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Datasets:
Jeongeun
/
demo_data_real_chain

Tasks:
Robotics
Modalities:
Image
Text
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
observation.image
image
state
string
prompt
string
reward
float32
next_state
string
action
string
done
int8
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
<node>gripper: [42, 327], cabinet: [543, 471, 862, 865], clock: [590, 503, 785, 666]inside the cabinet, sponge: [830, 231, 998, 420]
0
<node>gripper: [502, 597], cabinet: [490, 520, 860, 990], clock: [585, 590, 770, 780]inside the cabinet, sponge: [760, 160, 890, 310]
<edge>put clock on table
0
0
0
0
0
0
<node>gripper: [502, 597], cabinet: [490, 520, 860, 990], clock: [585, 590, 770, 780]inside the cabinet, sponge: [760, 160, 890, 310]
<node>gripper: [42, 327], cabinet: [543, 471, 862, 865], clock: [590, 503, 785, 666]inside the cabinet, sponge: [830, 231, 998, 420] <edge>put clock on table
0
<node>gripper: [602, 627], sponge: [532, 578, 678, 712], clock: [617, 502, 816, 667]inside the cabinet, cabinet: [537, 471, 861, 863]
<edge>put sponge in cabinet
0
0.05
1
0
1
0
<node>gripper: [602, 627], sponge: [532, 578, 678, 712], clock: [617, 502, 816, 667]inside the cabinet, cabinet: [537, 471, 861, 863]
<node>gripper: [42, 327], cabinet: [543, 471, 862, 865], clock: [590, 503, 785, 666]inside the cabinet, sponge: [830, 231, 998, 420] <edge>put clock on table <node>gripper: [502, 597], cabinet: [490, 520, 860, 990], clock: [585, 590, 770, 780]inside the cabinet, sponge: [760, 160, 890, 310] <edge>put sponge in cabinet
0
<node>gripper: [602, 587], cabinet: [564, 469, 860, 713], sponge: [569, 560, 692, 684], clock: [637, 503, 821, 666]inside the cabinet
<edge>close cabinet
0
0.1
2
0
2
0
<node>gripper: [602, 587], cabinet: [564, 469, 860, 713], sponge: [569, 560, 692, 684], clock: [637, 503, 821, 666]inside the cabinet
<node>gripper: [42, 327], cabinet: [543, 471, 862, 865], clock: [590, 503, 785, 666]inside the cabinet, sponge: [830, 231, 998, 420] <edge>put clock on table <node>gripper: [502, 597], cabinet: [490, 520, 860, 990], clock: [585, 590, 770, 780]inside the cabinet, sponge: [760, 160, 890, 310] <edge>put sponge in cabinet <node>gripper: [602, 627], sponge: [532, 578, 678, 712], clock: [617, 502, 816, 667]inside the cabinet, cabinet: [537, 471, 861, 863] <edge>close cabinet
1
<done>
1
0.15
3
0
3
0
<node>gripper: [74, 303], sponge: [714, 248, 935, 355], clock: [600, 512, 800, 676]inside the cabinet, cabinet: [541, 472, 858, 714]
0
<node>gripper: [458, 560], sponge: [713, 247, 935, 355], cabinet: [542, 468, 864, 867], clock: [417, 512, 528, 650]
<edge>put clock on table
0
0
0
1
4
0
<node>gripper: [458, 560], sponge: [713, 247, 935, 355], cabinet: [542, 468, 864, 867], clock: [417, 512, 528, 650]
<node>gripper: [74, 303], sponge: [714, 248, 935, 355], clock: [600, 512, 800, 676]inside the cabinet, cabinet: [541, 472, 858, 714] <edge>put clock on table
0
<node>gripper: [642, 592], cabinet: [542, 468, 864, 867], sponge: [593, 513, 747, 652], clock: [417, 512, 528, 650]
<edge>put sponge in cabinet
0
0.05
1
1
5
0
<node>gripper: [642, 592], cabinet: [542, 468, 864, 867], sponge: [593, 513, 747, 652], clock: [417, 512, 528, 650]
<node>gripper: [74, 303], sponge: [714, 248, 935, 355], clock: [600, 512, 800, 676]inside the cabinet, cabinet: [541, 472, 858, 714] <edge>put clock on table <node>gripper: [458, 560], sponge: [713, 247, 935, 355], cabinet: [542, 468, 864, 867], clock: [417, 512, 528, 650] <edge>put sponge in cabinet
0
<node>gripper: [588, 554], cabinet: [542, 468, 864, 867], sponge: [603, 501, 781, 627]inside the cabinet, clock: [417, 512, 528, 650]
<edge>close cabinet
0
0.1
2
1
6
0
<node>gripper: [588, 554], cabinet: [542, 468, 864, 867], sponge: [603, 501, 781, 627]inside the cabinet, clock: [417, 512, 528, 650]
<node>gripper: [74, 303], sponge: [714, 248, 935, 355], clock: [600, 512, 800, 676]inside the cabinet, cabinet: [541, 472, 858, 714] <edge>put clock on table <node>gripper: [458, 560], sponge: [713, 247, 935, 355], cabinet: [542, 468, 864, 867], clock: [417, 512, 528, 650] <edge>put sponge in cabinet <node>gripper: [642, 592], cabinet: [542, 468, 864, 867], sponge: [593, 513, 747, 652], clock: [417, 512, 528, 650] <edge>close cabinet
0
<done>
1
0.15
3
1
7
0
<node>gripper: [55, 311], sponge: [722, 278, 943, 379], clock: [598, 515, 790, 672]inside the cabinet, cabinet: [545, 471, 864, 866]
0
<node>gripper: [442, 579], sponge: [722, 277, 943, 379], cabinet: [542, 468, 864, 867], clock: [430, 505, 500, 580]
<edge>put clock on table
0
0
0
2
8
0
<node>gripper: [442, 579], sponge: [722, 277, 943, 379], cabinet: [542, 468, 864, 867], clock: [430, 505, 500, 580]
<node>gripper: [55, 311], sponge: [722, 278, 943, 379], clock: [598, 515, 790, 672]inside the cabinet, cabinet: [545, 471, 864, 866] <edge>put clock on table
0
<node>gripper: [642, 603], sponge: [596, 534, 737, 674]above the cabinet, cabinet: [542, 469, 864, 866], clock: [430, 505, 500, 580]
<edge>put sponge in cabinet
0
0.05
1
2
9
0
<node>gripper: [642, 603], sponge: [596, 534, 737, 674]above the cabinet, cabinet: [542, 469, 864, 866], clock: [430, 505, 500, 580]
<node>gripper: [55, 311], sponge: [722, 278, 943, 379], clock: [598, 515, 790, 672]inside the cabinet, cabinet: [545, 471, 864, 866] <edge>put clock on table <node>gripper: [442, 579], sponge: [722, 277, 943, 379], cabinet: [542, 468, 864, 867], clock: [430, 505, 500, 580] <edge>put sponge in cabinet
0
<node>gripper: [534, 562], cabinet: [557, 462, 855, 707], sponge: [616, 518, 769, 657]inside the cabinet, clock: [430, 505, 500, 580]
<edge>close cabinet
0
0.1
2
2
10
0
<node>gripper: [534, 562], cabinet: [557, 462, 855, 707], sponge: [616, 518, 769, 657]inside the cabinet, clock: [430, 505, 500, 580]
<node>gripper: [55, 311], sponge: [722, 278, 943, 379], clock: [598, 515, 790, 672]inside the cabinet, cabinet: [545, 471, 864, 866] <edge>put clock on table <node>gripper: [442, 579], sponge: [722, 277, 943, 379], cabinet: [542, 468, 864, 867], clock: [430, 505, 500, 580] <edge>put sponge in cabinet <node>gripper: [642, 603], sponge: [596, 534, 737, 674]above the cabinet, cabinet: [542, 469, 864, 866], clock: [430, 505, 500, 580] <edge>close cabinet
1
<done>
1
0.15
3
2
11
0
<node>gripper: [69, 292], sponge: [719, 222, 944, 329], cabinet: [534, 474, 846, 863], clock: [592, 515, 775, 666]inside the cabinet
0
<node>gripper: [526, 700], sponge: [718, 221, 943, 330], cabinet: [534, 474, 847, 862], clock: [618, 508, 818, 673]inside the cabinet
<edge>put clock on table
0
0
0
3
12
0
<node>gripper: [526, 700], sponge: [718, 221, 943, 330], cabinet: [534, 474, 847, 862], clock: [618, 508, 818, 673]inside the cabinet
<node>gripper: [69, 292], sponge: [719, 222, 944, 329], cabinet: [534, 474, 846, 863], clock: [592, 515, 775, 666]inside the cabinet <edge>put clock on table
0
<node>gripper: [607, 641], sponge: [535, 561, 671, 700], cabinet: [534, 475, 847, 862], clock: [618, 507, 818, 672]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
3
13
0
<node>gripper: [607, 641], sponge: [535, 561, 671, 700], cabinet: [534, 475, 847, 862], clock: [618, 507, 818, 672]inside the cabinet
<node>gripper: [69, 292], sponge: [719, 222, 944, 329], cabinet: [534, 474, 846, 863], clock: [592, 515, 775, 666]inside the cabinet <edge>put clock on table <node>gripper: [526, 700], sponge: [718, 221, 943, 330], cabinet: [534, 474, 847, 862], clock: [618, 508, 818, 673]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [540, 584], cabinet: [534, 472, 847, 712], sponge: [556, 565, 679, 683]on the cabinet, clock: [630, 510, 810, 670]inside the cabinet
<edge>close cabinet
0
0.1
2
3
14
0
<node>gripper: [540, 584], cabinet: [534, 472, 847, 712], sponge: [556, 565, 679, 683]on the cabinet, clock: [630, 510, 810, 670]inside the cabinet
<node>gripper: [69, 292], sponge: [719, 222, 944, 329], cabinet: [534, 474, 846, 863], clock: [592, 515, 775, 666]inside the cabinet <edge>put clock on table <node>gripper: [526, 700], sponge: [718, 221, 943, 330], cabinet: [534, 474, 847, 862], clock: [618, 508, 818, 673]inside the cabinet <edge>put sponge in cabinet <node>gripper: [607, 641], sponge: [535, 561, 671, 700], cabinet: [534, 475, 847, 862], clock: [618, 507, 818, 672]inside the cabinet <edge>close cabinet
1
<done>
1
0.15
3
3
15
0
<node>gripper: [45, 340], cabinet: [533, 474, 846, 863], clock: [590, 516, 780, 672]inside the cabinet, sponge: [699, 273, 916, 374]
0
<node>gripper: [404, 608], cabinet: [531, 471, 847, 864], sponge: [697, 273, 916, 374], clock: [367, 554, 478, 691]
<edge>put clock on table
0
0
0
4
16
0
<node>gripper: [404, 608], cabinet: [531, 471, 847, 864], sponge: [697, 273, 916, 374], clock: [367, 554, 478, 691]
<node>gripper: [45, 340], cabinet: [533, 474, 846, 863], clock: [590, 516, 780, 672]inside the cabinet, sponge: [699, 273, 916, 374] <edge>put clock on table
0
<node>gripper: [623, 579], cabinet: [530, 480, 890, 860], sponge: [585, 535, 730, 670], clock: [367, 554, 478, 691]
<edge>put sponge in cabinet
0
0.05
1
4
17
0
<node>gripper: [623, 579], cabinet: [530, 480, 890, 860], sponge: [585, 535, 730, 670], clock: [367, 554, 478, 691]
<node>gripper: [45, 340], cabinet: [533, 474, 846, 863], clock: [590, 516, 780, 672]inside the cabinet, sponge: [699, 273, 916, 374] <edge>put clock on table <node>gripper: [404, 608], cabinet: [531, 471, 847, 864], sponge: [697, 273, 916, 374], clock: [367, 554, 478, 691] <edge>put sponge in cabinet
0
<node>gripper: [532, 554], cabinet: [530, 480, 845, 710], sponge: [585, 535, 740, 670]inside the cabinet, clock: [367, 554, 478, 691]
<edge>close cabinet
0
0.1
2
4
18
0
<node>gripper: [532, 554], cabinet: [530, 480, 845, 710], sponge: [585, 535, 740, 670]inside the cabinet, clock: [367, 554, 478, 691]
<node>gripper: [45, 340], cabinet: [533, 474, 846, 863], clock: [590, 516, 780, 672]inside the cabinet, sponge: [699, 273, 916, 374] <edge>put clock on table <node>gripper: [404, 608], cabinet: [531, 471, 847, 864], sponge: [697, 273, 916, 374], clock: [367, 554, 478, 691] <edge>put sponge in cabinet <node>gripper: [623, 579], cabinet: [530, 480, 890, 860], sponge: [585, 535, 730, 670], clock: [367, 554, 478, 691] <edge>close cabinet
1
<done>
1
0.15
3
4
19
0
<node>gripper: [50, 316], sponge: [700, 279, 912, 409], clock: [573, 515, 757, 667]inside the cabinet, cabinet: [518, 480, 884, 869]
0
<node>gripper: [429, 587], sponge: [699, 278, 912, 410], cabinet: [516, 477, 824, 867], clock: [360, 590, 470, 680]
<edge>put clock on table
0
0
0
5
20
0
<node>gripper: [429, 587], sponge: [699, 278, 912, 410], cabinet: [516, 477, 824, 867], clock: [360, 590, 470, 680]
<node>gripper: [50, 316], sponge: [700, 279, 912, 409], clock: [573, 515, 757, 667]inside the cabinet, cabinet: [518, 480, 884, 869] <edge>put clock on table
0
<node>gripper: [599, 592], sponge: [554, 532, 694, 672], cabinet: [520, 480, 824, 868], clock: [360, 590, 470, 680]
<edge>put sponge in cabinet
0
0.05
1
5
21
0
<node>gripper: [599, 592], sponge: [554, 532, 694, 672], cabinet: [520, 480, 824, 868], clock: [360, 590, 470, 680]
<node>gripper: [50, 316], sponge: [700, 279, 912, 409], clock: [573, 515, 757, 667]inside the cabinet, cabinet: [518, 480, 884, 869] <edge>put clock on table <node>gripper: [429, 587], sponge: [699, 278, 912, 410], cabinet: [516, 477, 824, 867], clock: [360, 590, 470, 680] <edge>put sponge in cabinet
0
<node>gripper: [556, 543], cabinet: [527, 474, 820, 709], sponge: [604, 523, 712, 659]inside the cabinet, clock: [360, 590, 470, 680]
<edge>close cabinet
0
0.1
2
5
22
0
<node>gripper: [556, 543], cabinet: [527, 474, 820, 709], sponge: [604, 523, 712, 659]inside the cabinet, clock: [360, 590, 470, 680]
<node>gripper: [50, 316], sponge: [700, 279, 912, 409], clock: [573, 515, 757, 667]inside the cabinet, cabinet: [518, 480, 884, 869] <edge>put clock on table <node>gripper: [429, 587], sponge: [699, 278, 912, 410], cabinet: [516, 477, 824, 867], clock: [360, 590, 470, 680] <edge>put sponge in cabinet <node>gripper: [599, 592], sponge: [554, 532, 694, 672], cabinet: [520, 480, 824, 868], clock: [360, 590, 470, 680] <edge>close cabinet
1
<done>
1
0.15
3
5
23
0
<node>gripper: [61, 286], sponge: [725, 321, 936, 455], cabinet: [513, 477, 816, 863], clock: [566, 514, 754, 669]inside the cabinet
0
<node>gripper: [602, 568], sponge: [724, 320, 936, 455], cabinet: [513, 477, 816, 863], clock: [574, 524, 725, 672]
<edge>put clock on table
0
0
0
6
24
0
<node>gripper: [602, 568], sponge: [724, 320, 936, 455], cabinet: [513, 477, 816, 863], clock: [574, 524, 725, 672]
<node>gripper: [61, 286], sponge: [725, 321, 936, 455], cabinet: [513, 477, 816, 863], clock: [566, 514, 754, 669]inside the cabinet <edge>put clock on table
0
<node>gripper: [667, 584], cabinet: [515, 475, 815, 870], sponge: [620, 580, 750, 660], clock: [645, 680, 700, 725]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
6
25
0
<node>gripper: [667, 584], cabinet: [515, 475, 815, 870], sponge: [620, 580, 750, 660], clock: [645, 680, 700, 725]inside the cabinet
<node>gripper: [61, 286], sponge: [725, 321, 936, 455], cabinet: [513, 477, 816, 863], clock: [566, 514, 754, 669]inside the cabinet <edge>put clock on table <node>gripper: [602, 568], sponge: [724, 320, 936, 455], cabinet: [513, 477, 816, 863], clock: [574, 524, 725, 672] <edge>put sponge in cabinet
0
<node>gripper: [532, 611], cabinet: [529, 473, 809, 705], sponge: [607, 492, 750, 626]inside the cabinet, clock: [570, 570, 670, 660]
<edge>close cabinet
0
0.1
2
6
26
0
<node>gripper: [532, 611], cabinet: [529, 473, 809, 705], sponge: [607, 492, 750, 626]inside the cabinet, clock: [570, 570, 670, 660]
<node>gripper: [61, 286], sponge: [725, 321, 936, 455], cabinet: [513, 477, 816, 863], clock: [566, 514, 754, 669]inside the cabinet <edge>put clock on table <node>gripper: [602, 568], sponge: [724, 320, 936, 455], cabinet: [513, 477, 816, 863], clock: [574, 524, 725, 672] <edge>put sponge in cabinet <node>gripper: [667, 584], cabinet: [515, 475, 815, 870], sponge: [620, 580, 750, 660], clock: [645, 680, 700, 725]inside the cabinet <edge>close cabinet
0
<done>
1
0.15
3
6
27
0
<node>gripper: [74, 308], sponge: [731, 272, 950, 406], clock: [584, 531, 779, 690]inside the cabinet, cabinet: [529, 486, 842, 869]
0
<node>gripper: [440, 652], sponge: [731, 272, 950, 406], cabinet: [529, 486, 842, 869], clock: [380, 558, 517, 694]
<edge>put clock on table
0
0
0
7
28
0
<node>gripper: [440, 652], sponge: [731, 272, 950, 406], cabinet: [529, 486, 842, 869], clock: [380, 558, 517, 694]
<node>gripper: [74, 308], sponge: [731, 272, 950, 406], clock: [584, 531, 779, 690]inside the cabinet, cabinet: [529, 486, 842, 869] <edge>put clock on table
0
<node>gripper: [667, 616], cabinet: [519, 486, 841, 870], sponge: [588, 528, 731, 668]inside the cabinet, clock: [380, 558, 517, 694]
<edge>put sponge in cabinet
0
0.05
1
7
29
0
<node>gripper: [667, 616], cabinet: [519, 486, 841, 870], sponge: [588, 528, 731, 668]inside the cabinet, clock: [380, 558, 517, 694]
<node>gripper: [74, 308], sponge: [731, 272, 950, 406], clock: [584, 531, 779, 690]inside the cabinet, cabinet: [529, 486, 842, 869] <edge>put clock on table <node>gripper: [440, 652], sponge: [731, 272, 950, 406], cabinet: [529, 486, 842, 869], clock: [380, 558, 517, 694] <edge>put sponge in cabinet
0
<node>gripper: [575, 560], cabinet: [507, 486, 838, 725], sponge: [592, 523, 742, 664]inside the cabinet, clock: [380, 558, 517, 694]
<edge>close cabinet
0
0.1
2
7
30
0
<node>gripper: [575, 560], cabinet: [507, 486, 838, 725], sponge: [592, 523, 742, 664]inside the cabinet, clock: [380, 558, 517, 694]
<node>gripper: [74, 308], sponge: [731, 272, 950, 406], clock: [584, 531, 779, 690]inside the cabinet, cabinet: [529, 486, 842, 869] <edge>put clock on table <node>gripper: [440, 652], sponge: [731, 272, 950, 406], cabinet: [529, 486, 842, 869], clock: [380, 558, 517, 694] <edge>put sponge in cabinet <node>gripper: [667, 616], cabinet: [519, 486, 841, 870], sponge: [588, 528, 731, 668]inside the cabinet, clock: [380, 558, 517, 694] <edge>close cabinet
0
<done>
1
0.15
3
7
31
0
<node>gripper: [50, 340], sponge: [699, 278, 901, 422], clock: [583, 529, 770, 683]inside the cabinet, cabinet: [520, 480, 890, 880]
0
<node>gripper: [423, 597], sponge: [699, 278, 901, 422], cabinet: [520, 480, 890, 880], clock: [360, 600, 450, 680]
<edge>put clock on table
0
0
0
8
32
0
<node>gripper: [423, 597], sponge: [699, 278, 901, 422], cabinet: [520, 480, 890, 880], clock: [360, 600, 450, 680]
<node>gripper: [50, 340], sponge: [699, 278, 901, 422], clock: [583, 529, 770, 683]inside the cabinet, cabinet: [520, 480, 890, 880] <edge>put clock on table
0
<node>gripper: [637, 611], sponge: [581, 542, 719, 683], cabinet: [529, 486, 838, 723]under the sponge, clock: [360, 600, 450, 680]
<edge>put sponge in cabinet
0
0.05
1
8
33
0
<node>gripper: [637, 611], sponge: [581, 542, 719, 683], cabinet: [529, 486, 838, 723]under the sponge, clock: [360, 600, 450, 680]
<node>gripper: [50, 340], sponge: [699, 278, 901, 422], clock: [583, 529, 770, 683]inside the cabinet, cabinet: [520, 480, 890, 880] <edge>put clock on table <node>gripper: [423, 597], sponge: [699, 278, 901, 422], cabinet: [520, 480, 890, 880], clock: [360, 600, 450, 680] <edge>put sponge in cabinet
0
<node>gripper: [550, 562], sponge: [619, 540, 742, 680]inside the cabinet, cabinet: [531, 485, 838, 722], clock: [360, 600, 450, 680]
<edge>close cabinet
0
0.1
2
8
34
0
<node>gripper: [550, 562], sponge: [619, 540, 742, 680]inside the cabinet, cabinet: [531, 485, 838, 722], clock: [360, 600, 450, 680]
<node>gripper: [50, 340], sponge: [699, 278, 901, 422], clock: [583, 529, 770, 683]inside the cabinet, cabinet: [520, 480, 890, 880] <edge>put clock on table <node>gripper: [423, 597], sponge: [699, 278, 901, 422], cabinet: [520, 480, 890, 880], clock: [360, 600, 450, 680] <edge>put sponge in cabinet <node>gripper: [637, 611], sponge: [581, 542, 719, 683], cabinet: [529, 486, 838, 723]under the sponge, clock: [360, 600, 450, 680] <edge>close cabinet
1
<done>
1
0.15
3
8
35
0
<node>gripper: [74, 297], sponge: [690, 305, 900, 425], cabinet: [531, 490, 840, 723], clock: [575, 527, 772, 690]inside the cabinet
0
<node>gripper: [642, 641], sponge: [689, 304, 900, 425], cabinet: [520, 495, 827, 733], clock: [570, 550, 720, 690]inside the cabinet
<edge>push clock
0
0
0
9
36
0
<node>gripper: [642, 641], sponge: [689, 304, 900, 425], cabinet: [520, 495, 827, 733], clock: [570, 550, 720, 690]inside the cabinet
<node>gripper: [74, 297], sponge: [690, 305, 900, 425], cabinet: [531, 490, 840, 723], clock: [575, 527, 772, 690]inside the cabinet <edge>push clock
0
<node>gripper: [667, 584], sponge: [615, 530, 765, 668], cabinet: [469, 491, 832, 785], clock: [570, 550, 720, 690]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
9
37
0
<node>gripper: [667, 584], sponge: [615, 530, 765, 668], cabinet: [469, 491, 832, 785], clock: [570, 550, 720, 690]inside the cabinet
<node>gripper: [74, 297], sponge: [690, 305, 900, 425], cabinet: [531, 490, 840, 723], clock: [575, 527, 772, 690]inside the cabinet <edge>push clock <node>gripper: [642, 641], sponge: [689, 304, 900, 425], cabinet: [520, 495, 827, 733], clock: [570, 550, 720, 690]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [564, 611], cabinet: [534, 494, 828, 731], sponge: [629, 525, 771, 658]inside the cabinet, clock: [570, 550, 720, 690]inside the cabinet
<edge>close cabinet
0
0.1
2
9
38
0
<node>gripper: [564, 611], cabinet: [534, 494, 828, 731], sponge: [629, 525, 771, 658]inside the cabinet, clock: [570, 550, 720, 690]inside the cabinet
<node>gripper: [74, 297], sponge: [690, 305, 900, 425], cabinet: [531, 490, 840, 723], clock: [575, 527, 772, 690]inside the cabinet <edge>push clock <node>gripper: [642, 641], sponge: [689, 304, 900, 425], cabinet: [520, 495, 827, 733], clock: [570, 550, 720, 690]inside the cabinet <edge>put sponge in cabinet <node>gripper: [667, 584], sponge: [615, 530, 765, 668], cabinet: [469, 491, 832, 785], clock: [570, 550, 720, 690]inside the cabinet <edge>close cabinet
1
<done>
1
0.15
3
9
39
0
<node>gripper: [61, 308], sponge: [689, 307, 896, 437], cabinet: [522, 495, 828, 877], clock: [579, 531, 762, 684]inside the cabinet
0
<node>gripper: [623, 652], sponge: [688, 307, 897, 437], cabinet: [512, 501, 815, 730], clock: [546, 543, 717, 683]inside the cabinet
<edge>push clock
0
0
0
10
40
0
<node>gripper: [623, 652], sponge: [688, 307, 897, 437], cabinet: [512, 501, 815, 730], clock: [546, 543, 717, 683]inside the cabinet
<node>gripper: [61, 308], sponge: [689, 307, 896, 437], cabinet: [522, 495, 828, 877], clock: [579, 531, 762, 684]inside the cabinet <edge>push clock
0
<node>gripper: [680, 635], cabinet: [516, 502, 817, 733], sponge: [610, 542, 758, 678]inside the cabinet, clock: [380, 480, 600, 600]
<edge>put sponge in cabinet
0
0.05
1
10
41
0
<node>gripper: [680, 635], cabinet: [516, 502, 817, 733], sponge: [610, 542, 758, 678]inside the cabinet, clock: [380, 480, 600, 600]
<node>gripper: [61, 308], sponge: [689, 307, 896, 437], cabinet: [522, 495, 828, 877], clock: [579, 531, 762, 684]inside the cabinet <edge>push clock <node>gripper: [623, 652], sponge: [688, 307, 897, 437], cabinet: [512, 501, 815, 730], clock: [546, 543, 717, 683]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [577, 592], cabinet: [515, 490, 810, 730], sponge: [618, 535, 755, 670]inside the cabinet, clock: [380, 480, 600, 600]inside the cabinet
<edge>close cabinet
0
0.1
2
10
42
0
<node>gripper: [577, 592], cabinet: [515, 490, 810, 730], sponge: [618, 535, 755, 670]inside the cabinet, clock: [380, 480, 600, 600]inside the cabinet
<node>gripper: [61, 308], sponge: [689, 307, 896, 437], cabinet: [522, 495, 828, 877], clock: [579, 531, 762, 684]inside the cabinet <edge>push clock <node>gripper: [623, 652], sponge: [688, 307, 897, 437], cabinet: [512, 501, 815, 730], clock: [546, 543, 717, 683]inside the cabinet <edge>put sponge in cabinet <node>gripper: [680, 635], cabinet: [516, 502, 817, 733], sponge: [610, 542, 758, 678]inside the cabinet, clock: [380, 480, 600, 600] <edge>close cabinet
1
<done>
1
0.15
3
10
43
0
<node>gripper: [50, 311], clock: [562, 537, 747, 693]inside the cabinet, cabinet: [509, 498, 811, 728], sponge: [735, 299, 947, 441]
0
<node>gripper: [618, 635], sponge: [734, 299, 948, 442], clock: [300, 480, 650, 700]above the cabinet, cabinet: [490, 500, 800, 880]
<edge>push clock
0
0
0
11
44
0
<node>gripper: [618, 635], sponge: [734, 299, 948, 442], clock: [300, 480, 650, 700]above the cabinet, cabinet: [490, 500, 800, 880]
<node>gripper: [50, 311], clock: [562, 537, 747, 693]inside the cabinet, cabinet: [509, 498, 811, 728], sponge: [735, 299, 947, 441] <edge>push clock
0
<node>gripper: [672, 611], cabinet: [490, 500, 800, 880], sponge: [583, 535, 731, 673]inside the cabinet, clock: [300, 480, 650, 700]above the cabinet
<edge>put sponge in cabinet
0
0.05
1
11
45
0
<node>gripper: [672, 611], cabinet: [490, 500, 800, 880], sponge: [583, 535, 731, 673]inside the cabinet, clock: [300, 480, 650, 700]above the cabinet
<node>gripper: [50, 311], clock: [562, 537, 747, 693]inside the cabinet, cabinet: [509, 498, 811, 728], sponge: [735, 299, 947, 441] <edge>push clock <node>gripper: [618, 635], sponge: [734, 299, 948, 442], clock: [300, 480, 650, 700]above the cabinet, cabinet: [490, 500, 800, 880] <edge>put sponge in cabinet
0
<node>gripper: [532, 616], cabinet: [515, 499, 795, 732], sponge: [598, 535, 734, 664]inside the cabinet, clock: [300, 480, 650, 700]
<edge>close cabinet
0
0.1
2
11
46
0
<node>gripper: [532, 616], cabinet: [515, 499, 795, 732], sponge: [598, 535, 734, 664]inside the cabinet, clock: [300, 480, 650, 700]
<node>gripper: [50, 311], clock: [562, 537, 747, 693]inside the cabinet, cabinet: [509, 498, 811, 728], sponge: [735, 299, 947, 441] <edge>push clock <node>gripper: [618, 635], sponge: [734, 299, 948, 442], clock: [300, 480, 650, 700]above the cabinet, cabinet: [490, 500, 800, 880] <edge>put sponge in cabinet <node>gripper: [672, 611], cabinet: [490, 500, 800, 880], sponge: [583, 535, 731, 673]inside the cabinet, clock: [300, 480, 650, 700]above the cabinet <edge>close cabinet
1
<done>
1
0.15
3
11
47
0
<node>gripper: [66, 292], sponge: [692, 311, 900, 439], clock: [554, 533, 738, 688]inside the cabinet, cabinet: [501, 502, 798, 731]
0
<node>gripper: [423, 773], sponge: [692, 311, 900, 439], cabinet: [491, 508, 779, 737], clock: [502, 552, 676, 680]inside the cabinet
<edge>push clock
0
0
0
12
48
0
<node>gripper: [423, 773], sponge: [692, 311, 900, 439], cabinet: [491, 508, 779, 737], clock: [502, 552, 676, 680]inside the cabinet
<node>gripper: [66, 292], sponge: [692, 311, 900, 439], clock: [554, 533, 738, 688]inside the cabinet, cabinet: [501, 502, 798, 731] <edge>push clock
0
<node>gripper: [637, 616], sponge: [576, 549, 725, 687], cabinet: [481, 509, 783, 882], clock: [532, 550, 724, 696]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
12
49
0
<node>gripper: [637, 616], sponge: [576, 549, 725, 687], cabinet: [481, 509, 783, 882], clock: [532, 550, 724, 696]inside the cabinet
<node>gripper: [66, 292], sponge: [692, 311, 900, 439], clock: [554, 533, 738, 688]inside the cabinet, cabinet: [501, 502, 798, 731] <edge>push clock <node>gripper: [423, 773], sponge: [692, 311, 900, 439], cabinet: [491, 508, 779, 737], clock: [502, 552, 676, 680]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [507, 616], cabinet: [447, 509, 780, 740], sponge: [574, 542, 725, 672]inside the cabinet, clock: [532, 550, 724, 696]inside the cabinet
<edge>close cabinet
0
0.1
2
12
50
0
<node>gripper: [507, 616], cabinet: [447, 509, 780, 740], sponge: [574, 542, 725, 672]inside the cabinet, clock: [532, 550, 724, 696]inside the cabinet
<node>gripper: [66, 292], sponge: [692, 311, 900, 439], clock: [554, 533, 738, 688]inside the cabinet, cabinet: [501, 502, 798, 731] <edge>push clock <node>gripper: [423, 773], sponge: [692, 311, 900, 439], cabinet: [491, 508, 779, 737], clock: [502, 552, 676, 680]inside the cabinet <edge>put sponge in cabinet <node>gripper: [637, 616], sponge: [576, 549, 725, 687], cabinet: [481, 509, 783, 882], clock: [532, 550, 724, 696]inside the cabinet <edge>close cabinet
0
<done>
1
0.15
3
12
51
0
<node>gripper: [66, 316], sponge: [696, 312, 906, 433], cabinet: [485, 506, 881, 996], clock: [576, 548, 757, 697]inside the cabinet
0
<node>gripper: [642, 635], sponge: [695, 311, 905, 433], cabinet: [486, 503, 884, 996], clock: [528, 547, 718, 705]
<edge>push clock
0
0
0
13
52
0
<node>gripper: [642, 635], sponge: [695, 311, 905, 433], cabinet: [486, 503, 884, 996], clock: [528, 547, 718, 705]
<node>gripper: [66, 316], sponge: [696, 312, 906, 433], cabinet: [485, 506, 881, 996], clock: [576, 548, 757, 697]inside the cabinet <edge>push clock
0
<node>gripper: [680, 616], sponge: [611, 548, 760, 682], cabinet: [548, 506, 822, 746], clock: [528, 547, 718, 705]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
13
53
0
<node>gripper: [680, 616], sponge: [611, 548, 760, 682], cabinet: [548, 506, 822, 746], clock: [528, 547, 718, 705]inside the cabinet
<node>gripper: [66, 316], sponge: [696, 312, 906, 433], cabinet: [485, 506, 881, 996], clock: [576, 548, 757, 697]inside the cabinet <edge>push clock <node>gripper: [642, 635], sponge: [695, 311, 905, 433], cabinet: [486, 503, 884, 996], clock: [528, 547, 718, 705] <edge>put sponge in cabinet
0
<node>gripper: [550, 587], cabinet: [548, 506, 822, 746], sponge: [611, 548, 760, 682]inside the cabinet, clock: [528, 547, 718, 705]inside the cabinet
<edge>close cabinet
0
0.1
2
13
54
0
<node>gripper: [550, 587], cabinet: [548, 506, 822, 746], sponge: [611, 548, 760, 682]inside the cabinet, clock: [528, 547, 718, 705]inside the cabinet
<node>gripper: [66, 316], sponge: [696, 312, 906, 433], cabinet: [485, 506, 881, 996], clock: [576, 548, 757, 697]inside the cabinet <edge>push clock <node>gripper: [642, 635], sponge: [695, 311, 905, 433], cabinet: [486, 503, 884, 996], clock: [528, 547, 718, 705] <edge>put sponge in cabinet <node>gripper: [680, 616], sponge: [611, 548, 760, 682], cabinet: [548, 506, 822, 746], clock: [528, 547, 718, 705]inside the cabinet <edge>close cabinet
1
<done>
1
0.15
3
13
55
0
<node>gripper: [66, 322], sponge: [676, 287, 885, 407], cabinet: [517, 506, 826, 746], clock: [565, 545, 752, 700]inside the cabinet
0
<node>gripper: [675, 627], sponge: [674, 286, 884, 409], cabinet: [526, 505, 879, 891], clock: [563, 551, 727, 711]inside the cabinet
<edge>push clock
0
0
0
14
56
0
<node>gripper: [675, 627], sponge: [674, 286, 884, 409], cabinet: [526, 505, 879, 891], clock: [563, 551, 727, 711]inside the cabinet
<node>gripper: [66, 322], sponge: [676, 287, 885, 407], cabinet: [517, 506, 826, 746], clock: [565, 545, 752, 700]inside the cabinet <edge>push clock
0
<node>gripper: [675, 608], sponge: [608, 547, 758, 681], cabinet: [548, 504, 826, 746], clock: [563, 551, 727, 711]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
14
57
0
<node>gripper: [675, 608], sponge: [608, 547, 758, 681], cabinet: [548, 504, 826, 746], clock: [563, 551, 727, 711]inside the cabinet
<node>gripper: [66, 322], sponge: [676, 287, 885, 407], cabinet: [517, 506, 826, 746], clock: [565, 545, 752, 700]inside the cabinet <edge>push clock <node>gripper: [675, 627], sponge: [674, 286, 884, 409], cabinet: [526, 505, 879, 891], clock: [563, 551, 727, 711]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [577, 587], cabinet: [527, 495, 832, 739], sponge: [618, 529, 765, 659], clock: [578, 529, 766, 701]inside the cabinet
<edge>close cabinet
0
0.1
2
14
58
0
<node>gripper: [577, 587], cabinet: [527, 495, 832, 739], sponge: [618, 529, 765, 659], clock: [578, 529, 766, 701]inside the cabinet
<node>gripper: [66, 322], sponge: [676, 287, 885, 407], cabinet: [517, 506, 826, 746], clock: [565, 545, 752, 700]inside the cabinet <edge>push clock <node>gripper: [675, 627], sponge: [674, 286, 884, 409], cabinet: [526, 505, 879, 891], clock: [563, 551, 727, 711]inside the cabinet <edge>put sponge in cabinet <node>gripper: [675, 608], sponge: [608, 547, 758, 681], cabinet: [548, 504, 826, 746], clock: [563, 551, 727, 711]inside the cabinet <edge>close cabinet
1
<done>
1
0.15
3
14
59
0
<node>gripper: [66, 308], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698]inside the cabinet, sponge: [706, 275, 918, 408]
0
<node>gripper: [661, 646], sponge: [705, 275, 918, 409], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698]
<edge>push clock
0
0
0
15
60
0
<node>gripper: [661, 646], sponge: [705, 275, 918, 409], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698]
<node>gripper: [66, 308], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698]inside the cabinet, sponge: [706, 275, 918, 408] <edge>push clock
0
<node>gripper: [680, 616], sponge: [610, 530, 770, 680], cabinet: [520, 490, 835, 745], clock: [579, 541, 739, 711]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
15
61
0
<node>gripper: [680, 616], sponge: [610, 530, 770, 680], cabinet: [520, 490, 835, 745], clock: [579, 541, 739, 711]inside the cabinet
<node>gripper: [66, 308], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698]inside the cabinet, sponge: [706, 275, 918, 408] <edge>push clock <node>gripper: [661, 646], sponge: [705, 275, 918, 409], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698] <edge>put sponge in cabinet
0
<node>gripper: [577, 592], cabinet: [520, 485, 840, 745], sponge: [610, 525, 770, 675]inside the cabinet, clock: [575, 600, 740, 710]inside the cabinet
<edge>close cabinet
0
0.1
2
15
62
0
<node>gripper: [577, 592], cabinet: [520, 485, 840, 745], sponge: [610, 525, 770, 675]inside the cabinet, clock: [575, 600, 740, 710]inside the cabinet
<node>gripper: [66, 308], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698]inside the cabinet, sponge: [706, 275, 918, 408] <edge>push clock <node>gripper: [661, 646], sponge: [705, 275, 918, 409], cabinet: [525, 498, 833, 740], clock: [577, 536, 769, 698] <edge>put sponge in cabinet <node>gripper: [680, 616], sponge: [610, 530, 770, 680], cabinet: [520, 490, 835, 745], clock: [579, 541, 739, 711]inside the cabinet <edge>close cabinet
1
<done>
1
0.15
3
15
63
0
<node>gripper: [55, 316], sponge: [703, 294, 917, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet
0
<node>gripper: [661, 616], sponge: [702, 292, 918, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet
<edge>push clock
0
0
0
16
64
0
<node>gripper: [661, 616], sponge: [702, 292, 918, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet
<node>gripper: [55, 316], sponge: [703, 294, 917, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet <edge>push clock
0
<node>gripper: [667, 616], cabinet: [534, 498, 848, 738], sponge: [591, 510, 782, 715], clock: [586, 534, 783, 698]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
16
65
0
<node>gripper: [667, 616], cabinet: [534, 498, 848, 738], sponge: [591, 510, 782, 715], clock: [586, 534, 783, 698]inside the cabinet
<node>gripper: [55, 316], sponge: [703, 294, 917, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet <edge>push clock <node>gripper: [661, 616], sponge: [702, 292, 918, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [556, 597], cabinet: [530, 496, 836, 740], sponge: [631, 532, 773, 664]inside the cabinet, clock: [380, 560, 480, 620]
<edge>close cabinet
0
0.1
2
16
66
0
<node>gripper: [556, 597], cabinet: [530, 496, 836, 740], sponge: [631, 532, 773, 664]inside the cabinet, clock: [380, 560, 480, 620]
<node>gripper: [55, 316], sponge: [703, 294, 917, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet <edge>push clock <node>gripper: [661, 616], sponge: [702, 292, 918, 408], cabinet: [534, 498, 848, 738], clock: [586, 534, 783, 698]inside the cabinet <edge>put sponge in cabinet <node>gripper: [667, 616], cabinet: [534, 498, 848, 738], sponge: [591, 510, 782, 715], clock: [586, 534, 783, 698]inside the cabinet <edge>close cabinet
1
<done>
1
0.15
3
16
67
0
<node>gripper: [69, 316], sponge: [776, 273, 997, 407], cabinet: [521, 474, 862, 776], clock: [589, 538, 786, 700]inside the cabinet
0
<node>gripper: [680, 660], sponge: [775, 273, 997, 408], cabinet: [485, 675, 885, 997], clock: [590, 600, 720, 700]
<edge>push clock
0
0
0
17
68
0
<node>gripper: [680, 660], sponge: [775, 273, 997, 408], cabinet: [485, 675, 885, 997], clock: [590, 600, 720, 700]
<node>gripper: [69, 316], sponge: [776, 273, 997, 407], cabinet: [521, 474, 862, 776], clock: [589, 538, 786, 700]inside the cabinet <edge>push clock
0
<node>gripper: [686, 603], cabinet: [485, 675, 885, 997], sponge: [430, 505, 510, 555], clock: [430, 560, 510, 630]
<edge>put sponge in cabinet
0
0.05
1
17
69
0
<node>gripper: [686, 603], cabinet: [485, 675, 885, 997], sponge: [430, 505, 510, 555], clock: [430, 560, 510, 630]
<node>gripper: [69, 316], sponge: [776, 273, 997, 407], cabinet: [521, 474, 862, 776], clock: [589, 538, 786, 700]inside the cabinet <edge>push clock <node>gripper: [680, 660], sponge: [775, 273, 997, 408], cabinet: [485, 675, 885, 997], clock: [590, 600, 720, 700] <edge>put sponge in cabinet
0
<node>gripper: [550, 603], cabinet: [535, 490, 845, 740], sponge: [635, 538, 777, 671]inside the cabinet, clock: [660, 595, 730, 655]inside the cabinet
<edge>close cabinet
0
0.1
2
17
70
0
<node>gripper: [550, 603], cabinet: [535, 490, 845, 740], sponge: [635, 538, 777, 671]inside the cabinet, clock: [660, 595, 730, 655]inside the cabinet
<node>gripper: [69, 316], sponge: [776, 273, 997, 407], cabinet: [521, 474, 862, 776], clock: [589, 538, 786, 700]inside the cabinet <edge>push clock <node>gripper: [680, 660], sponge: [775, 273, 997, 408], cabinet: [485, 675, 885, 997], clock: [590, 600, 720, 700] <edge>put sponge in cabinet <node>gripper: [686, 603], cabinet: [485, 675, 885, 997], sponge: [430, 505, 510, 555], clock: [430, 560, 510, 630] <edge>close cabinet
1
<done>
1
0.15
3
17
71
0
<node>gripper: [99, 330], sponge: [728, 273, 937, 416], clock: [581, 534, 773, 695]inside the cabinet, cabinet: [533, 498, 842, 737]
0
<node>gripper: [694, 616], sponge: [727, 271, 937, 417], cabinet: [539, 498, 841, 739], clock: [581, 534, 773, 695]inside the cabinet
<edge>push clock
0
0
0
18
72
0
<node>gripper: [694, 616], sponge: [727, 271, 937, 417], cabinet: [539, 498, 841, 739], clock: [581, 534, 773, 695]inside the cabinet
<node>gripper: [99, 330], sponge: [728, 273, 937, 416], clock: [581, 534, 773, 695]inside the cabinet, cabinet: [533, 498, 842, 737] <edge>push clock
0
<node>gripper: [699, 611], cabinet: [540, 490, 840, 740], sponge: [610, 520, 770, 670], clock: [581, 534, 773, 695]inside the cabinet, under the sponge
<edge>put sponge in cabinet
0
0.05
1
18
73
0
<node>gripper: [699, 611], cabinet: [540, 490, 840, 740], sponge: [610, 520, 770, 670], clock: [581, 534, 773, 695]inside the cabinet, under the sponge
<node>gripper: [99, 330], sponge: [728, 273, 937, 416], clock: [581, 534, 773, 695]inside the cabinet, cabinet: [533, 498, 842, 737] <edge>push clock <node>gripper: [694, 616], sponge: [727, 271, 937, 417], cabinet: [539, 498, 841, 739], clock: [581, 534, 773, 695]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [607, 554], cabinet: [538, 493, 839, 738], sponge: [631, 531, 773, 662]inside the cabinet, on the clock, clock: [571, 531, 776, 693]inside the cabinet, under the sponge
<edge>close cabinet
0
0.1
2
18
74
0
<node>gripper: [607, 554], cabinet: [538, 493, 839, 738], sponge: [631, 531, 773, 662]inside the cabinet, on the clock, clock: [571, 531, 776, 693]inside the cabinet, under the sponge
<node>gripper: [99, 330], sponge: [728, 273, 937, 416], clock: [581, 534, 773, 695]inside the cabinet, cabinet: [533, 498, 842, 737] <edge>push clock <node>gripper: [694, 616], sponge: [727, 271, 937, 417], cabinet: [539, 498, 841, 739], clock: [581, 534, 773, 695]inside the cabinet <edge>put sponge in cabinet <node>gripper: [699, 611], cabinet: [540, 490, 840, 740], sponge: [610, 520, 770, 670], clock: [581, 534, 773, 695]inside the cabinet, under the sponge <edge>close cabinet
1
<done>
1
0.15
3
18
75
0
<node>gripper: [66, 292], sponge: [697, 280, 905, 413], cabinet: [529, 501, 838, 737], clock: [575, 537, 760, 695]inside the cabinet
0
<node>gripper: [675, 592], sponge: [696, 279, 906, 414], cabinet: [563, 502, 836, 739], clock: [595, 624, 727, 704]
<edge>push clock
0
0
0
19
76
0
<node>gripper: [675, 592], sponge: [696, 279, 906, 414], cabinet: [563, 502, 836, 739], clock: [595, 624, 727, 704]
<node>gripper: [66, 292], sponge: [697, 280, 905, 413], cabinet: [529, 501, 838, 737], clock: [575, 537, 760, 695]inside the cabinet <edge>push clock
0
<node>gripper: [675, 622], cabinet: [540, 503, 870, 881], sponge: [644, 586, 772, 696], clock: [595, 624, 727, 704]inside the cabinet
<edge>put sponge in cabinet
0
0.05
1
19
77
0
<node>gripper: [675, 622], cabinet: [540, 503, 870, 881], sponge: [644, 586, 772, 696], clock: [595, 624, 727, 704]inside the cabinet
<node>gripper: [66, 292], sponge: [697, 280, 905, 413], cabinet: [529, 501, 838, 737], clock: [575, 537, 760, 695]inside the cabinet <edge>push clock <node>gripper: [675, 592], sponge: [696, 279, 906, 414], cabinet: [563, 502, 836, 739], clock: [595, 624, 727, 704] <edge>put sponge in cabinet
0
<node>gripper: [556, 603], cabinet: [549, 500, 836, 738], sponge: [627, 536, 767, 670]inside the cabinet, clock: [595, 624, 727, 704]inside the cabinet
<edge>close cabinet
0
0.1
2
19
78
0
<node>gripper: [556, 603], cabinet: [549, 500, 836, 738], sponge: [627, 536, 767, 670]inside the cabinet, clock: [595, 624, 727, 704]inside the cabinet
<node>gripper: [66, 292], sponge: [697, 280, 905, 413], cabinet: [529, 501, 838, 737], clock: [575, 537, 760, 695]inside the cabinet <edge>push clock <node>gripper: [675, 592], sponge: [696, 279, 906, 414], cabinet: [563, 502, 836, 739], clock: [595, 624, 727, 704] <edge>put sponge in cabinet <node>gripper: [675, 622], cabinet: [540, 503, 870, 881], sponge: [644, 586, 772, 696], clock: [595, 624, 727, 704]inside the cabinet <edge>close cabinet
1
<done>
1
0.15
3
19
79
0
<node>gripper: [61, 311], sponge: [715, 309, 930, 432], cabinet: [517, 494, 826, 757], clock: [571, 537, 757, 696]inside the cabinet
0
<node>gripper: [648, 622], sponge: [603, 543, 753, 687], cabinet: [507, 502, 844, 850], clock: [571, 537, 757, 696]inside the cabinet
<edge>put sponge in cabinet
0
0
0
20
80
0
<node>gripper: [648, 622], sponge: [603, 543, 753, 687], cabinet: [507, 502, 844, 850], clock: [571, 537, 757, 696]inside the cabinet
<node>gripper: [61, 311], sponge: [715, 309, 930, 432], cabinet: [517, 494, 826, 757], clock: [571, 537, 757, 696]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [534, 627], cabinet: [540, 500, 830, 750], sponge: [588, 544, 728, 675]inside the cabinet, clock: [571, 537, 757, 696]under the sponge
<edge>close cabinet
0
0.05
1
20
81
0
<node>gripper: [534, 627], cabinet: [540, 500, 830, 750], sponge: [588, 544, 728, 675]inside the cabinet, clock: [571, 537, 757, 696]under the sponge
<node>gripper: [61, 311], sponge: [715, 309, 930, 432], cabinet: [517, 494, 826, 757], clock: [571, 537, 757, 696]inside the cabinet <edge>put sponge in cabinet <node>gripper: [648, 622], sponge: [603, 543, 753, 687], cabinet: [507, 502, 844, 850], clock: [571, 537, 757, 696]inside the cabinet <edge>close cabinet
0
<done>
1
0.1
2
20
82
0
<node>gripper: [61, 292], sponge: [703, 307, 914, 432], cabinet: [527, 503, 837, 739], clock: [566, 534, 759, 698]inside the cabinet
0
<node>gripper: [651, 652], cabinet: [490, 500, 840, 785], sponge: [580, 560, 720, 690], clock: [570, 555, 680, 680]inside the cabinet
<edge>put sponge in cabinet
0
0
0
21
83
0
<node>gripper: [651, 652], cabinet: [490, 500, 840, 785], sponge: [580, 560, 720, 690], clock: [570, 555, 680, 680]inside the cabinet
<node>gripper: [61, 292], sponge: [703, 307, 914, 432], cabinet: [527, 503, 837, 739], clock: [566, 534, 759, 698]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [526, 633], cabinet: [539, 496, 834, 737], sponge: [618, 523, 766, 659]inside the cabinet, clock: [570, 650, 700, 710]inside the cabinet
<edge>close cabinet
0
0.05
1
21
84
0
<node>gripper: [526, 633], cabinet: [539, 496, 834, 737], sponge: [618, 523, 766, 659]inside the cabinet, clock: [570, 650, 700, 710]inside the cabinet
<node>gripper: [61, 292], sponge: [703, 307, 914, 432], cabinet: [527, 503, 837, 739], clock: [566, 534, 759, 698]inside the cabinet <edge>put sponge in cabinet <node>gripper: [651, 652], cabinet: [490, 500, 840, 785], sponge: [580, 560, 720, 690], clock: [570, 555, 680, 680]inside the cabinet <edge>close cabinet
1
<done>
1
0.1
2
21
85
0
<node>gripper: [69, 311], sponge: [699, 298, 912, 418], cabinet: [534, 500, 844, 734], clock: [589, 525, 773, 678]inside the cabinet
0
<node>gripper: [626, 657], cabinet: [529, 501, 841, 734], sponge: [554, 585, 688, 724], clock: [587, 526, 773, 675]inside the cabinet
<edge>put sponge in cabinet
0
0
0
22
86
0
<node>gripper: [626, 657], cabinet: [529, 501, 841, 734], sponge: [554, 585, 688, 724], clock: [587, 526, 773, 675]inside the cabinet
<node>gripper: [69, 311], sponge: [699, 298, 912, 418], cabinet: [534, 500, 844, 734], clock: [589, 525, 773, 678]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [540, 703], cabinet: [536, 494, 844, 736], sponge: [552, 574, 713, 682]on the clock, clock: [587, 526, 773, 675]inside the cabinet
<edge>close cabinet
0
0.05
1
22
87
0
<node>gripper: [540, 703], cabinet: [536, 494, 844, 736], sponge: [552, 574, 713, 682]on the clock, clock: [587, 526, 773, 675]inside the cabinet
<node>gripper: [69, 311], sponge: [699, 298, 912, 418], cabinet: [534, 500, 844, 734], clock: [589, 525, 773, 678]inside the cabinet <edge>put sponge in cabinet <node>gripper: [626, 657], cabinet: [529, 501, 841, 734], sponge: [554, 585, 688, 724], clock: [587, 526, 773, 675]inside the cabinet <edge>close cabinet
0
<done>
1
0.1
2
22
88
0
<node>gripper: [61, 308], sponge: [695, 295, 905, 419], cabinet: [531, 492, 850, 867], clock: [585, 516, 773, 672]inside the cabinet
0
<node>gripper: [577, 608], sponge: [537, 577, 648, 710], clock: [585, 514, 773, 674]inside the cabinet, cabinet: [533, 493, 853, 869]
<edge>put sponge in cabinet
0
0
0
23
89
0
<node>gripper: [577, 608], sponge: [537, 577, 648, 710], clock: [585, 514, 773, 674]inside the cabinet, cabinet: [533, 493, 853, 869]
<node>gripper: [61, 308], sponge: [695, 295, 905, 419], cabinet: [531, 492, 850, 867], clock: [585, 516, 773, 672]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [526, 652], cabinet: [528, 487, 760, 732], sponge: [537, 577, 648, 710], clock: [585, 514, 773, 674]inside the cabinet
<edge>close cabinet
0
0.05
1
23
90
0
<node>gripper: [526, 652], cabinet: [528, 487, 760, 732], sponge: [537, 577, 648, 710], clock: [585, 514, 773, 674]inside the cabinet
<node>gripper: [61, 308], sponge: [695, 295, 905, 419], cabinet: [531, 492, 850, 867], clock: [585, 516, 773, 672]inside the cabinet <edge>put sponge in cabinet <node>gripper: [577, 608], sponge: [537, 577, 648, 710], clock: [585, 514, 773, 674]inside the cabinet, cabinet: [533, 493, 853, 869] <edge>close cabinet
0
<done>
1
0.1
2
23
91
0
<node>gripper: [80, 316], sponge: [703, 284, 909, 425], cabinet: [524, 486, 840, 742], clock: [583, 524, 777, 686]inside the cabinet
0
<node>gripper: [623, 560], cabinet: [524, 486, 840, 742], sponge: [586, 514, 755, 658]inside the cabinet, clock: [583, 524, 777, 686]on the sponge
<edge>put sponge in cabinet
0
0
0
24
92
0
<node>gripper: [623, 560], cabinet: [524, 486, 840, 742], sponge: [586, 514, 755, 658]inside the cabinet, clock: [583, 524, 777, 686]on the sponge
<node>gripper: [80, 316], sponge: [703, 284, 909, 425], cabinet: [524, 486, 840, 742], clock: [583, 524, 777, 686]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [534, 738], cabinet: [534, 480, 817, 716], sponge: [600, 501, 744, 640]inside the cabinet, clock: [590, 610, 750, 680]inside the cabinet
<edge>close cabinet
0
0.05
1
24
93
0
<node>gripper: [534, 738], cabinet: [534, 480, 817, 716], sponge: [600, 501, 744, 640]inside the cabinet, clock: [590, 610, 750, 680]inside the cabinet
<node>gripper: [80, 316], sponge: [703, 284, 909, 425], cabinet: [524, 486, 840, 742], clock: [583, 524, 777, 686]inside the cabinet <edge>put sponge in cabinet <node>gripper: [623, 560], cabinet: [524, 486, 840, 742], sponge: [586, 514, 755, 658]inside the cabinet, clock: [583, 524, 777, 686]on the sponge <edge>close cabinet
0
<done>
1
0.1
2
24
94
0
<node>gripper: [93, 303], sponge: [715, 331, 924, 463], clock: [573, 514, 760, 672]inside the cabinet, cabinet: [515, 486, 822, 862]
0
<node>gripper: [556, 622], sponge: [529, 551, 665, 685], cabinet: [515, 486, 822, 862], clock: [531, 512, 760, 692]inside the cabinet
<edge>put sponge in cabinet
0
0
0
25
95
0
<node>gripper: [556, 622], sponge: [529, 551, 665, 685], cabinet: [515, 486, 822, 862], clock: [531, 512, 760, 692]inside the cabinet
<node>gripper: [93, 303], sponge: [715, 331, 924, 463], clock: [573, 514, 760, 672]inside the cabinet, cabinet: [515, 486, 822, 862] <edge>put sponge in cabinet
0
<node>gripper: [496, 660], cabinet: [505, 475, 725, 710], sponge: [508, 553, 631, 670], clock: [531, 512, 760, 692]inside the cabinet
<edge>close cabinet
0
0.05
1
25
96
0
<node>gripper: [496, 660], cabinet: [505, 475, 725, 710], sponge: [508, 553, 631, 670], clock: [531, 512, 760, 692]inside the cabinet
<node>gripper: [93, 303], sponge: [715, 331, 924, 463], clock: [573, 514, 760, 672]inside the cabinet, cabinet: [515, 486, 822, 862] <edge>put sponge in cabinet <node>gripper: [556, 622], sponge: [529, 551, 665, 685], cabinet: [515, 486, 822, 862], clock: [531, 512, 760, 692]inside the cabinet <edge>close cabinet
0
<done>
1
0.1
2
25
97
0
<node>gripper: [69, 316], sponge: [783, 257, 999, 377], cabinet: [520, 487, 839, 844], clock: [587, 523, 777, 682]inside the cabinet
0
<node>gripper: [559, 646], sponge: [516, 564, 640, 700], cabinet: [512, 487, 840, 846], clock: [591, 522, 778, 682]inside the cabinet
<edge>put sponge in cabinet
0
0
0
26
98
0
<node>gripper: [559, 646], sponge: [516, 564, 640, 700], cabinet: [512, 487, 840, 846], clock: [591, 522, 778, 682]inside the cabinet
<node>gripper: [69, 316], sponge: [783, 257, 999, 377], cabinet: [520, 487, 839, 844], clock: [587, 523, 777, 682]inside the cabinet <edge>put sponge in cabinet
0
<node>gripper: [534, 660], cabinet: [494, 475, 833, 729], sponge: [524, 556, 686, 644], clock: [591, 522, 778, 682]inside the cabinet
<edge>close cabinet
0
0.05
1
26
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "omy",
    "total_episodes": 100,
    "total_frames": 360,
    "total_tasks": 2,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "state"
            ]
        },
        "prompt": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "prompt"
            ]
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "reward"
            ]
        },
        "next_state": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "next_state"
            ]
        },
        "action": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "action"
            ]
        },
        "done": {
            "dtype": "int8",
            "shape": [
                1
            ],
            "names": [
                "done"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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