304,
30
] | [
-81.57723236083984,
-9.79201889038086,
58.39446258544922,
-0.37748339772224426,
-0.3174603283405304,
30
] | [
0.14563459157943726,
0.22770774364471436,
0.048374563455581665,
3.0691282749176025,
0.8829639554023743,
-2.103182315826416
] | 1 | [
-1.1320778131484985,
-0.16873788833618164,
0.9004467129707336,
-0.04601942375302315,
-0.010737866163253784,
0.6835418343544006
] | [
-1.138593316078186,
-0.14524082839488983,
0.8978373408317566,
-0.08189943432807922,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.849479 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-81.11354064941406,
-9.734513282775879,
58.911563873291016,
1.2037832736968994,
-0.3174603283405304,
30
] | [
-81.59003448486328,
-8.678149223327637,
58.783790588378906,
-1.074079155921936,
-0.3174603283405304,
30
] | [
0.1447281390428543,
0.22577589750289917,
0.042509399354457855,
3.0724270343780518,
0.8600523471832275,
-2.1006577014923096
] | 1 | [
-1.1320778131484985,
-0.14419420063495636,
0.9065826535224915,
-0.05368932709097862,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1387732028961182,
-0.12496764957904816,
0.9044216871261597,
-0.09432683885097504,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.875426 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-81.11354064941406,
-8.638854026794434,
59.00226593017578,
0.42992261052131653,
-0.3174603283405304,
30
] | [
-81.60330963134766,
-7.523175239562988,
59.18748474121094,
-1.796380639076233,
-0.3174603283405304,
30
] | [
0.14455191791057587,
0.22540031373500824,
0.03929269313812256,
3.0734877586364746,
0.852414071559906,
-2.099856376647949
] | 1 | [
-1.1320778131484985,
-0.12425244599580765,
0.9081165790557861,
-0.06749515235424042,
-0.010737866163253784,
0.6835418343544006
] | [
-1.1389597654342651,
-0.10394633561372757,
0.911249041557312,
-0.1072128415107727,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.900044 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-81.11354064941406,
-7.54319429397583,
59.63718795776367,
-0.25795355439186096,
-0.3174603283405304,
30
] | [
-81.61708068847656,
-6.325381755828857,
59.60612869262695,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14351676404476166,
0.2231941819190979,
0.03406868502497673,
3.0759596824645996,
0.8340798020362854,
-2.098010301589966
] | 1 | [
-1.1320778131484985,
-0.10431069135665894,
0.9188544750213623,
-0.07976700365543365,
-0.010737866163253784,
0.6835418343544006
] | [
-1.139153242111206,
-0.08214567601680756,
0.9183292388916016,
-0.12057608366012573,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.925174 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-81.11354064941406,
-6.2789716720581055,
59.81859588623047,
-1.0318142175674438,
-0.3174603283405304,
30
] | [
-81.61708068847656,
-6.325381755828857,
59.60612869262695,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14303696155548096,
0.2221716046333313,
0.02992289699614048,
3.077552556991577,
0.8218553066253662,
-2.096837043762207
] | 1 | [
-1.1320778131484985,
-0.08130098134279251,
0.921922504901886,
-0.09357282519340515,
-0.010737866163253784,
0.6835418343544006
] | [
-1.139153242111206,
-0.08214567601680756,
0.9183292388916016,
-0.12057608366012573,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.952328 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
-81.11354064941406,
-5.857564449310303,
59.81859588623047,
-1.2037832736968994,
-0.3174603283405304,
30
] | [
-81.61708068847656,
-6.325381755828857,
59.60612869262695,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.1428883820772171,
0.22185494005680084,
0.02858859673142433,
3.078139305114746,
0.817270815372467,
-2.0964081287384033
] | 1 | [
-1.1320778131484985,
-0.07363107800483704,
0.921922504901886,
-0.09664078801870346,
-0.010737866163253784,
0.6835418343544006
] | [
-1.139153242111206,
-0.08214567601680756,
0.9183292388916016,
-0.12057608366012573,
-0.010737866163253784,
0.6835418343544006
] | Pick up the red block | move | 0.960199 | [
-81.61708068847656,
-4.2579803466796875,
59.985877990722656,
-2.5454328060150146,
-0.3174603283405304,
30
] | [
0.14102715253829956,
0.22195830941200256,
0.02423214353621006,
3.079146385192871,
0.8092934489250183,
-2.0886011123657227
] | 30 | pick red block and place on blue dish | [
0,
0,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
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-5.857564449310303,
59.81859588623047,
-1.289767861366272,
-0.3174603283405304,
29.999984741210938
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59.81859588623047,
-1.289767861366272,
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29.999984741210938
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0.1429564654827118,
0.22200006246566772,
0.028745027258992195,
3.077944278717041,
0.8187990188598633,
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] | 0 | [
-1.1320778131484985,
-0.07363107800483704,
0.921922504901886,
-0.09817477315664291,
-0.010737866163253784,
0.683541476726532
] | [
-1.1320778131484985,
-0.07363107800483704,
0.921922504901886,
-0.09817477315664291,
-0.010737866163253784,
0.683541476726532
] | grasp red block | gripper_close | 0 | [
-81.11354064941406,
-5.857564449310303,
59.81859588623047,
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0
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0.22200006246566772,
0.028745027258992195,
3.077944278717041,
0.8187990188598633,
-2.096550464630127
] | 0 | pick red block and place on blue dish | [
0,
0,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
-81.11354064941406,
-5.857564449310303,
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-1.289767861366272,
-0.3174603283405304,
27.998546600341797
] | [
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-5.857564449310303,
59.81859588623047,
-1.289767861366272,
-0.3174603283405304,
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] | [
0.1429564654827118,
0.22200006246566772,
0.028745027258992195,
3.077944278717041,
0.8187990188598633,
-2.096550464630127
] | 0 | [
-1.1320778131484985,
-0.07363107800483704,
0.921922504901886,
-0.09817477315664291,
-0.010737866163253784,
0.6371205449104309
] | [
-1.1320778131484985,
-0.07363107800483704,
0.921922504901886,
-0.09817477315664291,
-0.010737866163253784,
0.6371205449104309
] | grasp red block | gripper_close | 0.057154 | [
-81.11354064941406,
-5.857564449310303,
59.81859588623047,
-1.289767861366272,
-0.3174603283405304,
0
] | [
0.1429564654827118,
0.22200006246566772,
0.028745027258992195,
3.077944278717041,
0.8187990188598633,
-2.096550464630127
] | 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
SO101 CAP Stack RGB Blocks on Blue Dish
This dataset contains 100 LeRobot v3.0 demonstration episodes for an SO101 follower robot. The task is: Stack red, green, and blue blocks on the blue dish from bottom to top. The dataset was collected at 10 Hz and includes paired top-view and wrist-view RGB videos, robot state/action trajectories, and CAP skill annotations.
Dataset Details
| Field | Value |
|---|---|
| Repository | CoRL2026-CSI/SO101-cap_stack_RGBblock_on_bluedish_10fps |
| LeRobot codebase version | v3.0 |
| Robot type | so101_follower |
| FPS | 10 |
| Episodes | 100 |
| Frames | 87074 |
| Tasks | 1 |
| Split | 0:100 train |
| Objects | red, green, and blue blocks; blue dish |
| Parquet files | 9 |
| Video files | 20 |
Task And Annotations
Task: Stack red, green, and blue blocks on the blue dish from bottom to top.
Task indices: 0
Observed subtask annotations:
- pick red block and place on blue dish
- pick green block and place on red block
- pick blue block and place on green block
Representative skill types:
- move_initial
- move_and_open
- move
- gripper_close
- gripper_open
- move_and_close
- move_free
Representative skill-language annotations:
- move to initial state
- Approach red block and open gripper
- Pick up the red block
- grasp red block
- Lift the red block
- Move red block above blue dish
- Place red block on blue dish
- release object on blue dish
- Retreat from blue dish and close gripper
- Approach green block and open gripper
- Pick up the green block
- grasp green block
Observation And Action Space
| Feature | Shape | Names / Notes |
|---|---|---|
observation.state |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
action |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.images.top |
480x640x3 |
RGB video, 10 fps |
observation.images.left_wrist |
480x640x3 |
RGB video, 10 fps |
Raw camera keys are observation.images.top and observation.images.left_wrist. The local SmolVLA training scripts map them to observation.images.camera2 and observation.images.camera1, respectively.
Files
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-*/file-*.parquet
data/chunk-*/file-*.parquet
videos/{observation.images.top,observation.images.left_wrist}/chunk-*/file-*.mp4
The dataset uses the LeRobot v3.0 format. Episode metadata and frame-level trajectories are stored in parquet files; image observations are stored as H.264 MP4 videos referenced by the frame records.
Annotation Columns
| Column | Shape |
|---|---|
skill.natural_language |
1 |
skill.verification_question |
1 |
skill.type |
1 |
skill.progress |
1 |
skill.goal_position.joint |
6 |
skill.goal_position.robot_xyzrpy |
6 |
skill.goal_position.gripper |
1 |
subtask.natural_language |
1 |
subtask.object_name |
1 |
subtask.target_position |
3 |
Loading
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CoRL2026-CSI/SO101-cap_stack_RGBblock_on_bluedish_10fps")
sample = dataset[0]
Intended Uses
This dataset is intended for robot imitation learning, action-chunking policy training, skill-conditioned behavior analysis, and reproducible LeRobot/SmolVLA experiments on the specified tabletop task.
Limitations
The dataset is task-specific and collected in a fixed workspace. It does not include an official validation or test split, nor does it include benchmark success-rate results. Downstream users should verify camera calibration, action normalization, and task-language assumptions before transferring policies to a different robot, workspace, or object set.
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