is_first bool 1 class | is_last bool 1 class | observation.state.gripper_position float32 0.01 0.42 ⌀ | observation.state.ee_position listlengths 6 6 ⌀ | observation.state.joint_position listlengths 7 7 ⌀ | observation.state listlengths 8 8 ⌀ | observation.state.current_stiffness listlengths 13 13 ⌀ | observation.state.current_damping listlengths 13 13 ⌀ | observation.state.current_effort_limit listlengths 13 13 ⌀ | observation.state.current_torque listlengths 13 13 ⌀ | observation.state.wrench listlengths 6 6 ⌀ | action.gripper_position float32 0 0.5 ⌀ | action.ee_position listlengths 6 6 ⌀ | action.joint_position listlengths 7 7 ⌀ | action.joint_target listlengths 7 7 ⌀ | action.relative_joint_target listlengths 7 7 ⌀ | action.pd_mode float32 0 1 ⌀ | action listlengths 9 9 ⌀ | action.high_level_action stringclasses 1 value | action.high_level_args stringclasses 1 value | action.low_level_action stringclasses 1 value | action.low_level_args stringclasses 300 values | is_episode_successful bool 2 classes | timestamp float32 0 4.08 ⌀ | frame_index int64 0 102 ⌀ | episode_index int64 0 299 ⌀ | index int64 0 27.6k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | 0.023693 | [
0.42402300238609314,
0.045805785804986954,
0.3525111675262451,
-2.518908977508545,
0.4998975396156311,
-2.1409308910369873
] | [
0.0000659549914416857,
-0.568617582321167,
-0.0000109079146568547,
-2.8096659183502197,
-0.00004185116267763078,
3.0323190689086914,
0.7395637035369873
] | [
0.0000659549914416857,
-0.568617582321167,
-0.0000109079146568547,
-2.8096659183502197,
-0.00004185116267763078,
3.0323190689086914,
0.7395637035369873,
0.02369341440498829
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.00798020325601101,
0.012317170388996601,
0.004680220037698746,
0.0022308616898953915,
-0.00013263321307022125,
0.03763051703572273,
0.013267364352941513,
-0.4028783142566681,
0,
0,
0,
0.004637167323380709,
0.00510694133117795
] | [
2.3166613578796387,
0.0038872994482517242,
68.99159240722656,
-0.00561386626213789,
-0.8227304816246033,
0.03631943091750145
] | 0 | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0,
0
] | [
-0.0005473672645166516,
-0.5665978193283081,
0.000261544540990144,
-2.8093197345733643,
-0.000053089726861799136,
3.0346059799194336,
0.7379478216171265
] | [
-0.0006133222486823797,
0.0020197629928588867,
0.0002724524529185146,
0.00034618377685546875,
-0.000011238564184168354,
0.0022869110107421875,
-0.0016158819198608398
] | 1 | [
-0.0006133222486823797,
0.0020197629928588867,
0.0002724524529185146,
0.00034618377685546875,
-0.000011238564184168354,
0.0022869110107421875,
-0.0016158819198608398,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0 | 0 | 0 | 0 | 0 |
false | false | 0.023688 | [
0.42420634627342224,
0.04478711634874344,
0.34954360127449036,
-2.522622585296631,
0.48934441804885864,
-2.1373798847198486
] | [
-0.0019790874794125557,
-0.5609117746353149,
0.0008380288491025567,
-2.80753493309021,
-0.00021369499154388905,
3.0294671058654785,
0.7303085923194885
] | [
-0.0019790874794125557,
-0.5609117746353149,
0.0008380288491025567,
-2.80753493309021,
-0.00021369499154388905,
3.0294671058654785,
0.7303085923194885,
0.02368837781250477
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.10192972421646118,
-0.2716370224952698,
-0.03431319445371628,
-0.007790848612785339,
-0.00041346170473843813,
0.03194688633084297,
0.43651968240737915,
-0.4022061824798584,
0,
0,
0,
0.004617353901267052,
0.005088022444397211
] | [
2.343981981277466,
-0.017168056219816208,
68.98176574707031,
-0.004167334642261267,
-0.821562647819519,
0.036756403744220734
] | 0 | [
0.00018334388732910156,
-0.001018669456243515,
-0.0029675662517547607,
-0.007112340535968542,
0.008453781716525555,
0.005283888895064592
] | [
-0.0020450425799936056,
0.007705807685852051,
0.0008489367901347578,
0.0021309852600097656,
-0.00017184382886625826,
-0.0028519630432128906,
-0.00925511121749878
] | [
-0.005825700704008341,
-0.546770453453064,
0.0020889502484351397,
-2.804682731628418,
-0.00041305198101326823,
3.0302858352661133,
0.7161612510681152
] | [
-0.005278333555907011,
0.01982736587524414,
0.0018274057656526566,
0.004637002944946289,
-0.0003599622577894479,
-0.0043201446533203125,
-0.02178657054901123
] | 1 | [
-0.005278333555907011,
0.01982736587524414,
0.0018274057656526566,
0.004637002944946289,
-0.0003599622577894479,
-0.0043201446533203125,
-0.02178657054901123,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.04 | 1 | 0 | 1 | 0 |
false | false | 0.023601 | [
0.42477473616600037,
0.041584648191928864,
0.3409651219844818,
-2.5332937240600586,
0.46158090233802795,
-2.128800392150879
] | [
-0.008089503273367882,
-0.5384125709533691,
0.002604238223284483,
-2.802292585372925,
-0.0006879488937556744,
3.0240023136138916,
0.7055408954620361
] | [
-0.008089503273367882,
-0.5384125709533691,
0.002604238223284483,
-2.802292585372925,
-0.0006879488937556744,
3.0240023136138916,
0.7055408954620361,
0.023601487278938293
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.2966001629829407,
-0.7612863183021545,
-0.06613706797361374,
-0.02581173926591873,
-0.0003322944976389408,
0.03500887751579285,
1.1393969058990479,
-0.4008207619190216,
0,
0,
0,
0.004585695918649435,
0.005056764464825392
] | [
2.442654848098755,
-0.081429623067379,
69.09073638916016,
0.0016083067748695612,
-0.8151851892471313,
0.03700578585267067
] | 0 | [
0.000568389892578125,
-0.003202468156814575,
-0.008578479290008545,
-0.01827951893210411,
0.022950682789087296,
0.013255066238343716
] | [
-0.006110415793955326,
0.0224992036819458,
0.0017662093741819263,
0.005242347717285156,
-0.0004742539022117853,
-0.005464792251586914,
-0.024767696857452393
] | [
-0.016516778618097305,
-0.5077946186065674,
0.004602829925715923,
-2.796290397644043,
-0.0012265739496797323,
3.0216917991638184,
0.6746273636817932
] | [
-0.010691078379750252,
0.03897583484649658,
0.0025138796772807837,
0.008392333984375,
-0.0008135219686664641,
-0.008594036102294922,
-0.04153388738632202
] | 1 | [
-0.010691078379750252,
0.03897583484649658,
0.0025138796772807837,
0.008392333984375,
-0.0008135219686664641,
-0.008594036102294922,
-0.04153388738632202,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.08 | 2 | 0 | 2 | 0 |
false | false | 0.022992 | [
0.42523765563964844,
0.035789333283901215,
0.3260357677936554,
-2.554307699203491,
0.4160364270210266,
-2.115163564682007
] | [
-0.01874864287674427,
-0.49954134225845337,
0.004933330696076155,
-2.793889045715332,
-0.0016171140596270561,
3.015190601348877,
0.6644014120101929
] | [
-0.01874864287674427,
-0.49954134225845337,
0.004933330696076155,
-2.793889045715332,
-0.0016171140596270561,
3.015190601348877,
0.6644014120101929,
0.02299211360514164
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.5064103603363037,
-1.2806377410888672,
-0.08318135142326355,
-0.04385291785001755,
-0.00001722201704978943,
0.04104533791542053,
1.8565852642059326,
-0.3964881896972656,
0,
0,
0,
0.004510656464844942,
0.0049723852425813675
] | [
1.462165117263794,
-0.14574693143367767,
70.94056701660156,
0.007973269559442997,
-0.8976395726203918,
0.03744567930698395
] | 0 | [
0.0004629194736480713,
-0.005795314908027649,
-0.014929354190826416,
-0.028396565467119217,
0.04037502035498619,
0.021994082257151604
] | [
-0.010659139603376389,
0.03887122869491577,
0.0023290924727916718,
0.008403539657592773,
-0.0009291651658713818,
-0.008811712265014648,
-0.04113948345184326
] | [
-0.03167251497507095,
-0.45270276069641113,
0.007335982285439968,
-2.7847397327423096,
-0.002690986730158329,
3.0093164443969727,
0.6172834634780884
] | [
-0.015155736356973648,
0.05509185791015625,
0.002733152359724045,
0.011550664901733398,
-0.0014644127804785967,
-0.012375354766845703,
-0.057343900203704834
] | 1 | [
-0.015155736356973648,
0.05509185791015625,
0.002733152359724045,
0.011550664901733398,
-0.0014644127804785967,
-0.012375354766845703,
-0.057343900203704834,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.12 | 3 | 0 | 3 | 0 |
false | false | 0.022535 | [
0.42500603199005127,
0.02753961831331253,
0.30546835064888,
-2.5857291221618652,
0.35639843344688416,
-2.095404863357544
] | [
-0.03324790298938751,
-0.44585976004600525,
0.007432670798152685,
-2.7824723720550537,
-0.0031558838672935963,
3.002901792526245,
0.6086937785148621
] | [
-0.03324790298938751,
-0.44585976004600525,
0.007432670798152685,
-2.7824723720550537,
-0.0031558838672935963,
3.002901792526245,
0.6086937785148621,
0.022535407915711403
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.6794559359550476,
-1.7373396158218384,
-0.08401650190353394,
-0.062190942466259,
0.0020291246473789215,
0.04628898948431015,
2.485116720199585,
-0.3826640844345093,
0,
0,
0,
0.004379382822662592,
0.0048314728774130344
] | [
1.6866930723190308,
-0.20321030914783478,
70.71656036376953,
0.013416153378784657,
-0.8772933483123779,
0.03761371225118637
] | 0 | [
-0.00023162364959716797,
-0.008249714970588684,
-0.02056741714477539,
-0.0356433168053627,
0.0559857003390789,
0.03060254454612732
] | [
-0.014499260112643242,
0.05368158221244812,
0.0024993401020765305,
0.01141667366027832,
-0.0015387698076665401,
-0.012288808822631836,
-0.05570763349533081
] | [
-0.04955456405878067,
-0.3851483464241028,
0.009889045730233192,
-2.770379066467285,
-0.004853385034948587,
2.99359130859375,
0.5477358102798462
] | [
-0.017882049083709717,
0.06755441427230835,
0.0025530634447932243,
0.014360666275024414,
-0.0021623983047902584,
-0.015725135803222656,
-0.06954765319824219
] | 1 | [
-0.017882049083709717,
0.06755441427230835,
0.0025530634447932243,
0.014360666275024414,
-0.0021623983047902584,
-0.015725135803222656,
-0.06954765319824219,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.16 | 4 | 0 | 4 | 0 |
false | false | 0.023896 | [
0.42336973547935486,
0.017421308904886246,
0.28041431307792664,
-2.6289238929748535,
0.2880666255950928,
-2.0679190158843994
] | [
-0.05021585896611214,
-0.37997105717658997,
0.009822986088693142,
-2.7684075832366943,
-0.0052903518080711365,
2.987175226211548,
0.5411989092826843
] | [
-0.05021585896611214,
-0.37997105717658997,
0.009822986088693142,
-2.7684075832366943,
-0.0052903518080711365,
2.987175226211548,
0.5411989092826843,
0.023895595222711563
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.7881629467010498,
-2.1136813163757324,
-0.07581410557031631,
-0.07832251489162445,
0.004245636984705925,
0.05631503462791443,
2.9914751052856445,
-0.4046068489551544,
0,
0,
0,
0.004542479757219553,
0.0050371005199849606
] | [
0.46043434739112854,
-0.226935476064682,
68.42538452148438,
0.01663835160434246,
-0.9715166687965393,
0.0377391055226326
] | 0 | [
-0.0016362965106964111,
-0.010118309408426285,
-0.02505403757095337,
-0.03819179907441139,
0.06993408501148224,
0.039838794618844986
] | [
-0.016967955976724625,
0.06588870286941528,
0.0023903152905404568,
0.014064788818359375,
-0.00213446794077754,
-0.015726566314697266,
-0.06749486923217773
] | [
-0.06840990483760834,
-0.30815112590789795,
0.012138803489506245,
-2.7538695335388184,
-0.007531157694756985,
2.9748754501342773,
0.46953052282333374
] | [
-0.018855340778827667,
0.07699722051620483,
0.002249757759273052,
0.016509532928466797,
-0.0026777726598083973,
-0.018715858459472656,
-0.07820528745651245
] | 1 | [
-0.018855340778827667,
0.07699722051620483,
0.002249757759273052,
0.016509532928466797,
-0.0026777726598083973,
-0.018715858459472656,
-0.07820528745651245,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.2 | 5 | 0 | 5 | 0 |
false | false | 0.026016 | [
0.4196552336215973,
0.006275675259530544,
0.2521915137767792,
-2.6839661598205566,
0.21722878515720367,
-2.0313668251037598
] | [
-0.06819721311330795,
-0.3048080503940582,
0.011976595036685467,
-2.752235174179077,
-0.007903174497187138,
2.968381404876709,
0.4652293622493744
] | [
-0.06819721311330795,
-0.3048080503940582,
0.011976595036685467,
-2.752235174179077,
-0.007903174497187138,
2.968381404876709,
0.4652293622493744,
0.02601580321788788
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.8315749168395996,
-2.3948631286621094,
-0.06485503166913986,
-0.09177324175834656,
0.006381174549460411,
0.0666540265083313,
3.3508503437042236,
-0.4339464604854584,
0,
0,
0,
0.004934980999678373,
0.005464638117700815
] | [
0.17439678311347961,
-0.203394815325737,
66.57192993164062,
0.014534588903188705,
-0.9985746145248413,
0.038285136222839355
] | 0 | [
-0.0037145018577575684,
-0.011145633645355701,
-0.02822279930114746,
-0.036349158734083176,
0.08086097985506058,
0.048852305859327316
] | [
-0.017981354147195816,
0.07516300678253174,
0.002153608947992325,
0.016172409057617188,
-0.002612822689116001,
-0.018793821334838867,
-0.07596954703330994
] | [
-0.08679366856813431,
-0.22508618235588074,
0.014101788401603699,
-2.735769748687744,
-0.010530379600822926,
2.9534692764282227,
0.38626033067703247
] | [
-0.01838376373052597,
0.08306494355201721,
0.001962984912097454,
0.01809978485107422,
-0.002999221906065941,
-0.021406173706054688,
-0.08327019214630127
] | 1 | [
-0.01838376373052597,
0.08306494355201721,
0.001962984912097454,
0.01809978485107422,
-0.002999221906065941,
-0.021406173706054688,
-0.08327019214630127,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.24 | 6 | 0 | 6 | 0 |
false | false | 0.027392 | [
0.41350895166397095,
-0.005031699314713478,
0.2223038673400879,
-2.750033140182495,
0.150047168135643,
-1.9850044250488281
] | [
-0.08592157810926437,
-0.22358523309230804,
0.013879498466849327,
-2.7344229221343994,
-0.010866612195968628,
2.947072744369507,
0.3840484321117401
] | [
-0.08592157810926437,
-0.22358523309230804,
0.013879498466849327,
-2.7344229221343994,
-0.010866612195968628,
2.947072744369507,
0.3840484321117401,
0.027392305433750153
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.8184792995452881,
-2.575228452682495,
-0.056937649846076965,
-0.1014433354139328,
0.007944798097014427,
0.07688246667385101,
3.567634105682373,
-0.455536425113678,
0,
0,
0,
0.005087083205580711,
0.005654825363308191
] | [
-0.020957021042704582,
-0.16443432867527008,
65.3200912475586,
0.010975366458296776,
-1.012104868888855,
0.03896167129278183
] | 0 | [
-0.006146281957626343,
-0.011307374574244022,
-0.029887646436691284,
-0.03083127923309803,
0.08821987360715866,
0.05707694590091705
] | [
-0.01772436499595642,
0.08122281730175018,
0.0019029034301638603,
0.017812252044677734,
-0.0029634376987814903,
-0.02130866050720215,
-0.08118093013763428
] | [
-0.10379728674888611,
-0.13911661505699158,
0.015755992382764816,
-2.7163968086242676,
-0.013775897212326527,
2.9301981925964355,
0.3009178638458252
] | [
-0.0170036181807518,
0.08596956729888916,
0.0016542039811611176,
0.019372940063476562,
-0.003245517611503601,
-0.02327108383178711,
-0.08534246683120728
] | 1 | [
-0.0170036181807518,
0.08596956729888916,
0.0016542039811611176,
0.019372940063476562,
-0.003245517611503601,
-0.02327108383178711,
-0.08534246683120728,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.28 | 7 | 0 | 7 | 0 |
false | false | 0.028681 | [
0.4052295386791229,
-0.015971090644598007,
0.19212961196899414,
-2.8246889114379883,
0.09184820204973221,
-1.9294034242630005
] | [
-0.1026829332113266,
-0.1390620470046997,
0.015496763400733471,
-2.71517014503479,
-0.014129100367426872,
2.9244048595428467,
0.30052295327186584
] | [
-0.1026829332113266,
-0.1390620470046997,
0.015496763400733471,
-2.71517014503479,
-0.014129100367426872,
2.9244048595428467,
0.30052295327186584,
0.028680985793471336
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.7780036330223083,
-2.673011064529419,
-0.045981235802173615,
-0.11007677018642426,
0.010020807385444641,
0.08712886273860931,
3.6616597175598145,
-0.4768443703651428,
0,
0,
0,
0.005211245734244585,
0.005813627503812313
] | [
-0.12792949378490448,
-0.11503665894269943,
64.46031188964844,
0.006476305425167084,
-1.0202919244766235,
0.03973983973264694
] | 0 | [
-0.008279412984848022,
-0.010939391329884529,
-0.03017425537109375,
-0.023074185475707054,
0.09136112779378891,
0.06356166303157806
] | [
-0.016761355102062225,
0.08452318608760834,
0.0016172649338841438,
0.019252777099609375,
-0.0032624881714582443,
-0.022667884826660156,
-0.08352547883987427
] | [
-0.11932285875082016,
-0.05244064703583717,
0.017160851508378983,
-2.695631504058838,
-0.017231522127985954,
2.9069085121154785,
0.2159600853919983
] | [
-0.015525572001934052,
0.0866759717464447,
0.0014048591256141663,
0.020765304565429688,
-0.0034556249156594276,
-0.02328968048095703,
-0.0849577784538269
] | 1 | [
-0.015525572001934052,
0.0866759717464447,
0.0014048591256141663,
0.020765304565429688,
-0.0034556249156594276,
-0.02328968048095703,
-0.0849577784538269,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.32 | 8 | 0 | 8 | 0 |
false | false | 0.02929 | [
0.39555272459983826,
-0.026066284626722336,
0.16294798254966736,
-2.903804063796997,
0.04657748341560364,
-1.8664735555648804
] | [
-0.11819057911634445,
-0.05389179661870003,
0.01721002347767353,
-2.694485664367676,
-0.01755080372095108,
2.9019651412963867,
0.21732385456562042
] | [
-0.11819057911634445,
-0.05389179661870003,
0.01721002347767353,
-2.694485664367676,
-0.01755080372095108,
2.9019651412963867,
0.21732385456562042,
0.029289722442626953
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.7211393117904663,
-2.686708688735962,
-0.05676392838358879,
-0.11929965019226074,
0.011712528765201569,
0.0931689590215683,
3.639901638031006,
-0.48692598938941956,
0,
0,
0,
0.005212294869124889,
0.005835552699863911
] | [
-0.18137842416763306,
-0.07676719129085541,
64.14552307128906,
0.0033083967864513397,
-1.0240819454193115,
0.040329258888959885
] | 0 | [
-0.009676814079284668,
-0.010095193982124329,
-0.029181629419326782,
-0.014458767138421535,
0.08982838690280914,
0.06775552034378052
] | [
-0.015507645905017853,
0.08517025411128998,
0.0017132600769400597,
0.020684480667114258,
-0.003421703353524208,
-0.02243971824645996,
-0.08319909870624542
] | [
-0.13308511674404144,
0.03185620158910751,
0.019259851425886154,
-2.673341989517212,
-0.020690780133008957,
2.885446310043335,
0.13410621881484985
] | [
-0.013762257993221283,
0.08429685235023499,
0.0020989999175071716,
0.022289514541625977,
-0.0034592580050230026,
-0.021462202072143555,
-0.08185386657714844
] | 1 | [
-0.013762257993221283,
0.08429685235023499,
0.0020989999175071716,
0.022289514541625977,
-0.0034592580050230026,
-0.021462202072143555,
-0.08185386657714844,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.36 | 9 | 0 | 9 | 0 |
false | false | 0.029424 | [
0.38589662313461304,
-0.03479285538196564,
0.1361348032951355,
-2.9810280799865723,
0.016308225691318512,
-1.7994838953018188
] | [
-0.1318661868572235,
0.02857985533773899,
0.01949273981153965,
-2.672081708908081,
-0.021023331210017204,
2.881434202194214,
0.137555330991745
] | [
-0.1318661868572235,
0.02857985533773899,
0.01949273981153965,
-2.672081708908081,
-0.021023331210017204,
2.881434202194214,
0.137555330991745,
0.029423942789435387
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.6284341812133789,
-2.5886447429656982,
-0.08710888028144836,
-0.12964190542697906,
0.01326553151011467,
0.09568403661251068,
3.479282855987549,
-0.4882761836051941,
0,
0,
0,
0.005165731534361839,
0.005795024801045656
] | [
-0.22648084163665771,
-0.049548663198947906,
64.25804901123047,
0.001344488700851798,
-1.0288230180740356,
0.0406205952167511
] | 0 | [
-0.00965610146522522,
-0.008726570755243301,
-0.02681317925453186,
-0.006363581400364637,
0.08266201615333557,
0.06915584951639175
] | [
-0.013675607740879059,
0.08247165381908417,
0.0022827163338661194,
0.022403955459594727,
-0.003472527489066124,
-0.02053093910217285,
-0.07976852357387543
] | [
-0.1441992223262787,
0.10974664986133575,
0.02227310836315155,
-2.648592710494995,
-0.024115264415740967,
2.8676257133483887,
0.05907360464334488
] | [
-0.011114105582237244,
0.07789044827222824,
0.003013256937265396,
0.024749279022216797,
-0.00342448428273201,
-0.01782059669494629,
-0.07503261417150497
] | 1 | [
-0.011114105582237244,
0.07789044827222824,
0.003013256937265396,
0.024749279022216797,
-0.00342448428273201,
-0.01782059669494629,
-0.07503261417150497,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.4 | 10 | 0 | 10 | 0 |
false | false | 0.029231 | [
0.37857669591903687,
-0.041758373379707336,
0.11314217001199722,
-3.047816276550293,
0.0003955438733100891,
-1.7330145835876465
] | [
-0.1427386999130249,
0.10466592013835907,
0.02247258462011814,
-2.646810531616211,
-0.024426277726888657,
2.8647713661193848,
0.0648365393280983
] | [
-0.1427386999130249,
0.10466592013835907,
0.02247258462011814,
-2.646810531616211,
-0.024426277726888657,
2.8647713661193848,
0.0648365393280983,
0.029231024906039238
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.48173287510871887,
-2.3706490993499756,
-0.12115123867988586,
-0.15372508764266968,
0.014935147017240524,
0.09396816790103912,
3.158163547515869,
-0.4875943064689636,
0,
0,
0,
0.00512459734454751,
0.0057554165832698345
] | [
-0.43416091799736023,
-0.029185868799686432,
64.73045349121094,
0.00007774840923957527,
-1.048052191734314,
0.04066694155335426
] | 0 | [
-0.007319927215576172,
-0.006965517997741699,
-0.022992633283138275,
-0.00033350716694258153,
0.06865395605564117,
0.06701569259166718
] | [
-0.010872513055801392,
0.07608606666326523,
0.002979844808578491,
0.025271177291870117,
-0.0034029465168714523,
-0.0166628360748291,
-0.0727187916636467
] | [
-0.15168799459934235,
0.17747172713279724,
0.0261358805000782,
-2.619755268096924,
-0.027302218601107597,
2.855715274810791,
-0.005126383155584335
] | [
-0.00748877227306366,
0.06772507727146149,
0.003862772136926651,
0.02883744239807129,
-0.0031869541853666306,
-0.011910438537597656,
-0.06419998407363892
] | 1 | [
-0.00748877227306366,
0.06772507727146149,
0.003862772136926651,
0.02883744239807129,
-0.0031869541853666306,
-0.011910438537597656,
-0.06419998407363892,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.44 | 11 | 0 | 11 | 0 |
false | false | 0.02834 | [
0.37509071826934814,
-0.0467972606420517,
0.09471031278371811,
-3.0978012084960938,
-0.004882059060037136,
-1.6724368333816528
] | [
-0.15026414394378662,
0.17078568041324615,
0.026045730337500572,
-2.619143009185791,
-0.027554795145988464,
2.8533763885498047,
0.0029170848429203033
] | [
-0.15026414394378662,
0.17078568041324615,
0.026045730337500572,
-2.619143009185791,
-0.027554795145988464,
2.8533763885498047,
0.0029170848429203033,
0.028340039774775505
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.3196377754211426,
-2.0407660007476807,
-0.1518854796886444,
-0.18588894605636597,
0.016327152028679848,
0.08162711560726166,
2.6722872257232666,
-0.47375988960266113,
0,
0,
0,
0.005083629861474037,
0.005694157909601927
] | [
-0.5730118751525879,
-0.003545965300872922,
64.72125244140625,
-0.002273085992783308,
-1.060219645500183,
0.040218256413936615
] | 0 | [
-0.0034859776496887207,
-0.00503888726234436,
-0.018431857228279114,
0.0028652986511588097,
0.0501808263361454,
0.060537662357091904
] | [
-0.007525444030761719,
0.06611976027488708,
0.003573145717382431,
0.027667522430419922,
-0.0031285174190998077,
-0.011394977569580078,
-0.061919454485177994
] | [
-0.15627971291542053,
0.23206579685211182,
0.030050968751311302,
-2.5911107063293457,
-0.029933320358395576,
2.8498034477233887,
-0.0547274611890316
] | [
-0.004591718316078186,
0.054594069719314575,
0.003915088251233101,
0.028644561767578125,
-0.002631101757287979,
-0.005911827087402344,
-0.049601078033447266
] | 1 | [
-0.004591718316078186,
0.054594069719314575,
0.003915088251233101,
0.028644561767578125,
-0.002631101757287979,
-0.005911827087402344,
-0.049601078033447266,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.48 | 12 | 0 | 12 | 0 |
false | false | 0.029821 | [
0.37420186400413513,
-0.05017244070768356,
0.08041723817586899,
-3.1317391395568848,
-0.004385442938655615,
-1.6241530179977417
] | [
-0.1550675630569458,
0.22369952499866486,
0.02934161201119423,
-2.5938785076141357,
-0.030110029503703117,
2.8467514514923096,
-0.04457666724920273
] | [
-0.1550675630569458,
0.22369952499866486,
0.02934161201119423,
-2.5938785076141357,
-0.030110029503703117,
2.8467514514923096,
-0.04457666724920273,
0.029821006581187248
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.20199395716190338,
-1.6239405870437622,
-0.13760557770729065,
-0.1811981201171875,
0.016039904206991196,
0.07219131290912628,
2.031104326248169,
-0.49801433086395264,
0,
0,
0,
0.00530982343479991,
0.0059517752379179
] | [
0.2856864035129547,
0.006111323833465576,
63.4012565612793,
-0.003409690922126174,
-0.9925513863563538,
0.03926975652575493
] | 0 | [
-0.0008888542652130127,
-0.0033751800656318665,
-0.014293074607849121,
0.003936349879950285,
0.033712342381477356,
0.04819285497069359
] | [
-0.00480341911315918,
0.0529138445854187,
0.003295881673693657,
0.025264501571655273,
-0.002555234357714653,
-0.006624937057495117,
-0.04749375209212303
] | [
-0.15893079340457916,
0.2698172330856323,
0.03261299058794975,
-2.570845127105713,
-0.031664006412029266,
2.847654104232788,
-0.08624720573425293
] | [
-0.0026510804891586304,
0.03775143623352051,
0.0025620218366384506,
0.020265579223632812,
-0.0017306860536336899,
-0.002149343490600586,
-0.03151974454522133
] | 1 | [
-0.0026510804891586304,
0.03775143623352051,
0.0025620218366384506,
0.020265579223632812,
-0.0017306860536336899,
-0.002149343490600586,
-0.03151974454522133,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.52 | 13 | 0 | 13 | 0 |
false | false | 0.02626 | [
0.3735888600349426,
-0.05206779018044472,
0.0710768923163414,
3.130330801010132,
-0.0021245882380753756,
-1.5935581922531128
] | [
-0.15776818990707397,
0.2586665153503418,
0.03150736168026924,
-2.576829671859741,
-0.03177687153220177,
2.843437910079956,
-0.07425124943256378
] | [
-0.15776818990707397,
0.2586665153503418,
0.03150736168026924,
-2.576829671859741,
-0.03177687153220177,
2.843437910079956,
-0.07425124943256378,
0.026259995996952057
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.1105162724852562,
-1.0431667566299438,
-0.08792731910943985,
-0.13106293976306915,
0.014150682836771011,
0.055690452456474304,
1.235801339149475,
-0.451057493686676,
0,
0,
0,
0.004703939892351627,
0.005315179005265236
] | [
0.22491182386875153,
0.01146014779806137,
63.40280532836914,
-0.005178952589631081,
-0.9873552322387695,
0.03686925396323204
] | 0 | [
-0.0006130039691925049,
-0.0018953494727611542,
-0.009340345859527588,
0.0033834318164736032,
0.020964642986655235,
0.03056168183684349
] | [
-0.002700626850128174,
0.03496699035167694,
0.002165749669075012,
0.01704883575439453,
-0.0016668420284986496,
-0.0033135414123535156,
-0.029674582183361053
] | [
-0.1597428321838379,
0.2836783230304718,
0.033434607088565826,
-2.563880681991577,
-0.03225737065076828,
2.847263813018799,
-0.0967724397778511
] | [
-0.000812038779258728,
0.013861089944839478,
0.0008216165006160736,
0.006964445114135742,
-0.0005933642387390137,
-0.0003902912139892578,
-0.010525234043598175
] | 1 | [
-0.000812038779258728,
0.013861089944839478,
0.0008216165006160736,
0.006964445114135742,
-0.0005933642387390137,
-0.0003902912139892578,
-0.010525234043598175,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.56 | 14 | 0 | 14 | 0 |
false | false | 0.026916 | [
0.37337133288383484,
-0.05255652591586113,
0.06846396625041962,
3.1240181922912598,
-0.0012594809522852302,
-1.5851742029190063
] | [
-0.15845105051994324,
0.26812267303466797,
0.032076966017484665,
-2.5721442699432373,
-0.032349228858947754,
2.8418753147125244,
-0.08225192874670029
] | [
-0.15845105051994324,
0.26812267303466797,
0.032076966017484665,
-2.5721442699432373,
-0.032349228858947754,
2.8418753147125244,
-0.08225192874670029,
0.026916369795799255
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0,
0,
0,
0,
0,
0,
0,
-0.4579520523548126,
0,
0,
0,
0.005293521098792553,
0.005869229324162006
] | [
0.12821657955646515,
0.00030834300559945405,
63.419273376464844,
-0.003067576792091131,
-1.0013549327850342,
0.035400621592998505
] | 0 | [
-0.00021752715110778809,
-0.0004887357354164124,
-0.0026129260659217834,
0.0010085301473736763,
0.006291169673204422,
0.008376299403607845
] | [
-0.0006828606128692627,
0.009456157684326172,
0.0005696043372154236,
0.004685401916503906,
-0.0005723573267459869,
-0.0015625953674316406,
-0.008000679314136505
] | [
-0.15846538543701172,
0.26813575625419617,
0.03209756314754486,
-2.5721933841705322,
-0.032249413430690765,
2.842524766921997,
-0.08225412666797638
] | [
0.0012774467468261719,
-0.015542566776275635,
-0.0013370439410209656,
-0.008312702178955078,
0.000007957220077514648,
-0.004739046096801758,
0.014518313109874725
] | 1 | [
0.0012774467468261719,
-0.015542566776275635,
-0.0013370439410209656,
-0.008312702178955078,
0.000007957220077514648,
-0.004739046096801758,
0.014518313109874725,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.6 | 15 | 0 | 15 | 0 |
false | false | 0.026908 | [
0.37278029322624207,
-0.0525425523519516,
0.06842819601297379,
3.120849132537842,
-0.0011783253867179155,
-1.5847691297531128
] | [
-0.15836302936077118,
0.2681381404399872,
0.03195153921842575,
-2.5719704627990723,
-0.03282668814063072,
2.838555335998535,
-0.08223596960306168
] | [
-0.15836302936077118,
0.2681381404399872,
0.03195153921842575,
-2.5719704627990723,
-0.03282668814063072,
2.838555335998535,
-0.08223596960306168,
0.02690751664340496
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
-0.004723735153675079,
-0.0009103039046749473,
0.007681462448090315,
-0.004302777349948883,
0.010242970660328865,
0.05909724161028862,
0.00035917715285904706,
-0.4583818316459656,
0,
0,
0,
0.005285591818392277,
0.005862060468643904
] | [
0.13216553628444672,
0.000975666509475559,
63.410789489746094,
-0.0032447022385895252,
-1.0006526708602905,
0.03531341999769211
] | 0 | [
-0.0005910396575927734,
0.00001397356390953064,
-0.0000357702374458313,
0.0001267062616534531,
0.0031676513608545065,
0.0004014107689727098
] | [
0.0000880211591720581,
0.000015467405319213867,
-0.00012542679905891418,
0.00017380714416503906,
-0.00047745928168296814,
-0.003319978713989258,
0.00001595914363861084
] | [
-0.15846538543701172,
0.26813575625419617,
0.03209756314754486,
-2.5721933841705322,
-0.032249413430690765,
2.842524766921997,
-0.08225412666797638
] | [
0,
0,
0,
0,
0,
0,
0
] | 0 | [
0,
0,
0,
0,
0,
0,
0,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.64 | 16 | 0 | 16 | 0 |
false | false | 0.026955 | [
0.3738524615764618,
-0.05186103656888008,
0.06843557208776474,
3.1265201568603516,
0.0006381464772857726,
-1.5917706489562988
] | [
-0.158580020070076,
0.2682584524154663,
0.03306463360786438,
-2.572244882583618,
-0.026228273287415504,
2.8444271087646484,
-0.08067647367715836
] | [
-0.158580020070076,
0.2682584524154663,
0.03306463360786438,
-2.572244882583618,
-0.026228273287415504,
2.8444271087646484,
-0.08067647367715836,
0.026954608038067818
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.3655162453651428,
-0.43186160922050476,
0.32786715030670166,
0.5617766976356506,
0.019460201263427734,
0.14494165778160095,
-0.0014738738536834717,
-0.4570086598396301,
0,
0,
0,
0.005255873315036297,
0.005830699577927589
] | [
0.2931903600692749,
-0.07916644215583801,
63.22665023803711,
0.004374012816697359,
-0.9733871221542358,
0.033035457134246826
] | 0 | [
0.0010721683502197266,
0.0006815157830715179,
0.00000737607479095459,
0.0017370659625157714,
-0.005695919506251812,
-0.0070048547349870205
] | [
-0.00021699070930480957,
0.00012031197547912598,
0.0011130943894386292,
-0.00027441978454589844,
0.006598414853215218,
0.005871772766113281,
0.0015594959259033203
] | [
-0.08277581632137299,
0.19242754578590393,
0.10855520516633987,
-2.4964449405670166,
0.030850527808070183,
2.910102367401123,
-0.005284897983074188
] | [
0.07568956911563873,
-0.07570821046829224,
0.07645764201879501,
0.07574844360351562,
0.0630999431014061,
0.06757760047912598,
0.07696922868490219
] | 0 | [
0.07568956911563873,
-0.07570821046829224,
0.07645764201879501,
0.07574844360351562,
0.0630999431014061,
0.06757760047912598,
0.07696922868490219,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.68 | 17 | 0 | 17 | 0 |
false | false | 0.027002 | [
0.37578830122947693,
-0.050976406782865524,
0.06870492547750473,
3.134690999984741,
0.0026102804113179445,
-1.5990506410598755
] | [
-0.15838678181171417,
0.26831722259521484,
0.034463267773389816,
-2.571601390838623,
-0.018672369420528412,
2.8518290519714355,
-0.0790785700082779
] | [
-0.15838678181171417,
0.26831722259521484,
0.034463267773389816,
-2.571601390838623,
-0.018672369420528412,
2.8518290519714355,
-0.0790785700082779,
0.02700204961001873
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.2907123267650604,
-0.4149545729160309,
0.26709139347076416,
0.4899753928184509,
0.020577698945999146,
0.12971121072769165,
-0.0007666051387786865,
-0.45864489674568176,
0,
0,
0,
0.005290274508297443,
0.005865412298589945
] | [
0.2173367440700531,
-0.06090977042913437,
63.25600051879883,
0.00263965898193419,
-0.9824533462524414,
0.033517174422740936
] | 0 | [
0.0019358396530151367,
0.0008846297860145569,
0.00026935338973999023,
0.0018004195298999548,
-0.008210336789488792,
-0.007300862576812506
] | [
0.0001932382583618164,
0.000058770179748535156,
0.0013986341655254364,
0.0006434917449951172,
0.007555903866887093,
0.007401943206787109,
0.0015979036688804626
] | [
-0.08266416192054749,
0.1925143003463745,
0.10989099740982056,
-2.4960532188415527,
0.038413047790527344,
2.917445421218872,
-0.0036860257387161255
] | [
0.00011165440082550049,
0.00008675456047058105,
0.0013357922434806824,
0.0003917217254638672,
0.007562519982457161,
0.0073430538177490234,
0.0015988722443580627
] | 0 | [
0.00011165440082550049,
0.00008675456047058105,
0.0013357922434806824,
0.0003917217254638672,
0.007562519982457161,
0.0073430538177490234,
0.0015988722443580627,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.72 | 18 | 0 | 18 | 0 |
false | false | 0.026991 | [
0.3782889246940613,
-0.05007324367761612,
0.06926029175519943,
-3.139394998550415,
0.004141278564929962,
-1.6046013832092285
] | [
-0.15793903172016144,
0.2682417035102844,
0.03600868582725525,
-2.5699548721313477,
-0.01253641489893198,
2.859071731567383,
-0.07746536284685135
] | [
-0.15793903172016144,
0.2682417035102844,
0.03600868582725525,
-2.5699548721313477,
-0.01253641489893198,
2.859071731567383,
-0.07746536284685135,
0.026990998536348343
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.24657195806503296,
-0.39268338680267334,
0.2555694282054901,
0.41402652859687805,
-0.04159806668758392,
0.12743785977363586,
-0.006275683641433716,
-0.4590812921524048,
0,
0,
0,
0.005295061971992254,
0.005870318040251732
] | [
0.2089678794145584,
-0.10910167545080185,
63.257545471191406,
0.006902600172907114,
-0.9838349223136902,
0.030367424711585045
] | 0 | [
0.0025006234645843506,
0.0009031631052494049,
0.0005553662776947021,
0.0012734945630654693,
-0.009138703346252441,
-0.00558714522048831
] | [
0.0004477500915527344,
-0.00007551908493041992,
0.0015454180538654327,
0.0016465187072753906,
0.006135954521596432,
0.007242679595947266,
0.0016132071614265442
] | [
-0.0822536051273346,
0.19247320294380188,
0.11142164468765259,
-2.4946775436401367,
0.014293073676526546,
2.920654773712158,
-0.002086751163005829
] | [
0.0004105567932128906,
-0.000041097402572631836,
0.0015306472778320312,
0.0013756752014160156,
-0.024119973182678223,
0.003209352493286133,
0.0015992745757102966
] | 0 | [
0.0004105567932128906,
-0.000041097402572631836,
0.0015306472778320312,
0.0013756752014160156,
-0.024119973182678223,
0.003209352493286133,
0.0015992745757102966,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.76 | 19 | 0 | 19 | 0 |
false | false | 0.026966 | [
0.3812851011753082,
-0.04923566058278084,
0.07009057700634003,
-3.1295006275177,
0.004897302947938442,
-1.6074118614196777
] | [
-0.15737773478031158,
0.268008291721344,
0.03768858686089516,
-2.567415475845337,
-0.008999209851026535,
2.8661186695098877,
-0.07587265968322754
] | [
-0.15737773478031158,
0.268008291721344,
0.03768858686089516,
-2.567415475845337,
-0.008999209851026535,
2.8661186695098877,
-0.07587265968322754,
0.026965565979480743
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.21529297530651093,
-0.3650633990764618,
0.20351451635360718,
0.3628019690513611,
0.013504371047019958,
0.11634126305580139,
0.0007597804069519043,
-0.4591425657272339,
0,
0,
0,
0.005293940659612417,
0.005869538988918066
] | [
0.12915988266468048,
-0.06215902417898178,
63.280094146728516,
0.002855858765542507,
-0.9925466775894165,
0.03379661217331886
] | 0 | [
0.0029961764812469482,
0.0008375830948352814,
0.0008302852511405945,
0.00042140542063862085,
-0.00991420354694128,
-0.0028574569150805473
] | [
0.0005612969398498535,
-0.0002334117889404297,
0.0016799010336399078,
0.002539396286010742,
0.003537205047905445,
0.007046937942504883,
0.0015927031636238098
] | [
-0.08173781633377075,
0.1922837793827057,
0.11305209994316101,
-2.4923126697540283,
0.017951402813196182,
2.927640676498413,
-0.0004897192120552063
] | [
0.0005157887935638428,
-0.0001894235610961914,
0.0016304552555084229,
0.0023648738861083984,
0.0036583291366696358,
0.006985902786254883,
0.0015970319509506226
] | 0 | [
0.0005157887935638428,
-0.0001894235610961914,
0.0016304552555084229,
0.0023648738861083984,
0.0036583291366696358,
0.006985902786254883,
0.0015970319509506226,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.8 | 20 | 0 | 20 | 0 |
false | false | 0.026989 | [
0.3847108781337738,
-0.04830499365925789,
0.07115693390369415,
-3.1186447143554688,
0.005645693279802799,
-1.6098130941390991
] | [
-0.15661852061748505,
0.2675916850566864,
0.03952756151556969,
-2.5642518997192383,
-0.005522122606635094,
2.8733041286468506,
-0.07428403943777084
] | [
-0.15661852061748505,
0.2675916850566864,
0.03952756151556969,
-2.5642518997192383,
-0.005522122606635094,
2.8733041286468506,
-0.07428403943777084,
0.026988878846168518
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.17319181561470032,
-0.33532530069351196,
0.16807806491851807,
0.3206797242164612,
0.014813721179962158,
0.11102482676506042,
0.0014082789421081543,
-0.4595423638820648,
0,
0,
0,
0.00530161801725626,
0.0058775851503014565
] | [
0.1384650319814682,
-0.04891003668308258,
63.22246551513672,
0.0015042437007650733,
-0.9927268028259277,
0.03408690169453621
] | 0 | [
0.003425776958465576,
0.0009306669235229492,
0.001066356897354126,
0.00035079699591733515,
-0.010876012034714222,
-0.0024601195473223925
] | [
0.0007592141628265381,
-0.0004166066646575928,
0.00183897465467453,
0.003163576126098633,
0.0034770872443914413,
0.007185459136962891,
0.0015886202454566956
] | [
-0.0810249000787735,
0.19191280007362366,
0.1148548573255539,
-2.4892966747283936,
0.021433277055621147,
2.934800386428833,
0.0010996237397193909
] | [
0.0007129162549972534,
-0.00037097930908203125,
0.0018027573823928833,
0.0030159950256347656,
0.003481874242424965,
0.007159709930419922,
0.0015893429517745972
] | 0 | [
0.0007129162549972534,
-0.00037097930908203125,
0.0018027573823928833,
0.0030159950256347656,
0.003481874242424965,
0.007159709930419922,
0.0015893429517745972,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.84 | 21 | 0 | 21 | 0 |
false | false | 0.026954 | [
0.388384610414505,
-0.04779291898012161,
0.0725138783454895,
-3.1084091663360596,
0.003931072540581226,
-1.6048513650894165
] | [
-0.15594066679477692,
0.26701533794403076,
0.04117020592093468,
-2.5600366592407227,
-0.010115841403603554,
2.8788015842437744,
-0.07265166193246841
] | [
-0.15594066679477692,
0.26701533794403076,
0.04117020592093468,
-2.5600366592407227,
-0.010115841403603554,
2.8788015842437744,
-0.07265166193246841,
0.026953766122460365
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.21755190193653107,
-0.3103068470954895,
0.20655524730682373,
0.2449227273464203,
-0.013677477836608887,
0.10761132836341858,
0.0014507174491882324,
-0.4598503112792969,
0,
0,
0,
0.005300185643136501,
0.005876465234905481
] | [
0.13359330594539642,
-0.1178213432431221,
63.225181579589844,
0.008652773685753345,
-0.994840145111084,
0.03289700672030449
] | 0 | [
0.003673732280731201,
0.0005120746791362762,
0.0013569444417953491,
-0.002112370217218995,
-0.010160611942410469,
0.004923279397189617
] | [
0.0006778538227081299,
-0.0005763471126556396,
0.0016426444053649902,
0.004215240478515625,
-0.00459371879696846,
0.005497455596923828,
0.0016323775053024292
] | [
-0.08029672503471375,
0.19137558341026306,
0.11653777956962585,
-2.485347270965576,
-0.055051881819963455,
2.9285295009613037,
0.0026126280426979065
] | [
0.0007281750440597534,
-0.0005372166633605957,
0.0016829222440719604,
0.003949403762817383,
-0.07648515701293945,
-0.006270885467529297,
0.0015130043029785156
] | 0 | [
0.0007281750440597534,
-0.0005372166633605957,
0.0016829222440719604,
0.003949403762817383,
-0.07648515701293945,
-0.006270885467529297,
0.0015130043029785156,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.88 | 22 | 0 | 22 | 0 |
false | false | 0.02113 | [
0.39170941710472107,
-0.04723360389471054,
0.07426108419895172,
-3.0995290279388428,
0.001761523075401783,
-1.5980641841888428
] | [
-0.15521468222141266,
0.2662131190299988,
0.04294346645474434,
-2.55545973777771,
-0.016355186700820923,
2.882823944091797,
-0.07112393528223038
] | [
-0.15521468222141266,
0.2662131190299988,
0.04294346645474434,
-2.55545973777771,
-0.016355186700820923,
2.882823944091797,
-0.07112393528223038,
0.021130116656422615
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.2005724310874939,
-0.26455071568489075,
0.16963785886764526,
0.22962936758995056,
0.006536215543746948,
0.3412803113460541,
-0.005453050136566162,
-0.4047708809375763,
0,
0,
0,
0.0043027144856750965,
0.004828920587897301
] | [
0.26767024397850037,
-0.11535631120204926,
64.38394165039062,
0.017896447330713272,
-0.8148528933525085,
0.05047113075852394
] | 0 | [
0.0033248066902160645,
0.0005593150854110718,
0.0017472058534622192,
-0.0024705887772142887,
-0.008801204152405262,
0.006772678345441818
] | [
0.0007259845733642578,
-0.0008022189140319824,
0.0017732605338096619,
0.004576921463012695,
-0.006239345297217369,
0.004022359848022461,
0.0015277266502380371
] | [
-0.07959912717342377,
0.1906498372554779,
0.11829143762588501,
-2.4807722568511963,
-0.061264537274837494,
2.9335296154022217,
0.004159659147262573
] | [
0.000697597861289978,
-0.0007257461547851562,
0.0017536580562591553,
0.004575014114379883,
-0.006212655454874039,
0.005000114440917969,
0.0015470311045646667
] | 0 | [
0.000697597861289978,
-0.0007257461547851562,
0.0017536580562591553,
0.004575014114379883,
-0.006212655454874039,
0.005000114440917969,
0.0015470311045646667,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.92 | 23 | 0 | 23 | 0 |
false | false | 0.023791 | [
0.3946939706802368,
-0.046580810099840164,
0.07560756802558899,
-3.0929298400878906,
-0.000537460669875145,
-1.5902966260910034
] | [
-0.15443651378154755,
0.26502957940101624,
0.04475432261824608,
-2.55147647857666,
-0.023528462275862694,
2.8840444087982178,
-0.0696093812584877
] | [
-0.15443651378154755,
0.26502957940101624,
0.04475432261824608,
-2.55147647857666,
-0.023528462275862694,
2.8840444087982178,
-0.0696093812584877,
0.023790938779711723
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.19252461194992065,
-0.2151079624891281,
0.17051419615745544,
0.2821010649204254,
-0.0902518630027771,
0.2541578412055969,
0.03000587224960327,
-0.42836472392082214,
0,
0,
0,
0.0050188954919576645,
0.0055429451167583466
] | [
1.6444379091262817,
-0.32732632756233215,
62.09381103515625,
0.055374521762132645,
-0.7057023048400879,
0.04785948246717453
] | 0 | [
0.002984553575515747,
0.0006527937948703766,
0.001346483826637268,
-0.0024780677631497383,
-0.006534085143357515,
0.007771685253828764
] | [
0.0007781684398651123,
-0.001183539628982544,
0.0018108561635017395,
0.003983259201049805,
-0.007173275575041771,
0.0012204647064208984,
0.0015145540237426758
] | [
-0.07882795482873917,
0.18953806161880493,
0.12010881304740906,
-2.4766368865966797,
-0.095156729221344,
2.9302375316619873,
0.0034725889563560486
] | [
0.0007711723446846008,
-0.0011117756366729736,
0.0018173754215240479,
0.0041353702545166016,
-0.0338921919465065,
-0.003292083740234375,
-0.0006870701909065247
] | 0 | [
0.0007711723446846008,
-0.0011117756366729736,
0.0018173754215240479,
0.0041353702545166016,
-0.0338921919465065,
-0.003292083740234375,
-0.0006870701909065247,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.96 | 24 | 0 | 24 | 0 |
false | false | 0.02433 | [
0.3971688151359558,
-0.046022314578294754,
0.07699872553348541,
-3.0877132415771484,
-0.0036478738766163588,
-1.5803420543670654
] | [
-0.1536836326122284,
0.26360976696014404,
0.0464361310005188,
-2.5480690002441406,
-0.0331319198012352,
2.884610414505005,
-0.06814504414796829
] | [
-0.1536836326122284,
0.26360976696014404,
0.0464361310005188,
-2.5480690002441406,
-0.0331319198012352,
2.884610414505005,
-0.06814504414796829,
0.02432992123067379
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.19754251837730408,
-0.16764292120933533,
0.20472940802574158,
0.3300429582595825,
-0.02608346939086914,
0.2972920835018158,
-0.020458191633224487,
-0.38838961720466614,
0,
0,
0,
0.004669664893299341,
0.005132331978529692
] | [
1.5817101001739502,
-0.64533531665802,
61.88673782348633,
0.15991762280464172,
-0.708499550819397,
0.050479013472795486
] | 0 | [
0.002474844455718994,
0.0005584955215454102,
0.0013911575078964233,
-0.003211590461432934,
-0.005154842976480722,
0.0099736163392663
] | [
0.0007528811693191528,
-0.0014198124408721924,
0.0016818083822727203,
0.0034074783325195312,
-0.009603457525372505,
0.0005660057067871094,
0.0014643371105194092
] | [
-0.07806957513093948,
0.18819081783294678,
0.12182587385177612,
-2.4730494022369385,
-0.10462556034326553,
2.9308810234069824,
0.004939839243888855
] | [
0.0007583796977996826,
-0.0013472437858581543,
0.0017170608043670654,
0.003587484359741211,
-0.00946883112192154,
0.0006434917449951172,
0.0014672502875328064
] | 0 | [
0.0007583796977996826,
-0.0013472437858581543,
0.0017170608043670654,
0.003587484359741211,
-0.00946883112192154,
0.0006434917449951172,
0.0014672502875328064,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1 | 25 | 0 | 25 | 0 |
false | false | 0.02292 | [
0.399442195892334,
-0.04554464668035507,
0.07843044400215149,
-3.082131862640381,
-0.006954820826649666,
-1.5704354047775269
] | [
-0.15303964912891388,
0.26206645369529724,
0.0479872040450573,
-2.5451719760894775,
-0.0429539680480957,
2.885941982269287,
-0.06668678671121597
] | [
-0.15303964912891388,
0.26206645369529724,
0.0479872040450573,
-2.5451719760894775,
-0.0429539680480957,
2.885941982269287,
-0.06668678671121597,
0.02291957102715969
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.21369668841362,
-0.1589294970035553,
0.2538885772228241,
0.35396289825439453,
-0.0002682209014892578,
0.26103565096855164,
0.01784917712211609,
-0.40418359637260437,
0,
0,
0,
0.004660538863390684,
0.005158443469554186
] | [
1.651451826095581,
-0.5521571040153503,
62.1342887878418,
0.13773147761821747,
-0.6865009069442749,
0.050668369978666306
] | 0 | [
0.002273380756378174,
0.000477667897939682,
0.0014317184686660767,
-0.003360179252922535,
-0.005549492780119181,
0.009945735335350037
] | [
0.0006439834833145142,
-0.0015433132648468018,
0.001551073044538498,
0.002897024154663086,
-0.009822048246860504,
0.0013315677642822266,
0.0014582574367523193
] | [
-0.0773892030119896,
0.18666338920593262,
0.12339915335178375,
-2.470071792602539,
-0.11438819766044617,
2.932138204574585,
0.006398513913154602
] | [
0.0006803721189498901,
-0.0015274286270141602,
0.0015732795000076294,
0.002977609634399414,
-0.009762637317180634,
0.001257181167602539,
0.001458674669265747
] | 0 | [
0.0006803721189498901,
-0.0015274286270141602,
0.0015732795000076294,
0.002977609634399414,
-0.009762637317180634,
0.001257181167602539,
0.001458674669265747,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.04 | 26 | 0 | 26 | 0 |
false | false | 0.021726 | [
0.4015665054321289,
-0.045161571353673935,
0.07982911169528961,
-3.076564073562622,
-0.010422655381262302,
-1.5604504346847534
] | [
-0.15251469612121582,
0.26036739349365234,
0.04940854012966156,
-2.5427517890930176,
-0.052917540073394775,
2.887639284133911,
-0.0654400885105133
] | [
-0.15251469612121582,
0.26036739349365234,
0.04940854012966156,
-2.5427517890930176,
-0.052917540073394775,
2.887639284133911,
-0.0654400885105133,
0.02172573283314705
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.22864839434623718,
-0.12773188948631287,
0.3075491487979889,
0.3928012251853943,
-0.0013643503189086914,
0.31037992238998413,
0.14333949983119965,
-0.3859894573688507,
0,
0,
0,
0.004559739492833614,
0.005016902461647987
] | [
1.9276844263076782,
-0.6372457146644592,
62.173728942871094,
0.15809136629104614,
-0.5947814583778381,
0.056642062962055206
] | 0 | [
0.002124309539794922,
0.0003830753266811371,
0.0013986676931381226,
-0.0034659882076084614,
-0.005568735301494598,
0.010043003596365452
] | [
0.0005249530076980591,
-0.0016990602016448975,
0.0014213360846042633,
0.002420186996459961,
-0.009963572025299072,
0.0016973018646240234,
0.0012466982007026672
] | [
-0.07683242857456207,
0.1850152611732483,
0.12474988400936127,
-2.4675076007843018,
-0.12595312297344208,
2.9449026584625244,
-0.0016839876770973206
] | [
0.0005567744374275208,
-0.0016481280326843262,
0.0013507306575775146,
0.0025641918182373047,
-0.01156492531299591,
0.012764453887939453,
-0.008082501590251923
] | 0 | [
0.0005567744374275208,
-0.0016481280326843262,
0.0013507306575775146,
0.0025641918182373047,
-0.01156492531299591,
0.012764453887939453,
-0.008082501590251923,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.08 | 27 | 0 | 27 | 0 |
false | false | 0.021987 | [
0.4035733640193939,
-0.04486755654215813,
0.08114480972290039,
-3.0710208415985107,
-0.014015489257872105,
-1.5506232976913452
] | [
-0.15214282274246216,
0.2584746778011322,
0.05070425570011139,
-2.540823459625244,
-0.06301087141036987,
2.8894991874694824,
-0.06420446187257767
] | [
-0.15214282274246216,
0.2584746778011322,
0.05070425570011139,
-2.540823459625244,
-0.06301087141036987,
2.8894991874694824,
-0.06420446187257767,
0.021986868232488632
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.26340216398239136,
-0.10202458500862122,
0.31741827726364136,
0.4231031537055969,
-0.0010445117950439453,
0.3155338764190674,
0.14726358652114868,
-0.3995269536972046,
0,
0,
0,
0.004532300867140293,
0.005016691517084837
] | [
1.7376410961151123,
-0.7300599217414856,
62.40901184082031,
0.18426671624183655,
-0.6416596174240112,
0.06114852428436279
] | 0 | [
0.0020068585872650146,
0.0002940148115158081,
0.0013156980276107788,
-0.0035355128347873688,
-0.005579417571425438,
0.009904877282679081
] | [
0.0003718733787536621,
-0.0018927156925201416,
0.001295715570449829,
0.0019283294677734375,
-0.010093331336975098,
0.001859903335571289,
0.0012356266379356384
] | [
-0.07643158733844757,
0.1831534504890442,
0.12607985734939575,
-2.4654765129089355,
-0.13600757718086243,
2.9466984272003174,
-0.000443190336227417
] | [
0.00040084123611450195,
-0.0018618106842041016,
0.0013299733400344849,
0.002031087875366211,
-0.010054454207420349,
0.0017957687377929688,
0.0012407973408699036
] | 0 | [
0.00040084123611450195,
-0.0018618106842041016,
0.0013299733400344849,
0.002031087875366211,
-0.010054454207420349,
0.0017957687377929688,
0.0012407973408699036,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.12 | 28 | 0 | 28 | 0 |
false | false | 0.021725 | [
0.40524181723594666,
-0.04468143358826637,
0.08247116208076477,
-3.0666069984436035,
-0.017682932317256927,
-1.5409016609191895
] | [
-0.1518978774547577,
0.25635722279548645,
0.051837652921676636,
-2.5392603874206543,
-0.07313139736652374,
2.890643358230591,
-0.06313659995794296
] | [
-0.1518978774547577,
0.25635722279548645,
0.051837652921676636,
-2.5392603874206543,
-0.07313139736652374,
2.890643358230591,
-0.06313659995794296,
0.021724658086895943
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.30455321073532104,
-0.052764892578125,
0.3616842031478882,
0.4516069293022156,
0.004856228828430176,
0.3492724299430847,
0.09501063823699951,
-0.3621784746646881,
0,
0,
0,
0.004414598923176527,
0.0048262276686728
] | [
1.9091962575912476,
-0.3930661380290985,
62.29486083984375,
0.09267706423997879,
-0.570142388343811,
0.03176797553896904
] | 0 | [
0.0016684532165527344,
0.00018612295389175415,
0.0013263523578643799,
-0.0035778433084487915,
-0.004486375954002142,
0.00979947205632925
] | [
0.0002449452877044678,
-0.002117455005645752,
0.0011333972215652466,
0.0015630722045898438,
-0.01012052595615387,
0.0011441707611083984,
0.0010678619146347046
] | [
-0.07613099366426468,
0.18111839890480042,
0.1254471093416214,
-2.4638020992279053,
-0.14639371633529663,
2.946274757385254,
-0.01582629233598709
] | [
0.00030059367418289185,
-0.0020350515842437744,
-0.000632748007774353,
0.0016744136810302734,
-0.010386139154434204,
-0.00042366981506347656,
-0.015383101999759674
] | 0 | [
0.00030059367418289185,
-0.0020350515842437744,
-0.000632748007774353,
0.0016744136810302734,
-0.010386139154434204,
-0.00042366981506347656,
-0.015383101999759674,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.16 | 29 | 0 | 29 | 0 |
false | false | 0.021468 | [
0.4067772328853607,
-0.04456399381160736,
0.0837828740477562,
-3.0621178150177,
-0.021381493657827377,
-1.5314013957977295
] | [
-0.151776522397995,
0.25406500697135925,
0.0528908297419548,
-2.538071870803833,
-0.08309611678123474,
2.8919167518615723,
-0.06221024692058563
] | [
-0.151776522397995,
0.25406500697135925,
0.0528908297419548,
-2.538071870803833,
-0.08309611678123474,
2.8919167518615723,
-0.06221024692058563,
0.021467894315719604
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.32040348649024963,
-0.036760419607162476,
0.37948232889175415,
0.47247475385665894,
0.00541532039642334,
0.3262537717819214,
0.08480478823184967,
-0.3671027719974518,
0,
0,
0,
0.004358185455203056,
0.0047949510626494884
] | [
1.598215937614441,
-0.4587593674659729,
62.82830810546875,
0.10752703249454498,
-0.6072936058044434,
0.03530219942331314
] | 0 | [
0.0015354156494140625,
0.00011743977665901184,
0.0013117119669914246,
-0.003562979632988572,
-0.004596572369337082,
0.009596140123903751
] | [
0.00012135505676269531,
-0.0022922158241271973,
0.0010531768202781677,
0.001188516616821289,
-0.009964719414710999,
0.0012733936309814453,
0.0009263530373573303
] | [
-0.07598987966775894,
0.17884886264801025,
0.12652094662189484,
-2.462550401687622,
-0.1563301980495453,
2.9473772048950195,
-0.014895860105752945
] | [
0.0001411139965057373,
-0.002269536256790161,
0.0010738372802734375,
0.0012516975402832031,
-0.009936481714248657,
0.001102447509765625,
0.0009304322302341461
] | 0 | [
0.0001411139965057373,
-0.002269536256790161,
0.0010738372802734375,
0.0012516975402832031,
-0.009936481714248657,
0.001102447509765625,
0.0009304322302341461,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.2 | 30 | 0 | 30 | 0 |
false | false | 0.021098 | [
0.4081656038761139,
-0.044520895928144455,
0.08512233197689056,
-3.0580546855926514,
-0.025150418281555176,
-1.5221327543258667
] | [
-0.1517600119113922,
0.2515769302845001,
0.05384469032287598,
-2.537092924118042,
-0.09306307882070541,
2.8928780555725098,
-0.061268944293260574
] | [
-0.1517600119113922,
0.2515769302845001,
0.05384469032287598,
-2.537092924118042,
-0.09306307882070541,
2.8928780555725098,
-0.061268944293260574,
0.021098431199789047
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.330646812915802,
0.0016970336437225342,
0.4189299941062927,
0.48771023750305176,
-0.0003170967102050781,
0.35352540016174316,
0.16672557592391968,
-0.3471054434776306,
0,
0,
0,
0.004073987249284983,
0.004483383614569902
] | [
1.6791267395019531,
-0.3251219689846039,
62.7049560546875,
0.07066182792186737,
-0.587655782699585,
0.024167222902178764
] | 0 | [
0.0013883709907531738,
0.000043097883462905884,
0.001339457929134369,
-0.0036062283907085657,
-0.004207265563309193,
0.009370644576847553
] | [
0.000016510486602783203,
-0.002488076686859131,
0.0009538605809211731,
0.0009789466857910156,
-0.009966962039470673,
0.0009613037109375,
0.000941302627325058
] | [
-0.07594520598649979,
0.1764189898967743,
0.12749239802360535,
-2.4615116119384766,
-0.1663414090871811,
2.94842791557312,
-0.013967040926218033
] | [
0.000044673681259155273,
-0.002429872751235962,
0.0009714514017105103,
0.0010387897491455078,
-0.010011211037635803,
0.001050710678100586,
0.0009288191795349121
] | 0 | [
0.000044673681259155273,
-0.002429872751235962,
0.0009714514017105103,
0.0010387897491455078,
-0.010011211037635803,
0.001050710678100586,
0.0009288191795349121,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.24 | 31 | 0 | 31 | 0 |
false | false | 0.020559 | [
0.4095016121864319,
-0.04454655200242996,
0.08650843799114227,
-3.0539393424987793,
-0.02903068996965885,
-1.512439250946045
] | [
-0.1516982913017273,
0.24889343976974487,
0.05467796325683594,
-2.5363099575042725,
-0.10284287482500076,
2.8939197063446045,
-0.06102290004491806
] | [
-0.1516982913017273,
0.24889343976974487,
0.05467796325683594,
-2.5363099575042725,
-0.10284287482500076,
2.8939197063446045,
-0.06102290004491806,
0.020559148862957954
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.3149076998233795,
0.030824780464172363,
0.3826608657836914,
0.49929744005203247,
-0.014558017253875732,
0.3458048403263092,
0.1840517222881317,
-0.3488253951072693,
0,
0,
0,
0.004044149070978165,
0.004453911446034908
] | [
1.811009407043457,
-0.6192782521247864,
62.67600631713867,
0.15451925992965698,
-0.5655720233917236,
0.04096507281064987
] | 0 | [
0.0013360083103179932,
-0.000025656074285507202,
0.001386106014251709,
-0.0036758105270564556,
-0.004297551698982716,
0.009813227690756321
] | [
0.00006172060966491699,
-0.002683490514755249,
0.0008332729339599609,
0.0007829666137695312,
-0.009779796004295349,
0.0010416507720947266,
0.00024604424834251404
] | [
-0.07594317197799683,
0.17378868162631989,
0.12207046151161194,
-2.460697650909424,
-0.17608383297920227,
2.9498836994171143,
-0.04871264845132828
] | [
0.000002034008502960205,
-0.0026303082704544067,
-0.005421936511993408,
0.0008139610290527344,
-0.00974242389202118,
0.0014557838439941406,
-0.034745607525110245
] | 0 | [
0.000002034008502960205,
-0.0026303082704544067,
-0.005421936511993408,
0.0008139610290527344,
-0.00974242389202118,
0.0014557838439941406,
-0.034745607525110245,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.28 | 32 | 0 | 32 | 0 |
false | false | 0.021156 | [
0.4109232425689697,
-0.044589780271053314,
0.08791518956422806,
-3.049589157104492,
-0.033008720725774765,
-1.5028390884399414
] | [
-0.1516840159893036,
0.2460460364818573,
0.05549704656004906,
-2.5356099605560303,
-0.11262853443622589,
2.8951408863067627,
-0.060763370245695114
] | [
-0.1516840159893036,
0.2460460364818573,
0.05549704656004906,
-2.5356099605560303,
-0.11262853443622589,
2.8951408863067627,
-0.060763370245695114,
0.021156281232833862
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.34493160247802734,
0.055998653173446655,
0.36256277561187744,
0.503970742225647,
-0.01845628023147583,
0.3377017378807068,
0.061969563364982605,
-0.3560468852519989,
0,
0,
0,
0.004170777276158333,
0.004582961555570364
] | [
1.6094920635223389,
-0.4006887674331665,
62.92155075073242,
0.09446244686841965,
-0.6065189838409424,
0.029208634048700333
] | 0 | [
0.0014216303825378418,
-0.00004322826862335205,
0.001406751573085785,
-0.00371799455024302,
-0.004572382662445307,
0.009743408299982548
] | [
0.000014275312423706055,
-0.0028474032878875732,
0.0008190833032131195,
0.0006999969482421875,
-0.009785659611225128,
0.0012211799621582031,
0.00025952979922294617
] | [
-0.07591018080711365,
0.17097626626491547,
0.12287440896034241,
-2.459982395172119,
-0.1859067678451538,
2.951019525527954,
-0.04846630617976189
] | [
0.00003299117088317871,
-0.002812415361404419,
0.0008039474487304688,
0.0007152557373046875,
-0.009822934865951538,
0.0011358261108398438,
0.000246342271566391
] | 0 | [
0.00003299117088317871,
-0.002812415361404419,
0.0008039474487304688,
0.0007152557373046875,
-0.009822934865951538,
0.0011358261108398438,
0.000246342271566391,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.32 | 33 | 0 | 33 | 0 |
false | false | 0.021966 | [
0.41259709000587463,
-0.04463810846209526,
0.08940686285495758,
-3.044234037399292,
-0.03716838359832764,
-1.492828369140625
] | [
-0.15162362158298492,
0.24314090609550476,
0.056311819702386856,
-2.5348422527313232,
-0.12237035483121872,
2.897308349609375,
-0.06095149740576744
] | [
-0.15162362158298492,
0.24314090609550476,
0.056311819702386856,
-2.5348422527313232,
-0.12237035483121872,
2.897308349609375,
-0.06095149740576744,
0.02196601964533329
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.3131542205810547,
0.06114006042480469,
0.334231972694397,
0.49642688035964966,
-0.020797312259674072,
0.31212660670280457,
0.10036090016365051,
-0.36678770184516907,
0,
0,
0,
0.004264174494892359,
0.004697476979345083
] | [
1.3647464513778687,
-0.2141765058040619,
63.05659484863281,
0.040377721190452576,
-0.6690673232078552,
0.02248385362327099
] | 0 | [
0.0016738474369049072,
-0.00004832819104194641,
0.0014916732907295227,
-0.003787206718698144,
-0.005621488206088543,
0.010209240019321442
] | [
0.00006039440631866455,
-0.002905130386352539,
0.0008147731423377991,
0.0007677078247070312,
-0.009741820394992828,
0.0021674633026123047,
-0.00018812716007232666
] | [
-0.07595284283161163,
0.1683155745267868,
0.11769458651542664,
-2.45924711227417,
-0.19560526311397552,
2.957429885864258,
-0.093377485871315
] | [
-0.00004266202449798584,
-0.002660691738128662,
-0.0051798224449157715,
0.0007352828979492188,
-0.009698495268821716,
0.006410360336303711,
-0.044911179691553116
] | 0 | [
-0.00004266202449798584,
-0.002660691738128662,
-0.0051798224449157715,
0.0007352828979492188,
-0.009698495268821716,
0.006410360336303711,
-0.044911179691553116,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.36 | 34 | 0 | 34 | 0 |
false | false | 0.022948 | [
0.4146844744682312,
-0.044674474745988846,
0.09102359414100647,
-3.0374350547790527,
-0.04163172096014023,
-1.4821419715881348
] | [
-0.1514436900615692,
0.24027107656002045,
0.057110436260700226,
-2.533787727355957,
-0.1322544515132904,
2.90075421333313,
-0.061630647629499435
] | [
-0.1514436900615692,
0.24027107656002045,
0.057110436260700226,
-2.533787727355957,
-0.1322544515132904,
2.90075421333313,
-0.061630647629499435,
0.022948384284973145
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.30050039291381836,
0.05430459976196289,
0.32124489545822144,
0.4709867537021637,
-0.006491243839263916,
0.26265716552734375,
0.07328689098358154,
-0.3793596029281616,
0,
0,
0,
0.004399380646646023,
0.004852996673434973
] | [
1.1071103811264038,
-0.4301482141017914,
63.112525939941406,
0.10296294838190079,
-0.7366384267807007,
0.03645826131105423
] | 0 | [
0.0020873844623565674,
-0.000036366283893585205,
0.0016167312860488892,
-0.00392163684591651,
-0.007120173890143633,
0.01096793357282877
] | [
0.00017993152141571045,
-0.002869829535484314,
0.0007986165583133698,
0.001054525375366211,
-0.009884096682071686,
0.003445863723754883,
-0.0006791502237319946
] | [
-0.0757923573255539,
0.16543355584144592,
0.11849360167980194,
-2.4582934379577637,
-0.20540966093540192,
2.9606311321258545,
-0.09404082596302032
] | [
0.00016048550605773926,
-0.0028820186853408813,
0.0007990151643753052,
0.00095367431640625,
-0.009804397821426392,
0.0032012462615966797,
-0.0006633400917053223
] | 0 | [
0.00016048550605773926,
-0.0028820186853408813,
0.0007990151643753052,
0.00095367431640625,
-0.009804397821426392,
0.0032012462615966797,
-0.0006633400917053223,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.4 | 35 | 0 | 35 | 0 |
false | false | 0.02478 | [
0.41729438304901123,
-0.04467862844467163,
0.09279172122478485,
-3.029555320739746,
-0.046389468014240265,
-1.4712330102920532
] | [
-0.15123222768306732,
0.23753167688846588,
0.05795079469680786,
-2.5321850776672363,
-0.1423417329788208,
2.9054131507873535,
-0.06233520433306694
] | [
-0.15123222768306732,
0.23753167688846588,
0.05795079469680786,
-2.5321850776672363,
-0.1423417329788208,
2.9054131507873535,
-0.06233520433306694,
0.02478017471730709
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.29795095324516296,
0.027700990438461304,
0.29941946268081665,
0.42895182967185974,
0.00029271841049194336,
0.20080386102199554,
0.05057547986507416,
-0.4127451777458191,
0,
0,
0,
0.004793188069015741,
0.005293810274451971
] | [
-0.28591006994247437,
-0.36430811882019043,
64.77116394042969,
0.0783107578754425,
-0.9578738212585449,
0.04116387665271759
] | 0 | [
0.0026099085807800293,
-0.000004153698682785034,
0.0017681270837783813,
-0.004043567925691605,
-0.00826176255941391,
0.011272700503468513
] | [
0.0002114623785018921,
-0.0027393996715545654,
0.0008403584361076355,
0.0016026496887207031,
-0.010087281465530396,
0.004658937454223633,
-0.0007045567035675049
] | [
-0.07559028267860413,
0.1626415252685547,
0.11931440234184265,
-2.4568514823913574,
-0.21546509861946106,
2.964919328689575,
-0.0947398692369461
] | [
0.00020207464694976807,
-0.0027920305728912354,
0.0008208006620407104,
0.00144195556640625,
-0.010055437684059143,
0.004288196563720703,
-0.0006990432739257812
] | 0 | [
0.00020207464694976807,
-0.0027920305728912354,
0.0008208006620407104,
0.00144195556640625,
-0.010055437684059143,
0.004288196563720703,
-0.0006990432739257812,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.44 | 36 | 0 | 36 | 0 |
false | false | 0.025987 | [
0.4206298887729645,
-0.04458443820476532,
0.09470084309577942,
-3.018871545791626,
-0.05143249034881592,
-1.4596128463745117
] | [
-0.1509835124015808,
0.23529620468616486,
0.05899873748421669,
-2.5297653675079346,
-0.15241903066635132,
2.9121458530426025,
-0.06360704451799393
] | [
-0.1509835124015808,
0.23529620468616486,
0.05899873748421669,
-2.5297653675079346,
-0.15241903066635132,
2.9121458530426025,
-0.06360704451799393,
0.025987442582845688
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.2871057391166687,
0.08509963750839233,
0.25654253363609314,
0.36639639735221863,
-0.00039273500442504883,
0.12439650297164917,
0.006633341312408447,
-0.4443792700767517,
0,
0,
0,
0.005179579369723797,
0.005731392651796341
] | [
-0.6336405873298645,
-0.18392083048820496,
65.10643005371094,
0.02396269142627716,
-1.0438140630722046,
0.03417027369141579
] | 0 | [
0.003335505723953247,
0.00009419023990631104,
0.0019091218709945679,
-0.003960383590310812,
-0.011118384078145027,
0.012164483778178692
] | [
0.00024871528148651123,
-0.0022354722023010254,
0.0010479427874088287,
0.002419710159301758,
-0.010077297687530518,
0.0067327022552490234,
-0.0012718401849269867
] | [
-0.0754033625125885,
0.18953877687454224,
0.12301358580589294,
-2.454664468765259,
-0.22513669729232788,
2.9759926795959473,
-0.12334814667701721
] | [
0.000186920166015625,
0.02689725160598755,
0.003699183464050293,
0.002187013626098633,
-0.009671598672866821,
0.01107335090637207,
-0.028608277440071106
] | 0 | [
0.000186920166015625,
0.02689725160598755,
0.003699183464050293,
0.002187013626098633,
-0.009671598672866821,
0.01107335090637207,
-0.028608277440071106,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.48 | 37 | 0 | 37 | 0 |
false | false | 0.026294 | [
0.4244426190853119,
-0.04431086406111717,
0.09674873948097229,
-3.0071332454681396,
-0.05665462464094162,
-1.4477018117904663
] | [
-0.15054252743721008,
0.23358753323554993,
0.0602300763130188,
-2.5263876914978027,
-0.1625090092420578,
2.919576406478882,
-0.06487447768449783
] | [
-0.15054252743721008,
0.23358753323554993,
0.0602300763130188,
-2.5263876914978027,
-0.1625090092420578,
2.919576406478882,
-0.06487447768449783,
0.026293981820344925
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.24247832596302032,
0.011110365390777588,
0.21799588203430176,
0.3011816740036011,
0.0006049871444702148,
0.1131722629070282,
0.005333065986633301,
-0.4460621476173401,
0,
0,
0,
0.005209261551499367,
0.005762032698839903
] | [
-0.7357479333877563,
-0.134039968252182,
65.15983581542969,
0.011271324940025806,
-1.06545090675354,
0.033091478049755096
] | 0 | [
0.003812730312347412,
0.0002735741436481476,
0.002047896385192871,
-0.0038933793548494577,
-0.012226996943354607,
0.012568911537528038
] | [
0.00044098496437072754,
-0.0017086714506149292,
0.0012313388288021088,
0.003377676010131836,
-0.010089978575706482,
0.007430553436279297,
-0.0012674331665039062
] | [
-0.0750110000371933,
0.1877211183309555,
0.12420295923948288,
-2.4515130519866943,
-0.23523059487342834,
2.983351707458496,
-0.12461675703525543
] | [
0.00039236247539520264,
-0.001817658543586731,
0.0011893734335899353,
0.003151416778564453,
-0.010093897581100464,
0.007359027862548828,
-0.0012686103582382202
] | 0 | [
0.00039236247539520264,
-0.001817658543586731,
0.0011893734335899353,
0.003151416778564453,
-0.010093897581100464,
0.007359027862548828,
-0.0012686103582382202,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.52 | 38 | 0 | 38 | 0 |
false | false | 0.026352 | [
0.42870044708251953,
-0.04383712634444237,
0.09890563040971756,
-2.994504690170288,
-0.06197390332818031,
-1.4355754852294922
] | [
-0.14996445178985596,
0.23237986862659454,
0.06171494722366333,
-2.5221304893493652,
-0.17239592969417572,
2.927565097808838,
-0.06625375896692276
] | [
-0.14996445178985596,
0.23237986862659454,
0.06171494722366333,
-2.5221304893493652,
-0.17239592969417572,
2.927565097808838,
-0.06625375896692276,
0.02635224536061287
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.22789189219474792,
0.5658371448516846,
0.18915340304374695,
0.23782408237457275,
0.007981181144714355,
0.07698753476142883,
0.0006083548069000244,
-0.45036351680755615,
0,
0,
0,
0.005300899967551231,
0.005856798961758614
] | [
-0.7450825572013855,
-0.13229048252105713,
65.36320495605469,
0.012421194463968277,
-1.0696817636489868,
0.033180709928274155
] | 0 | [
0.004257827997207642,
0.0004737377166748047,
0.0021568909287452698,
-0.003736268961802125,
-0.013162508606910706,
0.012899283319711685
] | [
0.000578075647354126,
-0.0012076646089553833,
0.0014848709106445312,
0.0042572021484375,
-0.00988692045211792,
0.007988691329956055,
-0.0013792812824249268
] | [
-0.07436245679855347,
0.30703529715538025,
0.13242746889591217,
-2.4474990367889404,
-0.24123579263687134,
2.9917516708374023,
-0.13746091723442078
] | [
0.0006485432386398315,
0.11931417882442474,
0.00822450965642929,
0.004014015197753906,
-0.006005197763442993,
0.00839996337890625,
-0.012844160199165344
] | 0 | [
0.0006485432386398315,
0.11931417882442474,
0.00822450965642929,
0.004014015197753906,
-0.006005197763442993,
0.00839996337890625,
-0.012844160199165344,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.56 | 39 | 0 | 39 | 0 |
false | false | 0.026306 | [
0.4333855211734772,
-0.04314641281962395,
0.101004958152771,
-2.9813761711120605,
-0.06726223230361938,
-1.423302173614502
] | [
-0.14924167096614838,
0.23221135139465332,
0.06344988197088242,
-2.5167462825775146,
-0.18198484182357788,
2.9359843730926514,
-0.06775432080030441
] | [
-0.14924167096614838,
0.23221135139465332,
0.06344988197088242,
-2.5167462825775146,
-0.18198484182357788,
2.9359843730926514,
-0.06775432080030441,
0.026306021958589554
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.18120957911014557,
0.39300665259361267,
0.15276303887367249,
0.15776190161705017,
0.0014047026634216309,
0.06858807802200317,
0.0007296502590179443,
-0.45172780752182007,
0,
0,
0,
0.005317179020494223,
0.005874143447726965
] | [
-0.8103774189949036,
-0.12223939597606659,
65.42406463623047,
0.011296078562736511,
-1.077564001083374,
0.033572230488061905
] | 0 | [
0.004685074090957642,
0.0006907135248184204,
0.0020993277430534363,
-0.0034798539709299803,
-0.013692958280444145,
0.013144927099347115
] | [
0.0007227808237075806,
-0.00016851723194122314,
0.0017349347472190857,
0.005384206771850586,
-0.00958891212940216,
0.008419275283813477,
-0.0015005618333816528
] | [
-0.0736902505159378,
0.30661237239837646,
0.13412541151046753,
-2.4423887729644775,
-0.250844806432724,
3.0001447200775146,
-0.1389610469341278
] | [
0.0006722062826156616,
-0.0004229247570037842,
0.0016979426145553589,
0.005110263824462891,
-0.009609013795852661,
0.008393049240112305,
-0.0015001296997070312
] | 0 | [
0.0006722062826156616,
-0.0004229247570037842,
0.0016979426145553589,
0.005110263824462891,
-0.009609013795852661,
0.008393049240112305,
-0.0015001296997070312,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.6 | 40 | 0 | 40 | 0 |
false | false | 0.026165 | [
0.43834349513053894,
-0.04227617383003235,
0.10305538773536682,
-2.968134641647339,
-0.0725989118218422,
-1.4108624458312988
] | [
-0.14834770560264587,
0.23285862803459167,
0.06531466543674469,
-2.5104801654815674,
-0.19151675701141357,
2.9444689750671387,
-0.06925548613071442
] | [
-0.14834770560264587,
0.23285862803459167,
0.06531466543674469,
-2.5104801654815674,
-0.19151675701141357,
2.9444689750671387,
-0.06925548613071442,
0.026165448129177094
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.1453639715909958,
0.2726646363735199,
0.12426343560218811,
0.10151481628417969,
-0.0014914274215698242,
0.06750291585922241,
0.0010263919830322266,
-0.44901716709136963,
0,
0,
0,
0.0052592637948691845,
0.0058156768791377544
] | [
-0.806736171245575,
-0.11108774691820145,
65.41612243652344,
0.009939207695424557,
-1.0780996084213257,
0.03391571715474129
] | 0 | [
0.004957973957061768,
0.0008702389895915985,
0.002050429582595825,
-0.003344066208228469,
-0.013848386704921722,
0.013388159684836864
] | [
0.0008939653635025024,
0.0006472766399383545,
0.0018647834658622742,
0.006266117095947266,
-0.009531915187835693,
0.008484601974487305,
-0.0015011653304100037
] | [
-0.0728352814912796,
0.30708277225494385,
0.13596117496490479,
-2.4363138675689697,
-0.2603882849216461,
3.0086193084716797,
-0.1404617726802826
] | [
0.0008549690246582031,
0.0004703998565673828,
0.0018357634544372559,
0.0060749053955078125,
-0.00954347848892212,
0.008474588394165039,
-0.0015007257461547852
] | 0 | [
0.0008549690246582031,
0.0004703998565673828,
0.0018357634544372559,
0.0060749053955078125,
-0.00954347848892212,
0.008474588394165039,
-0.0015007257461547852,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.64 | 41 | 0 | 41 | 0 |
false | false | 0.026136 | [
0.4432477056980133,
-0.041170891374349594,
0.10501628369092941,
-2.9558563232421875,
-0.0771377682685852,
-1.3999218940734863
] | [
-0.14730601012706757,
0.2340191900730133,
0.06741766631603241,
-2.503635883331299,
-0.1989922970533371,
2.9517996311187744,
-0.07084234803915024
] | [
-0.14730601012706757,
0.2340191900730133,
0.06741766631603241,
-2.503635883331299,
-0.1989922970533371,
2.9517996311187744,
-0.07084234803915024,
0.026135656982660294
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.10814705491065979,
0.20679068565368652,
0.09283369779586792,
0.06448635458946228,
0.005793094635009766,
0.05833759903907776,
0.0015527009963989258,
-0.44762277603149414,
0,
0,
0,
0.005244440399110317,
0.005799098405987024
] | [
-0.8022684454917908,
-0.08103047311306,
65.46102905273438,
0.006880668923258781,
-1.0791832208633423,
0.03469027578830719
] | 0 | [
0.004904210567474365,
0.0011052824556827545,
0.0019608959555625916,
-0.002536983462050557,
-0.012809443287551403,
0.011875235475599766
] | [
0.001041695475578308,
0.0011605620384216309,
0.0021030008792877197,
0.006844282150268555,
-0.007475540041923523,
0.007330656051635742,
-0.0015868619084358215
] | [
-0.07180136442184448,
0.30947795510292053,
0.14087015390396118,
-2.4296014308929443,
-0.24912816286087036,
3.0051217079162598,
-0.14540959894657135
] | [
0.0010339170694351196,
0.0023951828479766846,
0.0049089789390563965,
0.006712436676025391,
0.011260122060775757,
-0.003497600555419922,
-0.004947826266288757
] | 0 | [
0.0010339170694351196,
0.0023951828479766846,
0.0049089789390563965,
0.006712436676025391,
0.011260122060775757,
-0.003497600555419922,
-0.004947826266288757,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.68 | 42 | 0 | 42 | 0 |
false | false | 0.02611 | [
0.44818374514579773,
-0.039930857717990875,
0.1069423034787178,
-2.9439587593078613,
-0.08151371031999588,
-1.3893332481384277
] | [
-0.1461336612701416,
0.23557642102241516,
0.0695890262722969,
-2.496354103088379,
-0.20594893395900726,
2.958674192428589,
-0.07241709530353546
] | [
-0.1461336612701416,
0.23557642102241516,
0.0695890262722969,
-2.496354103088379,
-0.20594893395900726,
2.958674192428589,
-0.07241709530353546,
0.02610994689166546
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0.08754286170005798,
0.14571762084960938,
0.07819890975952148,
0.03682267665863037,
-0.0006629526615142822,
0.06384474039077759,
0.001247704029083252,
-0.4468470811843872,
0,
0,
0,
0.005232182797044516,
0.005785832181572914
] | [
-0.7650600075721741,
-0.07788064330816269,
65.44559478759766,
0.006328658666461706,
-1.0756508111953735,
0.03459586203098297
] | 0 | [
0.004936039447784424,
0.0012400336563587189,
0.0019260197877883911,
-0.0023013839963823557,
-0.01243041642010212,
0.011545940302312374
] | [
0.0011723488569259644,
0.0015572309494018555,
0.002171359956264496,
0.007281780242919922,
-0.006956636905670166,
0.006874561309814453,
-0.0015747472643852234
] | [
-0.07065074145793915,
0.3109447956085205,
0.14302650094032288,
-2.4224133491516113,
-0.2561032474040985,
3.0120134353637695,
-0.14698442816734314
] | [
0.0011506229639053345,
0.0014668405055999756,
0.0021563470363616943,
0.007188081741333008,
-0.006975084543228149,
0.006891727447509766,
-0.0015748292207717896
] | 0 | [
0.0011506229639053345,
0.0014668405055999756,
0.0021563470363616943,
0.007188081741333008,
-0.006975084543228149,
0.006891727447509766,
-0.0015748292207717896,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.72 | 43 | 0 | 43 | 0 |
false | false | 0.026584 | [
0.4522858262062073,
-0.038514669984579086,
0.10863745212554932,
-2.935176372528076,
-0.08386735618114471,
-1.383783221244812
] | [
-0.14429165422916412,
0.23690083622932434,
0.07127813249826431,
-2.489264965057373,
-0.20875905454158783,
2.961535692214966,
-0.07252854108810425
] | [
-0.14429165422916412,
0.23690083622932434,
0.07127813249826431,
-2.489264965057373,
-0.20875905454158783,
2.961535692214966,
-0.07252854108810425,
0.026583900675177574
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
-0.9252136945724487,
-0.5441683530807495,
-0.856041431427002,
-1.0180494785308838,
0.2868034243583679,
-0.3159412443637848,
0.039223551750183105,
-0.43608516454696655,
0,
0,
0,
0.005063669290393591,
0.005626510363072157
] | [
-0.9540861248970032,
0.4281240701675415,
64.0157699584961,
-0.042871907353401184,
-1.1577916145324707,
0.0582282729446888
] | 0 | [
0.004102081060409546,
0.001416187733411789,
0.0016951486468315125,
-0.0007387159857898951,
-0.009033269248902798,
0.006278822664171457
] | [
0.001842007040977478,
0.0013244152069091797,
0.0016891062259674072,
0.007089138031005859,
-0.0028101205825805664,
0.002861499786376953,
-0.00011144578456878662
] | [
-0.22074073553085327,
0.1609993278980255,
-0.0029468536376953125,
-2.566617012023926,
-0.15787720680236816,
2.907475233078003,
0.002069815993309021
] | [
-0.15008999407291412,
-0.149945467710495,
-0.1459733545780182,
-0.14420366287231445,
0.09822604060173035,
-0.1045382022857666,
0.14905424416065216
] | 0 | [
-0.15008999407291412,
-0.149945467710495,
-0.1459733545780182,
-0.14420366287231445,
0.09822604060173035,
-0.1045382022857666,
0.14905424416065216,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.76 | 44 | 0 | 44 | 0 |
false | false | 0.026667 | [
0.4532826244831085,
-0.03740925341844559,
0.10976973921060562,
-2.9369430541992188,
-0.08171909302473068,
-1.3886871337890625
] | [
-0.1419438272714615,
0.23612532019615173,
0.07177525013685226,
-2.4849140644073486,
-0.20237044990062714,
2.954042434692383,
-0.07100921869277954
] | [
-0.1419438272714615,
0.23612532019615173,
0.07177525013685226,
-2.4849140644073486,
-0.20237044990062714,
2.954042434692383,
-0.07100921869277954,
0.02666696347296238
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
-0.8304778337478638,
-0.21937941014766693,
-0.6765143871307373,
-0.8066539764404297,
0.016127735376358032,
-0.019365131855010986,
0.010158300399780273,
-0.4496210515499115,
0,
0,
0,
0.00521491002291441,
0.005776906386017799
] | [
-0.018431920558214188,
0.21166683733463287,
63.7248420715332,
-0.0263350959867239,
-1.0305594205856323,
0.040979307144880295
] | 0 | [
0.0009967982769012451,
0.0011054165661334991,
0.001132287085056305,
0.0017832474550232291,
0.0021296681370586157,
-0.00504840025678277
] | [
0.0023478269577026367,
-0.0007755160331726074,
0.0004971176385879517,
0.004350900650024414,
0.006388604640960693,
-0.007493257522583008,
0.001519322395324707
] | [
-0.21824511885643005,
0.1606748402118683,
-0.0022750571370124817,
-2.561533212661743,
-0.15215101838111877,
2.9010086059570312,
0.003569386899471283
] | [
0.0024956166744232178,
-0.00032448768615722656,
0.0006717965006828308,
0.005083799362182617,
0.00572618842124939,
-0.00646662712097168,
0.001499570906162262
] | 0 | [
0.0024956166744232178,
-0.00032448768615722656,
0.0006717965006828308,
0.005083799362182617,
0.00572618842124939,
-0.00646662712097168,
0.001499570906162262,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.8 | 45 | 0 | 45 | 0 |
false | false | 0.026564 | [
0.4530661702156067,
-0.03683546558022499,
0.11068496108055115,
-2.9407474994659424,
-0.07925015687942505,
-1.394974708557129
] | [
-0.1403096467256546,
0.23407630622386932,
0.07170015573501587,
-2.4830610752105713,
-0.1956838220357895,
2.9457712173461914,
-0.06947435438632965
] | [
-0.1403096467256546,
0.23407630622386932,
0.07170015573501587,
-2.4830610752105713,
-0.1956838220357895,
2.9457712173461914,
-0.06947435438632965,
0.026563776656985283
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
-0.6756672859191895,
-0.03917503356933594,
-0.5496549010276794,
-0.6442307829856873,
0.01573634147644043,
-0.003395557403564453,
0.008591502904891968,
-0.4519665539264679,
0,
0,
0,
0.005222735460847616,
0.005787371192127466
] | [
0.13789942860603333,
0.17438043653964996,
63.73479461669922,
-0.022313855588436127,
-1.0122203826904297,
0.0396411269903183
] | 0 | [
-0.00021645426750183105,
0.0005737878382205963,
0.0009152218699455261,
0.0017407439881935716,
0.004176671616733074,
-0.006589813623577356
] | [
0.0016341805458068848,
-0.0020490139722824097,
-0.00007509440183639526,
0.0018529891967773438,
0.0066866278648376465,
-0.008271217346191406,
0.0015348643064498901
] | [
-0.21644048392772675,
0.1588878333568573,
-0.002220340073108673,
-2.55912184715271,
-0.1454603374004364,
2.8928048610687256,
0.005102626979351044
] | [
0.001804634928703308,
-0.0017870068550109863,
0.000054717063903808594,
0.002411365509033203,
0.006690680980682373,
-0.008203744888305664,
0.0015332400798797607
] | 0 | [
0.001804634928703308,
-0.0017870068550109863,
0.000054717063903808594,
0.002411365509033203,
0.006690680980682373,
-0.008203744888305664,
0.0015332400798797607,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.84 | 46 | 0 | 46 | 0 |
false | false | 0.026542 | [
0.4529231786727905,
-0.0368705615401268,
0.1106611117720604,
-2.941645622253418,
-0.07928991317749023,
-1.394798755645752
] | [
-0.14029434323310852,
0.2340463399887085,
0.0716848373413086,
-2.4829699993133545,
-0.19585926830768585,
2.944761276245117,
-0.06948473304510117
] | [
-0.14029434323310852,
0.2340463399887085,
0.0716848373413086,
-2.4829699993133545,
-0.19585926830768585,
2.944761276245117,
-0.06948473304510117,
0.02654174342751503
] | [
4.630000114440918,
5.409999847412109,
8.0600004196167,
7.28000020980835,
8.039999961853027,
7.179999828338623,
4.630000114440918,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
8.84000015258789,
6.46999979019165,
9.460000038146973,
2.799999952316284,
2.4100000858306885,
1.899999976158142,
8.84000015258789,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
87,
87,
87,
87,
12,
12,
12,
200,
1,
1,
1,
50,
50
] | [
0,
0,
0,
0,
0,
0,
0,
-0.45215171575546265,
0,
0,
0,
0.005207659676671028,
0.005773704964667559
] | [
0.49764513969421387,
0.0012921702582389116,
63.68263244628906,
-0.0034262414555996656,
-0.9686704874038696,
0.03539828956127167
] | 0 | [
-0.0001429915428161621,
-0.00003509595990180969,
-0.000023849308490753174,
-0.00019577768398448825,
0.000874619057867676,
0.00010504860256332904
] | [
0.000015303492546081543,
-0.000029966235160827637,
-0.00001531839370727539,
0.00009107589721679688,
-0.0001754462718963623,
-0.0010099411010742188,
-0.000010378658771514893
] | [
-0.1403096467256546,
0.23407630622386932,
0.07170015573501587,
-2.4830610752105713,
-0.1956838220357895,
2.9457712173461914,
-0.06947435438632965
] | [
0.07613083720207214,
0.07518847286701202,
0.07392049580812454,
0.07606077194213867,
-0.05022348463535309,
0.05296635627746582,
-0.0745769813656807
] | 0 | [
0.07613083720207214,
0.07518847286701202,
0.07392049580812454,
0.07606077194213867,
-0.05022348463535309,
0.05296635627746582,
-0.0745769813656807,
0,
0
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.88 | 47 | 0 | 47 | 0 |
false | false | 0.023192 | [
0.43710702657699585,
-0.03954227641224861,
0.10991305857896805,
-2.9924697875976562,
-0.06581146270036697,
-1.421352505683899
] | [
-0.1324736624956131,
0.21709981560707092,
0.060256991535425186,
-2.5005648136138916,
-0.1587415635585785,
2.8936500549316406,
-0.07933446764945984
] | [
-0.1324736624956131,
0.21709981560707092,
0.060256991535425186,
-2.5005648136138916,
-0.1587415635585785,
2.8936500549316406,
-0.07933446764945984,
0.023192118853330612
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.07422767579555511,
-0.5433710813522339,
-0.5477182269096375,
-0.714337170124054,
1.5585023164749146,
-1.6665425300598145,
-0.2287784218788147,
-0.4518657922744751,
0,
0,
0,
0.005210208240896463,
0.005772965028882027
] | [
2.8109614849090576,
1.038191795349121,
67.51011657714844,
-0.1228671744465828,
-0.7269784212112427,
0.037500109523534775
] | 0 | [
-0.015816152095794678,
-0.002671714872121811,
-0.0007480531930923462,
0.004299505148082972,
0.052275024354457855,
-0.030126532539725304
] | [
0.007820680737495422,
-0.016946524381637573,
-0.011427845805883408,
-0.01759481430053711,
0.03711770474910736,
-0.05111122131347656,
-0.009849734604358673
] | [
-0.1241329237818718,
0.1337289661169052,
0.0036066374741494656,
-2.580836296081543,
-0.002621747087687254,
2.707282066345215,
-0.11914081126451492
] | [
0.016176722943782806,
-0.10034734010696411,
-0.06809351593255997,
-0.09777522087097168,
0.19306208193302155,
-0.23848915100097656,
-0.04966645687818527
] | 1 | [
0.016176722943782806,
-0.10034734010696411,
-0.06809351593255997,
-0.09777522087097168,
0.19306208193302155,
-0.23848915100097656,
-0.04966645687818527,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.92 | 48 | 0 | 48 | 0 |
false | false | 0.023116 | [
0.3995164930820465,
-0.05102009326219559,
0.11250757426023483,
-3.0978124141693115,
-0.03029375523328781,
-1.5114364624023438
] | [
-0.12885494530200958,
0.167068213224411,
0.025823092088103294,
-2.5473685264587402,
-0.06759890168905258,
2.7813165187835693,
-0.10139493644237518
] | [
-0.12885494530200958,
0.167068213224411,
0.025823092088103294,
-2.5473685264587402,
-0.06759890168905258,
2.7813165187835693,
-0.10139493644237518,
0.023116441443562508
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.017597731202840805,
1.340334177017212,
1.4035096168518066,
0.3470841944217682,
-0.41485023498535156,
0.36329108476638794,
0.8589143753051758,
-0.39363613724708557,
0,
0,
0,
0.004528749734163284,
0.005003114230930805
] | [
2.38421630859375,
-0.34636443853378296,
69.15585327148438,
0.03439464792609215,
-0.8053559064865112,
0.0281384140253067
] | 0 | [
-0.03759053349494934,
-0.011477816849946976,
0.0025945156812667847,
0.01922208070755005,
0.10937892645597458,
-0.09409724920988083
] | [
0.0036187171936035156,
-0.05003160238265991,
-0.03443390130996704,
-0.04680371284484863,
0.09114266186952591,
-0.11233353614807129,
-0.022060468792915344
] | [
-0.12214796990156174,
0.13333794474601746,
0.001574940630234778,
-2.578139305114746,
-0.0021000683773308992,
2.7069764137268066,
-0.11453370749950409
] | [
0.0019849538803100586,
-0.00039102137088775635,
-0.0020316969603300095,
0.002696990966796875,
0.0005216787103563547,
-0.0003056526184082031,
0.004607103765010834
] | 1 | [
0.0019849538803100586,
-0.00039102137088775635,
-0.0020316969603300095,
0.002696990966796875,
0.0005216787103563547,
-0.0003056526184082031,
0.004607103765010834,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 1.96 | 49 | 0 | 49 | 0 |
false | false | 0.026932 | [
0.38669461011886597,
-0.05344798415899277,
0.11533147096633911,
-3.1359846591949463,
-0.013597159646451473,
-1.5606521368026733
] | [
-0.12295857816934586,
0.14651159942150116,
0.007056775968521833,
-2.560906410217285,
-0.02868463099002838,
2.7337300777435303,
-0.10012228786945343
] | [
-0.12295857816934586,
0.14651159942150116,
0.007056775968521833,
-2.560906410217285,
-0.02868463099002838,
2.7337300777435303,
-0.10012228786945343,
0.02693158946931362
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.2951728105545044,
0.5634897947311401,
0.7528516054153442,
0.10709379613399506,
-0.16626429557800293,
0.17921841144561768,
-0.14059239625930786,
-0.4534691870212555,
0,
0,
0,
0.005285273306071758,
0.005855010822415352
] | [
0.3179466128349304,
-0.11720483005046844,
63.36579513549805,
0.009304947219789028,
-0.9799007177352905,
0.03166503831744194
] | 0 | [
-0.012821882963180542,
-0.00242789089679718,
0.0028238967061042786,
0.014392075128853321,
0.039091382175683975,
-0.04977208375930786
] | [
0.005896367132663727,
-0.02055661380290985,
-0.018766315653920174,
-0.013537883758544922,
0.0389142706990242,
-0.04758644104003906,
0.001272648572921753
] | [
-0.11185132712125778,
0.131938636302948,
-0.008787589147686958,
-2.565209150314331,
0.0009055364644154906,
2.706019878387451,
-0.09016163647174835
] | [
0.010296642780303955,
-0.001399308443069458,
-0.010362530127167702,
0.012930154800415039,
0.003005604725331068,
-0.0009565353393554688,
0.024372071027755737
] | 1 | [
0.010296642780303955,
-0.001399308443069458,
-0.010362530127167702,
0.012930154800415039,
0.003005604725331068,
-0.0009565353393554688,
0.024372071027755737,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2 | 50 | 0 | 50 | 0 |
false | false | 0.027001 | [
0.38713324069976807,
-0.052583370357751846,
0.11972071975469589,
-3.140846014022827,
-0.007032950408756733,
-1.604859709739685
] | [
-0.10973141342401505,
0.13753972947597504,
-0.00971325021237135,
-2.5553853511810303,
-0.009549062699079514,
2.713507652282715,
-0.07670015096664429
] | [
-0.10973141342401505,
0.13753972947597504,
-0.00971325021237135,
-2.5553853511810303,
-0.009549062699079514,
2.713507652282715,
-0.07670015096664429,
0.027001304551959038
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.6142016649246216,
0.26025712490081787,
0.7205639481544495,
-0.03643406182527542,
-0.07149830460548401,
0.10073693841695786,
-1.1239917278289795,
-0.4604853093624115,
0,
0,
0,
0.00532494205981493,
0.005907201208174229
] | [
0.007434336934238672,
-0.05175293982028961,
63.30524444580078,
0.0018622070783749223,
-1.0124387741088867,
0.032692067325115204
] | 0 | [
0.0004386305809020996,
0.000864613801240921,
0.004389248788356781,
0.006514477077871561,
0.0049275909550487995,
-0.044241517782211304
] | [
0.01322716474533081,
-0.008971869945526123,
-0.016770025715231895,
0.005521059036254883,
0.019135568290948868,
-0.02022242546081543,
0.023422136902809143
] | [
-0.0931774452328682,
0.13085967302322388,
-0.02720114029943943,
-2.5443685054779053,
0.0071034482680261135,
2.705518960952759,
-0.04494938999414444
] | [
0.018673881888389587,
-0.001078963279724121,
-0.018413551151752472,
0.02084064483642578,
0.006197911687195301,
-0.0005009174346923828,
0.04521224647760391
] | 1 | [
0.018673881888389587,
-0.001078963279724121,
-0.018413551151752472,
0.02084064483642578,
0.006197911687195301,
-0.0005009174346923828,
0.04521224647760391,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.04 | 51 | 0 | 51 | 0 |
false | false | 0.026974 | [
0.3948517143726349,
-0.05032452568411827,
0.12548698484897614,
-3.128303289413452,
-0.0035241234581917524,
-1.6611324548721313
] | [
-0.08991647511720657,
0.13371960818767548,
-0.03009035252034664,
-2.5387747287750244,
0.0034228197764605284,
2.7051422595977783,
-0.03247126191854477
] | [
-0.08991647511720657,
0.13371960818767548,
-0.03009035252034664,
-2.5387747287750244,
0.0034228197764605284,
2.7051422595977783,
-0.03247126191854477,
0.026974380016326904
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.8884766101837158,
0.12341248989105225,
0.8794651627540588,
-0.11694517731666565,
-0.037276580929756165,
0.06695164740085602,
-1.995831847190857,
-0.45999985933303833,
0,
0,
0,
0.005319271236658096,
0.0059022982604801655
] | [
-0.1314598172903061,
-0.03242703154683113,
63.30223083496094,
-0.000498424400575459,
-1.0275297164916992,
0.03243876248598099
] | 0 | [
0.007718473672866821,
0.0022588446736335754,
0.005766265094280243,
0.003079331014305353,
-0.012654838152229786,
-0.05622612684965134
] | [
0.01981493830680847,
-0.0038201212882995605,
-0.020377103239297867,
0.01661062240600586,
0.012971882708370686,
-0.008365392684936523,
0.04422888904809952
] | [
-0.06714120507240295,
0.1310974657535553,
-0.052377525717020035,
-2.518963575363159,
0.016757803037762642,
2.7057454586029053,
0.02029414288699627
] | [
0.02603624016046524,
0.0002377927303314209,
-0.025176385417580605,
0.025404930114746094,
0.009654354304075241,
0.00022649765014648438,
0.06524353474378586
] | 1 | [
0.02603624016046524,
0.0002377927303314209,
-0.025176385417580605,
0.025404930114746094,
0.009654354304075241,
0.00022649765014648438,
0.06524353474378586,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.08 | 52 | 0 | 52 | 0 |
false | false | 0.026744 | [
0.4063994884490967,
-0.04675378277897835,
0.1321714073419571,
-3.10819673538208,
0.0017916476354002953,
-1.733565330505371
] | [
-0.06427377462387085,
0.1328485906124115,
-0.05486100912094116,
-2.516068696975708,
0.015732917934656143,
2.7018508911132812,
0.03029993735253811
] | [
-0.06427377462387085,
0.1328485906124115,
-0.05486100912094116,
-2.516068696975708,
0.015732917934656143,
2.7018508911132812,
0.03029993735253811,
0.02674398198723793
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.1508660316467285,
0.03789220377802849,
1.0733957290649414,
-0.1638769805431366,
-0.031849205493927,
0.05436161160469055,
-2.814213275909424,
-0.47761642932891846,
0,
0,
0,
0.005540105979889631,
0.006135407369583845
] | [
-1.0791915655136108,
-0.009437989443540573,
64.79370880126953,
-0.0022746867034584284,
-1.1045233011245728,
0.0322318971157074
] | 0 | [
0.011547774076461792,
0.003570742905139923,
0.006684422492980957,
0.0034803375601768494,
-0.020504143089056015,
-0.07245098054409027
] | [
0.025642700493335724,
-0.000871017575263977,
-0.02477065660059452,
0.022706031799316406,
0.012310097925364971,
-0.0032913684844970703,
0.06277120113372803
] | [
-0.035775210708379745,
0.13293562829494476,
-0.0812889114022255,
-2.49175763130188,
0.029438233003020287,
2.705846071243286,
0.10087141394615173
] | [
0.03136599436402321,
0.0018381625413894653,
-0.02891138568520546,
0.027205944061279297,
0.012680429965257645,
0.00010061264038085938,
0.08057726919651031
] | 1 | [
0.03136599436402321,
0.0018381625413894653,
-0.02891138568520546,
0.027205944061279297,
0.012680429965257645,
0.00010061264038085938,
0.08057726919651031,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.12 | 53 | 0 | 53 | 0 |
false | false | 0.025155 | [
0.4197680354118347,
-0.041469767689704895,
0.13908421993255615,
-3.0856873989105225,
0.011883467435836792,
-1.8205881118774414
] | [
-0.033513445407152176,
0.1344437599182129,
-0.08289962261915207,
-2.490633964538574,
0.029907764866948128,
2.7005558013916016,
0.10843320935964584
] | [
-0.033513445407152176,
0.1344437599182129,
-0.08289962261915207,
-2.490633964538574,
0.029907764866948128,
2.7005558013916016,
0.10843320935964584,
0.02515461854636669
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.3803942203521729,
-0.04200774058699608,
1.204861044883728,
-0.18319523334503174,
-0.03732040524482727,
0.0416719950735569,
-3.4713611602783203,
-0.4096294641494751,
0,
0,
0,
0.004506206139922142,
0.005025799386203289
] | [
2.091219186782837,
0.00888438057154417,
66.7239761352539,
-0.006772116757929325,
-0.8524041771888733,
0.03186508268117905
] | 0 | [
0.013368546962738037,
0.005284015089273453,
0.00691281259059906,
0.006313452031463385,
-0.02384600229561329,
-0.08725199103355408
] | [
0.030760329216718674,
0.0015951693058013916,
-0.028038613498210907,
0.02543473243713379,
0.014174846932291985,
-0.0012950897216796875,
0.07813327014446259
] | [
0.00007072399603202939,
0.13723310828208923,
-0.11214730143547058,
-2.464806079864502,
0.04598715156316757,
2.705556631088257,
0.1933044046163559
] | [
0.035845935344696045,
0.00429747998714447,
-0.030858390033245087,
0.02695155143737793,
0.016548918560147285,
-0.0002894401550292969,
0.09243299067020416
] | 1 | [
0.035845935344696045,
0.00429747998714447,
-0.030858390033245087,
0.02695155143737793,
0.016548918560147285,
-0.0002894401550292969,
0.09243299067020416,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.16 | 54 | 0 | 54 | 0 |
false | false | 0.025817 | [
0.4336227774620056,
-0.03450806066393852,
0.14527630805969238,
-3.067469358444214,
0.027488186955451965,
-1.9186855554580688
] | [
0.0013365738559514284,
0.13875968754291534,
-0.11308357119560242,
-2.4651660919189453,
0.047229114919900894,
2.7000339031219482,
0.19754676520824432
] | [
0.0013365738559514284,
0.13875968754291534,
-0.11308357119560242,
-2.4651660919189453,
0.047229114919900894,
2.7000339031219482,
0.19754676520824432,
0.025816552340984344
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.5576393604278564,
-0.12431087344884872,
1.2883493900299072,
-0.18818362057209015,
-0.04549852013587952,
0.042245425283908844,
-3.921231508255005,
-0.4443720579147339,
0,
0,
0,
0.005193018354475498,
0.005750244949012995
] | [
-0.44761380553245544,
0.05448446795344353,
63.68678283691406,
-0.010489066131412983,
-1.0511456727981567,
0.030939916148781776
] | 0 | [
0.013854742050170898,
0.006961707025766373,
0.0061920881271362305,
0.010622777044773102,
-0.02150445617735386,
-0.09857026487588882
] | [
0.034850019961595535,
0.004315927624702454,
-0.030183948576450348,
0.025467872619628906,
0.017321350052952766,
-0.0005218982696533203,
0.08911355584859848
] | [
0.03840766102075577,
0.1447702795267105,
-0.1443539708852768,
-2.4404807090759277,
0.06666191667318344,
2.7057526111602783,
0.29224005341529846
] | [
0.03833693638443947,
0.007537171244621277,
-0.03220666944980621,
0.02432537078857422,
0.02067476511001587,
0.00019598007202148438,
0.09893564879894257
] | 1 | [
0.03833693638443947,
0.007537171244621277,
-0.03220666944980621,
0.02432537078857422,
0.02067476511001587,
0.00019598007202148438,
0.09893564879894257,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.2 | 55 | 0 | 55 | 0 |
false | false | 0.026724 | [
0.4467918574810028,
-0.02651463821530342,
0.149873748421669,
-3.0569357872009277,
0.0469726100564003,
-2.0251500606536865
] | [
0.038667142391204834,
0.14637786149978638,
-0.14477549493312836,
-2.441789388656616,
0.06803923845291138,
2.6999809741973877,
0.29356345534324646
] | [
0.038667142391204834,
0.14637786149978638,
-0.14477549493312836,
-2.441789388656616,
0.06803923845291138,
2.6999809741973877,
0.29356345534324646,
0.026723582297563553
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.6593701839447021,
-0.2398792952299118,
1.3526090383529663,
-0.17002233862876892,
-0.06177407503128052,
0.04184149578213692,
-4.209733486175537,
-0.4435005486011505,
0,
0,
0,
0.0051329717971384525,
0.005691944621503353
] | [
-1.1390656232833862,
0.10697057843208313,
65.20832061767578,
-0.015730401501059532,
-1.1097803115844727,
0.031254325062036514
] | 0 | [
0.013169080018997192,
0.007993422448635101,
0.0045974403619766235,
0.014732935465872288,
-0.01653498038649559,
-0.10697848349809647
] | [
0.037330567836761475,
0.007618173956871033,
-0.03169192373752594,
0.0233767032623291,
0.020810123533010483,
-0.000052928924560546875,
0.09601669013500214
] | [
0.0773463249206543,
0.15594696998596191,
-0.17750900983810425,
-2.419816255569458,
0.09066907316446304,
2.7059056758880615,
0.3940785229206085
] | [
0.03893866389989853,
0.011176690459251404,
-0.033155038952827454,
0.020664453506469727,
0.024007156491279602,
0.00015306472778320312,
0.10183846950531006
] | 1 | [
0.03893866389989853,
0.011176690459251404,
-0.033155038952827454,
0.020664453506469727,
0.024007156491279602,
0.00015306472778320312,
0.10183846950531006,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.24 | 56 | 0 | 56 | 0 |
false | false | 0.02638 | [
0.45841479301452637,
-0.018397407606244087,
0.15210053324699402,
-3.056060314178467,
0.06695815175771713,
-2.1385302543640137
] | [
0.07671277225017548,
0.15781673789024353,
-0.17753158509731293,
-2.4219236373901367,
0.0922958105802536,
2.6998403072357178,
0.39330095052719116
] | [
0.07671277225017548,
0.15781673789024353,
-0.17753158509731293,
-2.4219236373901367,
0.0922958105802536,
2.6998403072357178,
0.39330095052719116,
0.026380376890301704
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.6772212982177734,
-0.36868715286254883,
1.3970609903335571,
-0.14449681341648102,
-0.07476124167442322,
0.041806966066360474,
-4.3582377433776855,
-0.4465961754322052,
0,
0,
0,
0.004954806994646788,
0.005525172688066959
] | [
-0.797075092792511,
0.1152874156832695,
65.82344818115234,
-0.017524274066090584,
-1.0776362419128418,
0.03085012547671795
] | 0 | [
0.01162293553352356,
0.008117230609059334,
0.002226784825325012,
0.017575062811374664,
-0.009555750526487827,
-0.11351394653320312
] | [
0.03804562985897064,
0.011438876390457153,
-0.03275609016418457,
0.019865751266479492,
0.024256572127342224,
-0.00014066696166992188,
0.0997374951839447
] | [
0.11522882431745529,
0.17167246341705322,
-0.2113766074180603,
-2.404125452041626,
0.11826558411121368,
2.705592155456543,
0.4970061779022217
] | [
0.037882499396800995,
0.01572549343109131,
-0.033867597579956055,
0.01569080352783203,
0.02759651094675064,
-0.0003135204315185547,
0.10292765498161316
] | 1 | [
0.037882499396800995,
0.01572549343109131,
-0.033867597579956055,
0.01569080352783203,
0.02759651094675064,
-0.0003135204315185547,
0.10292765498161316,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.28 | 57 | 0 | 57 | 0 |
false | false | 0.021281 | [
0.467988520860672,
-0.010774047113955021,
0.15149471163749695,
-3.065061330795288,
0.08383797109127045,
-2.258366823196411
] | [
0.11397519707679749,
0.17346175014972687,
-0.2106366604566574,
-2.4065494537353516,
0.11992821097373962,
2.700218677520752,
0.49502086639404297
] | [
0.11397519707679749,
0.17346175014972687,
-0.2106366604566574,
-2.4065494537353516,
0.11992821097373962,
2.700218677520752,
0.49502086639404297,
0.02128121443092823
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.6363544464111328,
-0.512168824672699,
1.4161202907562256,
-0.10971023887395859,
-0.08702003955841064,
0.028755219653248787,
-4.450642108917236,
-0.35067489743232727,
0,
0,
0,
0.0034213403705507517,
0.003918514586985111
] | [
1.0900932550430298,
0.0262229572981596,
70.1874771118164,
-0.009631827473640442,
-0.912356436252594,
0.030077245086431503
] | 0 | [
0.00957372784614563,
0.007623360492289066,
-0.0006058216094970703,
0.0190575011074543,
-0.0015155149158090353,
-0.11917275190353394
] | [
0.03726242482662201,
0.015645012259483337,
-0.03310507535934448,
0.015374183654785156,
0.027632400393486023,
0.0003783702850341797,
0.1017199158668518
] | [
0.15145905315876007,
0.19174467027187347,
-0.24431872367858887,
-2.3936245441436768,
0.1490464061498642,
2.7063443660736084,
0.6004848480224609
] | [
0.03623022884130478,
0.02007220685482025,
-0.032942116260528564,
0.010500907897949219,
0.030780822038650513,
0.0007522106170654297,
0.10347867012023926
] | 1 | [
0.03623022884130478,
0.02007220685482025,
-0.032942116260528564,
0.010500907897949219,
0.030780822038650513,
0.0007522106170654297,
0.10347867012023926,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.32 | 58 | 0 | 58 | 0 |
false | false | 0.020944 | [
0.4758044183254242,
-0.0038731563836336136,
0.14747869968414307,
-3.082186222076416,
0.09452349692583084,
-2.3830082416534424
] | [
0.14970003068447113,
0.19325487315654755,
-0.24247631430625916,
-2.396113634109497,
0.15063010156154633,
2.701535701751709,
0.5977811813354492
] | [
0.14970003068447113,
0.19325487315654755,
-0.24247631430625916,
-2.396113634109497,
0.15063010156154633,
2.701535701751709,
0.5977811813354492,
0.02094350941479206
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.5676342248916626,
-0.6511908769607544,
1.3481711149215698,
-0.06866677850484848,
-0.10130250453948975,
0.024037417024374008,
-4.495840549468994,
-0.3371458947658539,
0,
0,
0,
0.00311026768758893,
0.0036054025404155254
] | [
0.9851392507553101,
-0.04019308090209961,
70.88287353515625,
-0.0030051679350435734,
-0.9168903827667236,
0.029321588575839996
] | 0 | [
0.007815897464752197,
0.006900890730321407,
-0.004016011953353882,
0.01908809505403042,
0.006385087035596371,
-0.12305554002523422
] | [
0.035724833607673645,
0.01979312300682068,
-0.031839653849601746,
0.010435819625854492,
0.0307018905878067,
0.0013170242309570312,
0.10276031494140625
] | [
0.18605947494506836,
0.21533454954624176,
-0.2741275727748871,
-2.387993812561035,
0.18235547840595245,
2.708343982696533,
0.7042177319526672
] | [
0.03460042178630829,
0.023589879274368286,
-0.029808849096298218,
0.0056307315826416016,
0.03330907225608826,
0.0019996166229248047,
0.1037328839302063
] | 1 | [
0.03460042178630829,
0.023589879274368286,
-0.029808849096298218,
0.0056307315826416016,
0.03330907225608826,
0.0019996166229248047,
0.1037328839302063,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.36 | 59 | 0 | 59 | 0 |
false | false | 0.020935 | [
0.4817199409008026,
0.0030365651473402977,
0.14048056304454803,
-3.1043174266815186,
0.09713544696569443,
-2.509249448776245
] | [
0.18396076560020447,
0.21640793979167938,
-0.2711644768714905,
-2.3904597759246826,
0.18366707861423492,
2.703749895095825,
0.7008728384971619
] | [
0.18396076560020447,
0.21640793979167938,
-0.2711644768714905,
-2.3904597759246826,
0.18366707861423492,
2.703749895095825,
0.7008728384971619,
0.020935451611876488
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.5215563774108887,
-0.7564488649368286,
1.2079744338989258,
-0.034760162234306335,
-0.11220505833625793,
0.021846365183591843,
-4.510210037231445,
-0.33612892031669617,
0,
0,
0,
0.0030584807973355055,
0.0035529518499970436
] | [
0.7169017195701599,
-0.0961960032582283,
71.18095397949219,
0.0025868613738566637,
-0.9353002905845642,
0.028710564598441124
] | 0 | [
0.005915522575378418,
0.006909721530973911,
-0.006998136639595032,
0.017800958827137947,
0.013238733634352684,
-0.12400539964437485
] | [
0.03426073491573334,
0.023153066635131836,
-0.028688162565231323,
0.005653858184814453,
0.0330369770526886,
0.002214193344116211,
0.10309165716171265
] | [
0.21920201182365417,
0.24157343804836273,
-0.2989201545715332,
-2.387073278427124,
0.21714836359024048,
2.7112488746643066,
0.8075712323188782
] | [
0.033142536878585815,
0.02623888850212097,
-0.024792581796646118,
0.0009205341339111328,
0.034792885184288025,
0.0029048919677734375,
0.10335350036621094
] | 1 | [
0.033142536878585815,
0.02623888850212097,
-0.024792581796646118,
0.0009205341339111328,
0.034792885184288025,
0.0029048919677734375,
0.10335350036621094,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.4 | 60 | 0 | 60 | 0 |
false | false | 0.021144 | [
0.4859212338924408,
0.01005969475954771,
0.13093812763690948,
-3.127575635910034,
0.09104619175195694,
-2.6342647075653076
] | [
0.2167046070098877,
0.24230742454528809,
-0.2958289086818695,
-2.3887925148010254,
0.2178010493516922,
2.706965684890747,
0.803602397441864
] | [
0.2167046070098877,
0.24230742454528809,
-0.2958289086818695,
-2.3887925148010254,
0.2178010493516922,
2.706965684890747,
0.803602397441864,
0.021144384518265724
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.4600030183792114,
-0.8449766635894775,
1.0245321989059448,
-0.001846667961217463,
-0.12069576978683472,
0.01925559714436531,
-4.494170188903809,
-0.3392084538936615,
0,
0,
0,
0.0030930116772651672,
0.003587242215871811
] | [
0.31704649329185486,
-0.12839627265930176,
71.32025909423828,
0.00573510630056262,
-0.9642343521118164,
0.02838325686752796
] | 0 | [
0.004201292991638184,
0.007023129612207413,
-0.00954243540763855,
0.015101449564099312,
0.01858014613389969,
-0.12268968671560287
] | [
0.03274384140968323,
0.025899484753608704,
-0.02466443181037903,
0.0016672611236572266,
0.034133970737457275,
0.003215789794921875,
0.10272955894470215
] | [
0.24978555738925934,
0.26990625262260437,
-0.3196505308151245,
-2.3887529373168945,
0.2515944540500641,
2.7152810096740723,
0.9097676873207092
] | [
0.030583545565605164,
0.028332814574241638,
-0.02073037624359131,
-0.0016796588897705078,
0.03444609045982361,
0.004032135009765625,
0.10219645500183105
] | 1 | [
0.030583545565605164,
0.028332814574241638,
-0.02073037624359131,
-0.0016796588897705078,
0.03444609045982361,
0.004032135009765625,
0.10219645500183105,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.44 | 61 | 0 | 61 | 0 |
false | false | 0.021496 | [
0.4888899028301239,
0.016242342069745064,
0.11955788731575012,
3.135439395904541,
0.07743990421295166,
-2.756166696548462
] | [
0.24666321277618408,
0.2703912854194641,
-0.31661391258239746,
-2.389457941055298,
0.2514630854129791,
2.711193799972534,
0.9044975638389587
] | [
0.24666321277618408,
0.2703912854194641,
-0.31661391258239746,
-2.389457941055298,
0.2514630854129791,
2.711193799972534,
0.9044975638389587,
0.021496424451470375
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.3243072032928467,
-0.911291241645813,
0.8569879531860352,
0.016837377101182938,
-0.12282505631446838,
0.015816595405340195,
-4.400664806365967,
-0.3449508845806122,
0,
0,
0,
0.003169459290802479,
0.003664600197225809
] | [
-0.22186273336410522,
-0.14862176775932312,
71.38046264648438,
0.007924783043563366,
-1.0052844285964966,
0.028397444635629654
] | 0 | [
0.0029686689376831055,
0.006182647310197353,
-0.011380240321159363,
0.010977170430123806,
0.021647311747074127,
-0.12008583545684814
] | [
0.029958605766296387,
0.028083860874176025,
-0.020785003900527954,
-0.0006654262542724609,
0.033662036061286926,
0.004228115081787109,
0.10089516639709473
] | [
0.27604708075523376,
0.29969093203544617,
-0.33695295453071594,
-2.390903949737549,
0.28394919633865356,
2.7201240062713623,
1.0080680847167969
] | [
0.026261523365974426,
0.029784679412841797,
-0.01730242371559143,
-0.002151012420654297,
0.03235474228858948,
0.004842996597290039,
0.09830039739608765
] | 1 | [
0.026261523365974426,
0.029784679412841797,
-0.01730242371559143,
-0.002151012420654297,
0.03235474228858948,
0.004842996597290039,
0.09830039739608765,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.48 | 62 | 0 | 62 | 0 |
false | false | 0.021974 | [
0.4908948242664337,
0.020674459636211395,
0.1071023941040039,
3.1215105056762695,
0.05877454951405525,
-2.8711800575256348
] | [
0.2726428806781769,
0.29974251985549927,
-0.3339096009731293,
-2.3911194801330566,
0.2828267812728882,
2.7162859439849854,
1.0001375675201416
] | [
0.2726428806781769,
0.29974251985549927,
-0.3339096009731293,
-2.3911194801330566,
0.2828267812728882,
2.7162859439849854,
1.0001375675201416,
0.02197437174618244
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-1.148576021194458,
-0.9480682611465454,
0.7178774476051331,
0.02434392459690571,
-0.12391844391822815,
0.014284268021583557,
-4.17799711227417,
-0.35331013798713684,
0,
0,
0,
0.0033048854675143957,
0.0038012724835425615
] | [
-0.8151769042015076,
-0.16194848716259003,
71.22526550292969,
0.009702741168439388,
-1.0515978336334229,
0.028844017535448074
] | 0 | [
0.0020049214363098145,
0.0044321175664663315,
-0.012455493211746216,
0.005871681030839682,
0.0225173681974411,
-0.11399941891431808
] | [
0.025979667901992798,
0.029351234436035156,
-0.01729568839073181,
-0.001661539077758789,
0.03136369585990906,
0.005092144012451172,
0.09564000368118286
] | [
0.2974872887134552,
0.3297208547592163,
-0.3508042097091675,
-2.3932323455810547,
0.31192755699157715,
2.725827693939209,
1.096386194229126
] | [
0.021440207958221436,
0.03002992272377014,
-0.013851255178451538,
-0.0023283958435058594,
0.027978360652923584,
0.00570368766784668,
0.0883181095123291
] | 1 | [
0.021440207958221436,
0.03002992272377014,
-0.013851255178451538,
-0.0023283958435058594,
0.027978360652923584,
0.00570368766784668,
0.0883181095123291,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.52 | 63 | 0 | 63 | 0 |
false | false | 0.023477 | [
0.49184903502464294,
0.023143921047449112,
0.09430714696645737,
3.1156153678894043,
0.038292206823825836,
-2.972637176513672
] | [
0.29391953349113464,
0.328850656747818,
-0.34754669666290283,
-2.3932650089263916,
0.309996098279953,
2.722262382507324,
1.0849868059158325
] | [
0.29391953349113464,
0.328850656747818,
-0.34754669666290283,
-2.3932650089263916,
0.309996098279953,
2.722262382507324,
1.0849868059158325,
0.02347712777554989
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.9281657338142395,
-0.9281892776489258,
0.5549584627151489,
0.027014458552002907,
-0.11066681146621704,
0.010672904551029205,
-3.6557297706604004,
-0.36482468247413635,
0,
0,
0,
0.0036302292719483376,
0.004121559672057629
] | [
-0.1617467701435089,
-0.17766454815864563,
68.37371826171875,
0.011020352132618427,
-0.995853841304779,
0.029322899878025055
] | 0 | [
0.0009542107582092285,
0.0024694614112377167,
-0.01279524713754654,
0.00020601610594894737,
0.02131088823080063,
-0.10116885602474213
] | [
0.021276652812957764,
0.029108136892318726,
-0.01363709568977356,
-0.002145528793334961,
0.02716931700706482,
0.005976438522338867,
0.08484923839569092
] | [
0.31386640667915344,
0.35752013325691223,
-0.36064034700393677,
-2.395563840866089,
0.33410438895225525,
2.732309341430664,
1.1681170463562012
] | [
0.016379117965698242,
0.027799278497695923,
-0.009836137294769287,
-0.0023314952850341797,
0.0221768319606781,
0.006481647491455078,
0.0717308521270752
] | 1 | [
0.016379117965698242,
0.027799278497695923,
-0.009836137294769287,
-0.0023314952850341797,
0.0221768319606781,
0.006481647491455078,
0.0717308521270752,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.56 | 64 | 0 | 64 | 0 |
false | false | 0.024631 | [
0.49167874455451965,
0.024340512230992317,
0.08262529969215393,
3.115307569503784,
0.01959432289004326,
-3.051715135574341
] | [
0.30981123447418213,
0.35490718483924866,
-0.35682836174964905,
-2.3954286575317383,
0.33120426535606384,
2.7282907962799072,
1.151667594909668
] | [
0.30981123447418213,
0.35490718483924866,
-0.35682836174964905,
-2.3954286575317383,
0.33120426535606384,
2.7282907962799072,
1.151667594909668,
0.024631217122077942
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.6855839490890503,
-0.8140952587127686,
0.3668573200702667,
0.025325480848550797,
-0.09747177362442017,
0.010800153017044067,
-2.8247876167297363,
-0.4211622476577759,
0,
0,
0,
0.004547781310975552,
0.005070796702057123
] | [
-0.2533634901046753,
-0.14965200424194336,
68.0284652709961,
0.008892053738236427,
-1.005919098854065,
0.031081203371286392
] | 0 | [
-0.00017029047012329102,
0.0011965911835432053,
-0.011681847274303436,
-0.002841054229065776,
0.01848335564136505,
-0.07909514009952545
] | [
0.015891700983047485,
0.026056528091430664,
-0.009281665086746216,
-0.0021636486053466797,
0.02120816707611084,
0.006028413772583008,
0.06668078899383545
] | [
0.32408592104911804,
0.3786291778087616,
-0.3653271794319153,
-2.3973441123962402,
0.3483683168888092,
2.7377026081085205,
1.2134969234466553
] | [
0.0102195143699646,
0.021109044551849365,
-0.004686832427978516,
-0.0017802715301513672,
0.014263927936553955,
0.005393266677856445,
0.0453798770904541
] | 1 | [
0.0102195143699646,
0.021109044551849365,
-0.004686832427978516,
-0.0017802715301513672,
0.014263927936553955,
0.005393266677856445,
0.0453798770904541,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.6 | 65 | 0 | 65 | 0 |
false | false | 0.028113 | [
0.49078822135925293,
0.024903716519474983,
0.07385627925395966,
3.117506504058838,
0.0058658611960709095,
-3.1016082763671875
] | [
0.32000887393951416,
0.3738371431827545,
-0.36177393794059753,
-2.3972301483154297,
0.34490737318992615,
2.732816219329834,
1.194385290145874
] | [
0.32000887393951416,
0.3738371431827545,
-0.36177393794059753,
-2.3972301483154297,
0.34490737318992615,
2.732816219329834,
1.194385290145874,
0.028112979605793953
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.43610161542892456,
-0.5791182518005371,
0.18841347098350525,
0.019886262714862823,
-0.08057078719139099,
0.009985029697418213,
-1.7878597974777222,
-0.46933314204216003,
0,
0,
0,
0.005429365672171116,
0.005983570124953985
] | [
-2.204406261444092,
-0.11216171085834503,
64.5177993774414,
0.007457652594894171,
-1.1681630611419678,
0.032910820096731186
] | 0 | [
-0.0008905231952667236,
0.000563204288482666,
-0.008769020438194275,
-0.0034223797265440226,
0.013475626707077026,
-0.04994431138038635
] | [
0.010197639465332031,
0.01892995834350586,
-0.004945576190948486,
-0.0018014907836914062,
0.013703107833862305,
0.004525423049926758,
0.042717695236206055
] | [
0.3280048966407776,
0.38760367035865784,
-0.36639687418937683,
-2.3982372283935547,
0.35366135835647583,
2.7399210929870605,
1.2298954725265503
] | [
0.003918975591659546,
0.00897449254989624,
-0.0010696947574615479,
-0.0008931159973144531,
0.005293041467666626,
0.002218484878540039,
0.01639854907989502
] | 1 | [
0.003918975591659546,
0.00897449254989624,
-0.0010696947574615479,
-0.0008931159973144531,
0.005293041467666626,
0.002218484878540039,
0.01639854907989502,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.64 | 66 | 0 | 66 | 0 |
false | false | 0.028216 | [
0.49034351110458374,
0.025164375081658363,
0.0705513283610344,
3.118715286254883,
0.0005966268363408744,
-3.120088577270508
] | [
0.323833703994751,
0.3810485303401947,
-0.3634769916534424,
-2.397920846939087,
0.35015493631362915,
2.734403133392334,
1.2101994752883911
] | [
0.323833703994751,
0.3810485303401947,
-0.3634769916534424,
-2.397920846939087,
0.35015493631362915,
2.734403133392334,
1.2101994752883911,
0.0282161682844162
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0,
0,
0,
0,
0,
0,
0,
-0.48279234766960144,
0,
0,
0,
0.0055922698229551315,
0.006154407747089863
] | [
-2.316077470779419,
0.10925368964672089,
64.7595443725586,
-0.01674305461347103,
-1.1847814321517944,
0.03589697182178497
] | 0 | [
-0.00044471025466918945,
0.0002606585621833801,
-0.0033049508929252625,
-0.001418419531546533,
0.005216700490564108,
-0.018487850204110146
] | [
0.0038248300552368164,
0.0072113871574401855,
-0.0017030537128448486,
-0.0006906986236572266,
0.005247563123703003,
0.0015869140625,
0.01581418514251709
] | [
0.3238585293292999,
0.38105374574661255,
-0.3635089695453644,
-2.397930860519409,
0.350060373544693,
2.7345776557922363,
1.2103310823440552
] | [
-0.004146367311477661,
-0.006549924612045288,
0.002887904644012451,
0.0003063678741455078,
-0.003600984811782837,
-0.005343437194824219,
-0.019564390182495117
] | 1 | [
-0.004146367311477661,
-0.006549924612045288,
0.002887904644012451,
0.0003063678741455078,
-0.003600984811782837,
-0.005343437194824219,
-0.019564390182495117,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.68 | 67 | 0 | 67 | 0 |
false | false | 0.028261 | [
0.49021995067596436,
0.0252289567142725,
0.07052052766084671,
3.1183180809020996,
0.00007076190377119929,
-3.119924783706665
] | [
0.323742151260376,
0.38104313611984253,
-0.3633531928062439,
-2.397901773452759,
0.3505077064037323,
2.733776569366455,
1.209739089012146
] | [
0.323742151260376,
0.38104313611984253,
-0.3633531928062439,
-2.397901773452759,
0.3505077064037323,
2.733776569366455,
1.209739089012146,
0.028261356055736542
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0,
0,
0,
0,
0,
0,
0,
-0.48279234766960144,
0,
0,
0,
0.0055922698229551315,
0.006154407747089863
] | [
-2.2476532459259033,
-0.012809858657419682,
64.65387725830078,
-0.0013405537465587258,
-1.173990249633789,
0.036000095307826996
] | 0 | [
-0.00012356042861938477,
0.00006458163261413574,
-0.000030800700187683105,
0.00038571192999370396,
0.0005342820659279823,
0.00016408145893365145
] | [
-0.000091552734375,
-0.0000053942203521728516,
0.00012379884719848633,
0.000019073486328125,
0.0003527700901031494,
-0.0006265640258789062,
-0.0004603862762451172
] | [
0.3238585293292999,
0.38105374574661255,
-0.3635089695453644,
-2.397930860519409,
0.350060373544693,
2.7345776557922363,
1.2103310823440552
] | [
0,
0,
0,
0,
0,
0,
0
] | 1 | [
0,
0,
0,
0,
0,
0,
0,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.72 | 68 | 0 | 68 | 0 |
false | false | 0.402293 | [
0.4938335716724396,
0.007246561348438263,
0.06136956065893173,
3.139021158218384,
0.013910111039876938,
-3.1307082176208496
] | [
0.3313014805316925,
0.37877529859542847,
-0.3673347532749176,
-2.4004697799682617,
0.34286555647850037,
2.7495226860046387,
1.2310925722122192
] | [
0.3313014805316925,
0.37877529859542847,
-0.3673347532749176,
-2.4004697799682617,
0.34286555647850037,
2.7495226860046387,
1.2310925722122192,
0.4022933542728424
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.3526955842971802,
0.04687197878956795,
0.21508906781673431,
0.03260268643498421,
0.11121019721031189,
0.03773518279194832,
-0.8023796677589417,
1.6572731733322144,
0,
0,
0,
0.07850360870361328,
0.07900925725698471
] | [
12.323790550231934,
-4.9889678955078125,
92.06978607177734,
1.2056381702423096,
-0.3655327558517456,
0.21225762367248535
] | 0.5 | [
0.0036136209964752197,
-0.017982395365834236,
-0.009150967001914978,
-0.0203984584659338,
-0.014284642413258553,
-0.010782587341964245
] | [
0.007559329271316528,
-0.0022678375244140625,
-0.003981560468673706,
-0.0025680065155029297,
-0.007642149925231934,
0.015746116638183594,
0.021353483200073242
] | [
0.3299158811569214,
0.3851239085197449,
-0.3689482510089874,
-2.399775266647339,
0.34825000166893005,
2.7478187084198,
1.2373168468475342
] | [
0.00605735182762146,
0.004070162773132324,
-0.005439281463623047,
-0.0018444061279296875,
-0.0018103718757629395,
0.013241052627563477,
0.026985764503479004
] | 1 | [
0.00605735182762146,
0.004070162773132324,
-0.005439281463623047,
-0.0018444061279296875,
-0.0018103718757629395,
0.013241052627563477,
0.026985764503479004,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.76 | 69 | 0 | 69 | 0 |
false | false | 0.405715 | [
0.4994797110557556,
0.0060922522097826,
0.0649254322052002,
3.1413967609405518,
0.02801993303000927,
-3.1401526927948
] | [
0.33321526646614075,
0.3764986991882324,
-0.3708132207393646,
-2.394227981567383,
0.34183093905448914,
2.7552731037139893,
1.2410472631454468
] | [
0.33321526646614075,
0.3764986991882324,
-0.3708132207393646,
-2.394227981567383,
0.34183093905448914,
2.7552731037139893,
1.2410472631454468,
0.4057149589061737
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.03891449049115181,
0.08449706435203552,
0.25778570771217346,
-0.0371953547000885,
0.0723838210105896,
0.0029404163360595703,
-0.9425328969955444,
1.5969531536102295,
0,
0,
0,
0.0794937014579773,
0.07993430644273758
] | [
7.054785251617432,
0.04382869228720665,
69.97956848144531,
0.054406359791755676,
-1.3284225463867188,
0.032192084938287735
] | 0.5 | [
0.00564613938331604,
-0.0011543091386556625,
0.003555871546268463,
-0.0022212103940546513,
-0.014134869910776615,
-0.009478474035859108
] | [
0.0019137859344482422,
-0.002276599407196045,
-0.0034784674644470215,
0.006241798400878906,
-0.0010346174240112305,
0.005750417709350586,
0.009954690933227539
] | [
0.3318266272544861,
0.3670461177825928,
-0.3721502721309662,
-2.3784995079040527,
0.34710195660591125,
2.748702049255371,
1.2400034666061401
] | [
0.0019107460975646973,
-0.0180777907371521,
-0.0032020211219787598,
0.021275758743286133,
-0.0011480450630187988,
0.0008833408355712891,
0.002686619758605957
] | 1 | [
0.0019107460975646973,
-0.0180777907371521,
-0.0032020211219787598,
0.021275758743286133,
-0.0011480450630187988,
0.0008833408355712891,
0.002686619758605957,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.8 | 70 | 0 | 70 | 0 |
false | false | 0.405628 | [
0.5133851170539856,
0.006378130987286568,
0.07701533287763596,
3.1401374340057373,
0.05994287133216858,
3.1382439136505127
] | [
0.3351210057735443,
0.36506950855255127,
-0.3748101592063904,
-2.374525785446167,
0.3400554060935974,
2.7566487789154053,
1.2481708526611328
] | [
0.3351210057735443,
0.36506950855255127,
-0.3748101592063904,
-2.374525785446167,
0.3400554060935974,
2.7566487789154053,
1.2481708526611328,
0.40562838315963745
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.12861625850200653,
0.4214059114456177,
0.22977663576602936,
-0.13674551248550415,
0.07168503850698471,
-0.00002421438694000244,
-0.7333939075469971,
1.5993213653564453,
0,
0,
0,
0.07945621013641357,
0.07988493144512177
] | [
7.207212448120117,
0.25045835971832275,
70.2718505859375,
0.027087993919849396,
-1.3219778537750244,
0.03445953503251076
] | 0.5 | [
0.01390540599822998,
0.0002858787775039673,
0.01208990067243576,
0.0013038573088124394,
-0.03192112222313881,
-0.004754138179123402
] | [
0.0019057393074035645,
-0.011429190635681152,
-0.003996938467025757,
0.01970219612121582,
-0.0017755329608917236,
0.0013756752014160156,
0.007123589515686035
] | [
0.33630627393722534,
0.34943851828575134,
-0.3748743236064911,
-2.349088668823242,
0.3443650007247925,
2.7447192668914795,
1.2462704181671143
] | [
0.004479646682739258,
-0.01760759949684143,
-0.0027240514755249023,
0.029410839080810547,
-0.0027369558811187744,
-0.0039827823638916016,
0.006266951560974121
] | 1 | [
0.004479646682739258,
-0.01760759949684143,
-0.0027240514755249023,
0.029410839080810547,
-0.0027369558811187744,
-0.0039827823638916016,
0.006266951560974121,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.84 | 71 | 0 | 71 | 0 |
false | false | 0.405473 | [
0.5302029848098755,
0.00936749018728733,
0.09269146621227264,
3.136373519897461,
0.09599875658750534,
3.137988328933716
] | [
0.33952596783638,
0.3516079783439636,
-0.3777064383029938,
-2.347137212753296,
0.33705079555511475,
2.7526519298553467,
1.2561496496200562
] | [
0.33952596783638,
0.3516079783439636,
-0.3777064383029938,
-2.347137212753296,
0.33705079555511475,
2.7526519298553467,
1.2561496496200562,
0.40547338128089905
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.25477612018585205,
0.44192779064178467,
0.17699411511421204,
-0.1952197253704071,
0.07861776649951935,
0.02225928008556366,
-0.8264502286911011,
1.6020569801330566,
0,
0,
0,
0.0794636458158493,
0.07985158264636993
] | [
7.369386196136475,
0.33382391929626465,
71.54730987548828,
0.029677512124180794,
-1.3424187898635864,
0.034705545753240585
] | 0.5 | [
0.016817867755889893,
0.002989359200000763,
0.015676133334636688,
0.0036280862987041473,
-0.036068663001060486,
-0.00002793742714857217
] | [
0.004404962062835693,
-0.013461530208587646,
-0.0028962790966033936,
0.027388572692871094,
-0.003004610538482666,
-0.003996849060058594,
0.00797879695892334
] | [
0.3430916368961334,
0.3373325765132904,
-0.37646982073783875,
-2.3159327507019043,
0.34019145369529724,
2.7355401515960693,
1.2556788921356201
] | [
0.006785362958908081,
-0.012105941772460938,
-0.0015954971313476562,
0.03315591812133789,
-0.004173547029495239,
-0.009179115295410156,
0.00940847396850586
] | 1 | [
0.006785362958908081,
-0.012105941772460938,
-0.0015954971313476562,
0.03315591812133789,
-0.004173547029495239,
-0.009179115295410156,
0.00940847396850586,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.88 | 72 | 0 | 72 | 0 |
false | false | 0.405487 | [
0.5470844507217407,
0.014575038105249405,
0.10864000022411346,
3.1319401264190674,
0.1286235749721527,
3.140751361846924
] | [
0.34623265266418457,
0.34122195839881897,
-0.3794575333595276,
-2.3150479793548584,
0.33269625902175903,
2.743543863296509,
1.2661683559417725
] | [
0.34623265266418457,
0.34122195839881897,
-0.3794575333595276,
-2.3150479793548584,
0.33269625902175903,
2.743543863296509,
1.2661683559417725,
0.4054872691631317
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.3048676550388336,
0.318750262260437,
0.026131585240364075,
-0.22208723425865173,
0.04988905042409897,
-0.149599090218544,
-0.9562000036239624,
1.6023075580596924,
0,
0,
0,
0.07943856716156006,
0.07987284660339355
] | [
7.304577827453613,
0.3708615303039551,
71.59883880615234,
0.025976741686463356,
-1.3502534627914429,
0.03404031693935394
] | 0.5 | [
0.016881465911865234,
0.005207547917962074,
0.01594853401184082,
0.004281584173440933,
-0.03264136239886284,
0.00319014023989439
] | [
0.006706684827804565,
-0.010386019945144653,
-0.0017510950565338135,
0.0320892333984375,
-0.004354536533355713,
-0.00910806655883789,
0.010018706321716309
] | [
0.352003812789917,
0.3314383327960968,
-0.376941055059433,
-2.279996871948242,
0.334683895111084,
2.721587896347046,
1.2678096294403076
] | [
0.00891217589378357,
-0.0058942437171936035,
-0.0004712343215942383,
0.03593587875366211,
-0.005507558584213257,
-0.013952255249023438,
0.0121307373046875
] | 1 | [
0.00891217589378357,
-0.0058942437171936035,
-0.0004712343215942383,
0.03593587875366211,
-0.005507558584213257,
-0.013952255249023438,
0.0121307373046875,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.92 | 73 | 0 | 73 | 0 |
false | false | 0.405439 | [
0.5629549026489258,
0.021758822724223137,
0.1234748512506485,
3.1276168823242188,
0.15528351068496704,
-3.1372342109680176
] | [
0.3549230098724365,
0.33542269468307495,
-0.380117803812027,
-2.279949426651001,
0.32707083225250244,
2.7299277782440186,
1.2783153057098389
] | [
0.3549230098724365,
0.33542269468307495,
-0.380117803812027,
-2.279949426651001,
0.32707083225250244,
2.7299277782440186,
1.2783153057098389,
0.40543919801712036
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.4544265866279602,
0.185758575797081,
0.0661843866109848,
-0.24728736281394958,
0.09135517477989197,
0.042793288826942444,
-1.046826958656311,
1.6012160778045654,
0,
0,
0,
0.07949703931808472,
0.07990793883800507
] | [
7.76205587387085,
0.39860203862190247,
70.74787139892578,
-0.11677343398332596,
-1.3209784030914307,
0.03385486081242561
] | 0.5 | [
0.01587045192718506,
0.007183784618973732,
0.014834851026535034,
0.004250270780175924,
-0.0266647320240736,
0.005754716694355011
] | [
0.008690357208251953,
-0.0057992637157440186,
-0.0006602704524993896,
0.03509855270385742,
-0.005625426769256592,
-0.013616085052490234,
0.012146949768066406
] | [
0.3625175356864929,
0.3306034505367279,
-0.3764576017856598,
-2.242370367050171,
0.328141450881958,
2.7039427757263184,
1.2818200588226318
] | [
0.010513722896575928,
-0.0008348822593688965,
0.00048345327377319336,
0.03762650489807129,
-0.0065424442291259766,
-0.01764512062072754,
0.014010429382324219
] | 1 | [
0.010513722896575928,
-0.0008348822593688965,
0.00048345327377319336,
0.03762650489807129,
-0.0065424442291259766,
-0.01764512062072754,
0.014010429382324219,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 2.96 | 74 | 0 | 74 | 0 |
false | false | 0.405476 | [
0.5774137377738953,
0.03069249354302883,
0.13660043478012085,
3.123924732208252,
0.17538940906524658,
-3.129870891571045
] | [
0.3652632236480713,
0.3343335688114166,
-0.3797937333583832,
-2.2429566383361816,
0.3203073740005493,
2.7124664783477783,
1.2922929525375366
] | [
0.3652632236480713,
0.3343335688114166,
-0.3797937333583832,
-2.2429566383361816,
0.3203073740005493,
2.7124664783477783,
1.2922929525375366,
0.40547600388526917
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.49597278237342834,
0.024839254096150398,
-0.03799762949347496,
-0.2573949694633484,
0.07845161855220795,
-0.05067266523838043,
-1.1372233629226685,
1.6000632047653198,
0,
0,
0,
0.0794970691204071,
0.0799417570233345
] | [
7.265439033508301,
0.2668612003326416,
71.80101013183594,
0.033982157707214355,
-1.3501125574111938,
0.03205797076225281
] | 0.5 | [
0.014458835124969482,
0.008933670818805695,
0.013125583529472351,
0.003723891219124198,
-0.02009085938334465,
0.007933673448860645
] | [
0.010340213775634766,
-0.0010891258716583252,
0.00032407045364379883,
0.036992788314819336,
-0.006763458251953125,
-0.017461299896240234,
0.013977646827697754
] | [
0.3742675185203552,
0.3341042101383209,
-0.37515056133270264,
-2.2039172649383545,
0.3207654058933258,
2.6833105087280273,
1.2971693277359009
] | [
0.011749982833862305,
0.0035007596015930176,
0.0013070404529571533,
0.038453102111816406,
-0.007376044988632202,
-0.020632266998291016,
0.015349268913269043
] | 1 | [
0.011749982833862305,
0.0035007596015930176,
0.0013070404529571533,
0.038453102111816406,
-0.007376044988632202,
-0.020632266998291016,
0.015349268913269043,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3 | 75 | 0 | 75 | 0 |
false | false | 0.405412 | [
0.5902618169784546,
0.041119031608104706,
0.1477387398481369,
3.1210176944732666,
0.18905417621135712,
-3.1206839084625244
] | [
0.3768642842769623,
0.33754104375839233,
-0.3785994052886963,
-2.205063819885254,
0.3126312792301178,
2.6918864250183105,
1.3076791763305664
] | [
0.3768642842769623,
0.33754104375839233,
-0.3785994052886963,
-2.205063819885254,
0.3126312792301178,
2.6918864250183105,
1.3076791763305664,
0.4054116904735565
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.5890613794326782,
-0.10424785315990448,
-0.027590401470661163,
-0.2657771110534668,
0.10675885528326035,
0.05539098381996155,
-1.1914100646972656,
1.6003828048706055,
0,
0,
0,
0.07951144129037857,
0.07994981110095978
] | [
7.572083473205566,
0.14923705160617828,
71.53789520263672,
-0.00017933693015947938,
-1.316957712173462,
0.03208879753947258
] | 0.5 | [
0.012848079204559326,
0.010426538065075874,
0.011138305068016052,
0.0030152967665344477,
-0.013631063513457775,
0.009693333879113197
] | [
0.011601060628890991,
0.003207474946975708,
0.0011943280696868896,
0.037892818450927734,
-0.0076760947704315186,
-0.020580053329467773,
0.015386223793029785
] | [
0.38689112663269043,
0.34143054485321045,
-0.37310901284217834,
-2.1655123233795166,
0.3127911388874054,
2.6603610515594482,
1.3134615421295166
] | [
0.012623608112335205,
0.007326334714889526,
0.002041548490524292,
0.03840494155883789,
-0.00797426700592041,
-0.0229494571685791,
0.016292214393615723
] | 1 | [
0.012623608112335205,
0.007326334714889526,
0.002041548490524292,
0.03840494155883789,
-0.00797426700592041,
-0.0229494571685791,
0.016292214393615723,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.04 | 76 | 0 | 76 | 0 |
false | false | 0.405451 | [
0.601362943649292,
0.05270141735672951,
0.1566760241985321,
3.1190264225006104,
0.1965627521276474,
-3.1100943088531494
] | [
0.38933706283569336,
0.3445618748664856,
-0.3766511082649231,
-2.1672098636627197,
0.3043000102043152,
2.668951988220215,
1.3240559101104736
] | [
0.38933706283569336,
0.3445618748664856,
-0.3766511082649231,
-2.1672098636627197,
0.3043000102043152,
2.668951988220215,
1.3240559101104736,
0.405451238155365
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.5893037915229797,
-0.23228204250335693,
-0.12631066143512726,
-0.2596766948699951,
0.0867476612329483,
-0.06928017735481262,
-1.2725539207458496,
1.6005804538726807,
0,
0,
0,
0.07947792857885361,
0.07995772361755371
] | [
7.523906707763672,
0.19211238622665405,
71.26663970947266,
0.010728216730058193,
-1.3465025424957275,
0.03128186613321304
] | 0.5 | [
0.011101126670837402,
0.011582385748624802,
0.008937284350395203,
0.0021097103599458933,
-0.007466484326869249,
0.010963121429085732
] | [
0.012472778558731079,
0.007020831108093262,
0.0019482970237731934,
0.03785395622253418,
-0.008331269025802612,
-0.022934436798095703,
0.016376733779907227
] | [
0.3999921679496765,
0.3522048592567444,
-0.3704278767108917,
-2.128164291381836,
0.3044939637184143,
2.635845422744751,
1.330291748046875
] | [
0.013101041316986084,
0.010774314403533936,
0.002681136131286621,
0.037348031997680664,
-0.008297175168991089,
-0.024515628814697266,
0.0168302059173584
] | 1 | [
0.013101041316986084,
0.010774314403533936,
0.002681136131286621,
0.037348031997680664,
-0.008297175168991089,
-0.024515628814697266,
0.0168302059173584,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.08 | 77 | 0 | 77 | 0 |
false | false | 0.405528 | [
0.6105906963348389,
0.06505982577800751,
0.16319122910499573,
3.1181530952453613,
0.19815970957279205,
-3.0985267162323
] | [
0.4022764265537262,
0.3549662232398987,
-0.3740348517894745,
-2.1303153038024902,
0.2955889403820038,
2.6444079875946045,
1.3409696817398071
] | [
0.4022764265537262,
0.3549662232398987,
-0.3740348517894745,
-2.1303153038024902,
0.2955889403820038,
2.6444079875946045,
1.3409696817398071,
0.4055277407169342
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.6268521547317505,
-0.3361366093158722,
-0.12861613929271698,
-0.25551825761795044,
0.10588601976633072,
0.000825047492980957,
-1.2513543367385864,
1.598451852798462,
0,
0,
0,
0.0795331671833992,
0.08000734448432922
] | [
7.413156032562256,
0.14283208549022675,
71.28704833984375,
0.03184950351715088,
-1.3469657897949219,
0.02992563135921955
] | 0.5 | [
0.009227752685546875,
0.012358408421278,
0.006515204906463623,
0.0009060514275915921,
-0.001569320447742939,
0.011738231405615807
] | [
0.012939363718032837,
0.010404348373413086,
0.0026162564754486084,
0.03689455986022949,
-0.008711069822311401,
-0.02454400062561035,
0.016913771629333496
] | [
0.41314759850502014,
0.3659605383872986,
-0.36716631054878235,
-2.0927345752716064,
0.29613953828811646,
2.610503911972046,
1.3471678495407104
] | [
0.013155430555343628,
0.0137556791305542,
0.003261566162109375,
0.03542971611022949,
-0.008354425430297852,
-0.025341510772705078,
0.01687610149383545
] | 1 | [
0.013155430555343628,
0.0137556791305542,
0.003261566162109375,
0.03542971611022949,
-0.008354425430297852,
-0.025341510772705078,
0.01687610149383545,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.12 | 78 | 0 | 78 | 0 |
false | false | 0.405545 | [
0.6177720427513123,
0.07781349867582321,
0.16695958375930786,
3.1183578968048096,
0.19382113218307495,
-3.0863611698150635
] | [
0.41528111696243286,
0.36849620938301086,
-0.37077000737190247,
-2.0953450202941895,
0.2867783010005951,
2.6189277172088623,
1.3579556941986084
] | [
0.41528111696243286,
0.36849620938301086,
-0.37077000737190247,
-2.0953450202941895,
0.2867783010005951,
2.6189277172088623,
1.3579556941986084,
0.4055447280406952
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.6265836358070374,
-0.4390197694301605,
-0.16183452308177948,
-0.2401500642299652,
0.10851716250181198,
0.009598344564437866,
-1.2756794691085815,
1.5993351936340332,
0,
0,
0,
0.07952385395765305,
0.07995107769966125
] | [
7.3652448654174805,
0.08621829003095627,
71.3587875366211,
0.03353288397192955,
-1.3399955034255981,
0.02949550561606884
] | 0.5 | [
0.007181346416473389,
0.012753672897815704,
0.003768354654312134,
-0.00038749451050534844,
0.004325981251895428,
0.012124796397984028
] | [
0.013004690408706665,
0.013529986143112183,
0.0032648444175720215,
0.03497028350830078,
-0.008810639381408691,
-0.025480270385742188,
0.01698601245880127
] | [
0.42600351572036743,
0.382517009973526,
-0.3633055090904236,
-2.060128927230835,
0.2879752218723297,
2.5849180221557617,
1.363669991493225
] | [
0.01285591721534729,
0.016556471586227417,
0.0038608014583587646,
0.032605648040771484,
-0.008164316415786743,
-0.02558588981628418,
0.01650214195251465
] | 1 | [
0.01285591721534729,
0.016556471586227417,
0.0038608014583587646,
0.032605648040771484,
-0.008164316415786743,
-0.02558588981628418,
0.01650214195251465,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.16 | 79 | 0 | 79 | 0 |
false | false | 0.405589 | [
0.6227467060089111,
0.09052293002605438,
0.16767165064811707,
3.1198959350585938,
0.1835382729768753,
-3.073993444442749
] | [
0.42797258496284485,
0.38487598299980164,
-0.36687523126602173,
-2.0632987022399902,
0.27814817428588867,
2.5932109355926514,
1.3745577335357666
] | [
0.42797258496284485,
0.38487598299980164,
-0.36687523126602173,
-2.0632987022399902,
0.27814817428588867,
2.5932109355926514,
1.3745577335357666,
0.40558886528015137
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.6069684624671936,
-0.534574568271637,
-0.19383332133293152,
-0.21815863251686096,
0.11264632642269135,
-0.007808595895767212,
-1.2355678081512451,
1.5968912839889526,
0,
0,
0,
0.07955701649188995,
0.08004200458526611
] | [
7.506917476654053,
0.03178735822439194,
70.49110412597656,
0.04164700582623482,
-1.343510389328003,
0.028311505913734436
] | 0.5 | [
0.004974663257598877,
0.01270943135023117,
0.0007120668888092041,
-0.0020777161698788404,
0.01018339954316616,
0.01206878013908863
] | [
0.012691468000411987,
0.01637977361679077,
0.0038947761058807373,
0.03204631805419922,
-0.008630126714706421,
-0.025716781616210938,
0.016602039337158203
] | [
0.43814000487327576,
0.4017550051212311,
-0.3588588535785675,
-2.0316219329833984,
0.2802823483943939,
2.5598230361938477,
1.3793399333953857
] | [
0.012136489152908325,
0.019237995147705078,
0.004446655511856079,
0.028506994247436523,
-0.007692873477935791,
-0.025094985961914062,
0.015669941902160645
] | 1 | [
0.012136489152908325,
0.019237995147705078,
0.004446655511856079,
0.028506994247436523,
-0.007692873477935791,
-0.025094985961914062,
0.015669941902160645,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.2 | 80 | 0 | 80 | 0 |
false | false | 0.405627 | [
0.6253842115402222,
0.10270802676677704,
0.16511617600917816,
3.122450590133667,
0.16743533313274384,
-3.061929941177368
] | [
0.4399649500846863,
0.4037632942199707,
-0.36242997646331787,
-2.0351920127868652,
0.2699795961380005,
2.5680294036865234,
1.390346646308899
] | [
0.4399649500846863,
0.4037632942199707,
-0.36242997646331787,
-2.0351920127868652,
0.2699795961380005,
2.5680294036865234,
1.390346646308899,
0.4056271016597748
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.5849788188934326,
-0.6141626834869385,
-0.19445805251598358,
-0.19602620601654053,
0.12863889336585999,
0.055678218603134155,
-1.175262212753296,
1.5966581106185913,
0,
0,
0,
0.0795806422829628,
0.0800321027636528
] | [
7.5988335609436035,
-0.0229057464748621,
70.22486114501953,
0.03599763661623001,
-1.3433263301849365,
0.0274291280657053
] | 0.5 | [
0.002637505531311035,
0.012185096740722656,
-0.002555474638938904,
-0.003601303556933999,
0.015895424410700798,
0.011588748544454575
] | [
0.01199236512184143,
0.018887311220169067,
0.004445254802703857,
0.028106689453125,
-0.008168578147888184,
-0.02518153190612793,
0.015788912773132324
] | [
0.449143648147583,
0.4230143129825592,
-0.35402917861938477,
-2.008082151412964,
0.27332448959350586,
2.5360987186431885,
1.3937811851501465
] | [
0.011003643274307251,
0.021259307861328125,
0.004829674959182739,
0.02353978157043457,
-0.0069578588008880615,
-0.02372431755065918,
0.014441251754760742
] | 1 | [
0.011003643274307251,
0.021259307861328125,
0.004829674959182739,
0.02353978157043457,
-0.0069578588008880615,
-0.02372431755065918,
0.014441251754760742,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.24 | 81 | 0 | 81 | 0 |
false | false | 0.405665 | [
0.6256518959999084,
0.1138119325041771,
0.15929698944091797,
3.126072883605957,
0.14598453044891357,
-3.050736665725708
] | [
0.45086565613746643,
0.4246352016925812,
-0.3575901389122009,
-2.0119235515594482,
0.2625425159931183,
2.544206380844116,
1.4048911333084106
] | [
0.45086565613746643,
0.4246352016925812,
-0.3575901389122009,
-2.0119235515594482,
0.2625425159931183,
2.544206380844116,
1.4048911333084106,
0.40566542744636536
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.518970251083374,
-0.6840031147003174,
-0.2263355851173401,
-0.1580110341310501,
0.1216016486287117,
0.014229238033294678,
-1.139887809753418,
1.595550775527954,
0,
0,
0,
0.07959306985139847,
0.08005601912736893
] | [
7.645817279815674,
-0.0641641765832901,
69.90596771240234,
0.03740057721734047,
-1.3427369594573975,
0.026454361155629158
] | 0.5 | [
0.0002676844596862793,
0.011103905737400055,
-0.005819186568260193,
-0.005280407145619392,
0.02109639346599579,
0.010572237893939018
] | [
0.010900706052780151,
0.020871907472610474,
0.004839837551116943,
0.023268461227416992,
-0.007437080144882202,
-0.023823022842407227,
0.014544486999511719
] | [
0.4587002396583557,
0.4456128776073456,
-0.3490109443664551,
-1.9901278018951416,
0.26730281114578247,
2.5145022869110107,
1.4066048860549927
] | [
0.009556591510772705,
0.022598564624786377,
0.0050182342529296875,
0.017954349517822266,
-0.006021678447723389,
-0.021596431732177734,
0.012823700904846191
] | 1 | [
0.009556591510772705,
0.022598564624786377,
0.0050182342529296875,
0.017954349517822266,
-0.006021678447723389,
-0.021596431732177734,
0.012823700904846191,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.28 | 82 | 0 | 82 | 0 |
false | false | 0.405713 | [
0.6235523223876953,
0.12328553944826126,
0.15036430954933167,
3.130614995956421,
0.11983252316713333,
-3.0408971309661865
] | [
0.46030086278915405,
0.44688743352890015,
-0.3525477945804596,
-1.9943280220031738,
0.25607728958129883,
2.5225918292999268,
1.4177048206329346
] | [
0.46030086278915405,
0.44688743352890015,
-0.3525477945804596,
-1.9943280220031738,
0.25607728958129883,
2.5225918292999268,
1.4177048206329346,
0.4057133197784424
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.4678918719291687,
-0.7236870527267456,
-0.1965101957321167,
-0.12080229818820953,
0.14367029070854187,
0.10460259020328522,
-1.066914677619934,
1.597815752029419,
0,
0,
0,
0.07954416424036026,
0.07996001839637756
] | [
7.5819525718688965,
-0.09013824164867401,
69.5224380493164,
0.048014793545007706,
-1.3437327146530151,
0.025258652865886688
] | 0.5 | [
-0.0020995736122131348,
0.009473606944084167,
-0.008932679891586304,
-0.006865595001727343,
0.02563333697617054,
0.009149623103439808
] | [
0.009435206651687622,
0.02225223183631897,
0.005042344331741333,
0.017595529556274414,
-0.006465226411819458,
-0.021614551544189453,
0.012813687324523926
] | [
0.466476172208786,
0.4689474403858185,
-0.3440045416355133,
-1.9785398244857788,
0.26241546869277954,
2.4958629608154297,
1.4172712564468384
] | [
0.007775932550430298,
0.0233345627784729,
0.0050064027309417725,
0.011587977409362793,
-0.00488734245300293,
-0.018639326095581055,
0.010666370391845703
] | 1 | [
0.007775932550430298,
0.0233345627784729,
0.0050064027309417725,
0.011587977409362793,
-0.00488734245300293,
-0.018639326095581055,
0.010666370391845703,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.32 | 83 | 0 | 83 | 0 |
false | false | 0.405675 | [
0.6190534830093384,
0.13058297336101532,
0.13853472471237183,
3.1359033584594727,
0.08967456966638565,
-3.032770872116089
] | [
0.4678993821144104,
0.46985554695129395,
-0.3475135564804077,
-1.9833427667617798,
0.25084003806114197,
2.5041275024414062,
1.428159475326538
] | [
0.4678993821144104,
0.46985554695129395,
-0.3475135564804077,
-1.9833427667617798,
0.25084003806114197,
2.5041275024414062,
1.428159475326538,
0.40567538142204285
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.34901323914527893,
-0.7597887516021729,
-0.23473447561264038,
-0.07078800350427628,
0.11609083414077759,
-0.01383771002292633,
-0.9860999584197998,
1.5949318408966064,
0,
0,
0,
0.07960259169340134,
0.0800558477640152
] | [
8.094411849975586,
-0.17239777743816376,
67.96788787841797,
-0.06926383078098297,
-1.317448377609253,
0.026106245815753937
] | 0.5 | [
-0.004498839378356934,
0.007297433912754059,
-0.011829584836959839,
-0.008275194093585014,
0.029473768547177315,
0.007451083976775408
] | [
0.007598519325256348,
0.0229681134223938,
0.00503423810005188,
0.010985255241394043,
-0.00523725152015686,
-0.018464326858520508,
0.010454654693603516
] | [
0.47191357612609863,
0.4923739731311798,
-0.33926698565483093,
-1.9749077558517456,
0.25898006558418274,
2.4814233779907227,
1.4248467683792114
] | [
0.005437403917312622,
0.023426532745361328,
0.004737555980682373,
0.003632068634033203,
-0.0034354031085968018,
-0.014439582824707031,
0.007575511932373047
] | 1 | [
0.005437403917312622,
0.023426532745361328,
0.004737555980682373,
0.003632068634033203,
-0.0034354031085968018,
-0.014439582824707031,
0.007575511932373047,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.36 | 84 | 0 | 84 | 0 |
false | false | 0.40568 | [
0.6121664643287659,
0.1351880431175232,
0.12419719994068146,
3.141521453857422,
0.05637494847178459,
-3.026721954345703
] | [
0.4733109176158905,
0.49277567863464355,
-0.3427581489086151,
-1.979779601097107,
0.2470308542251587,
2.4897046089172363,
1.4356850385665894
] | [
0.4733109176158905,
0.49277567863464355,
-0.3427581489086151,
-1.979779601097107,
0.2470308542251587,
2.4897046089172363,
1.4356850385665894,
0.40567973256111145
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.2523955702781677,
-0.7646257281303406,
-0.19456681609153748,
-0.026409659534692764,
0.1308065801858902,
0.07260812819004059,
-0.7779656648635864,
1.59465754032135,
0,
0,
0,
0.07962290942668915,
0.08002634346485138
] | [
7.538344383239746,
-0.20075421035289764,
69.25144958496094,
0.042327187955379486,
-1.3415786027908325,
0.025577766820788383
] | 0.5 | [
-0.00688701868057251,
0.0046050697565078735,
-0.014337524771690369,
-0.00919665489345789,
0.032491665333509445,
0.005489629693329334
] | [
0.0054115355014801025,
0.02292013168334961,
0.0047554075717926025,
0.0035631656646728516,
-0.0038091838359832764,
-0.014422893524169922,
0.0075255632400512695
] | [
0.4748430848121643,
0.5142473578453064,
-0.3351841866970062,
-1.979085922241211,
0.2570815086364746,
2.471919536590576,
1.4289913177490234
] | [
0.002929508686065674,
0.021873384714126587,
0.004082798957824707,
-0.004178166389465332,
-0.0018985569477081299,
-0.009503841400146484,
0.004144549369812012
] | 1 | [
0.002929508686065674,
0.021873384714126587,
0.004082798957824707,
-0.004178166389465332,
-0.0018985569477081299,
-0.009503841400146484,
0.004144549369812012,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.4 | 85 | 0 | 85 | 0 |
false | false | 0.405726 | [
0.6051325798034668,
0.13712166249752045,
0.11134429275989532,
-3.1370129585266113,
0.028026560321450233,
-3.0232205390930176
] | [
0.4763089120388031,
0.5110011696815491,
-0.339176207780838,
-1.9816023111343384,
0.24490787088871002,
2.4808945655822754,
1.4398252964019775
] | [
0.4763089120388031,
0.5110011696815491,
-0.339176207780838,
-1.9816023111343384,
0.24490787088871002,
2.4808945655822754,
1.4398252964019775,
0.40572619438171387
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.14017319679260254,
-0.5566707253456116,
-0.10926887392997742,
0.024981457740068436,
0.13669243454933167,
0.10197930783033371,
-0.7165066003799438,
1.5946978330612183,
0,
0,
0,
0.079615518450737,
0.08004451543092728
] | [
7.206716060638428,
-0.3138866126537323,
70.27745056152344,
-0.03229473903775215,
-1.3109261989593506,
0.02710908278822899
] | 0.5 | [
-0.007033884525299072,
0.0019336193799972534,
-0.012852907180786133,
-0.007870098575949669,
0.02762783132493496,
0.003196578472852707
] | [
0.0029979944229125977,
0.018225491046905518,
0.0035819411277770996,
-0.0018227100372314453,
-0.0021229833364486694,
-0.008810043334960938,
0.004140257835388184
] | [
0.47533124685287476,
0.5207483768463135,
-0.3340389132499695,
-1.981723427772522,
0.25675052404403687,
2.469813585281372,
1.4296983480453491
] | [
0.0004881620407104492,
0.00650101900100708,
0.0011452734470367432,
-0.002637505531311035,
-0.00033098459243774414,
-0.0021059513092041016,
0.0007070302963256836
] | 1 | [
0.0004881620407104492,
0.00650101900100708,
0.0011452734470367432,
-0.002637505531311035,
-0.00033098459243774414,
-0.0021059513092041016,
0.0007070302963256836,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.44 | 86 | 0 | 86 | 0 |
false | false | 0.405729 | [
0.6042501330375671,
0.13711059093475342,
0.1094338521361351,
-3.1346802711486816,
0.024372488260269165,
-3.0232198238372803
] | [
0.4770505428314209,
0.5137684345245361,
-0.33915045857429504,
-1.9819350242614746,
0.24255134165287018,
2.4803361892700195,
1.442410945892334
] | [
0.4770505428314209,
0.5137684345245361,
-0.33915045857429504,
-1.9819350242614746,
0.24255134165287018,
2.4803361892700195,
1.442410945892334,
0.40572866797447205
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0,
0,
0,
0,
0,
0,
0,
1.5926084518432617,
0,
0,
0,
0.07964573800563812,
0.08010410517454147
] | [
6.7477335929870605,
0.07137305289506912,
71.14437866210938,
0.037370022386312485,
-1.355473518371582,
0.02922273986041546
] | 0.5 | [
-0.0008824467658996582,
-0.000011071562767028809,
-0.0019104406237602234,
-0.00274724536575377,
0.00335302809253335,
-0.00006496006972156465
] | [
0.0007416307926177979,
0.0027672648429870605,
0.00002574920654296875,
-0.00033271312713623047,
-0.0023565292358398438,
-0.0005583763122558594,
0.0025856494903564453
] | [
0.4767022430896759,
0.5136535167694092,
-0.3386687934398651,
-1.98191499710083,
0.24458825588226318,
2.4796252250671387,
1.4404174089431763
] | [
0.0013709962368011475,
-0.007094860076904297,
-0.00462988018989563,
-0.00019156932830810547,
-0.012162268161773682,
0.009811639785766602,
0.010719060897827148
] | 1 | [
0.0013709962368011475,
-0.007094860076904297,
-0.00462988018989563,
-0.00019156932830810547,
-0.012162268161773682,
0.009811639785766602,
0.010719060897827148,
0.5,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 3.48 | 87 | 0 | 87 | 0 |
false | false | 0.021141 | [
0.601178765296936,
0.15656141936779022,
0.12000837177038193,
3.135145664215088,
0.02263721264898777,
-3.022247791290283
] | [
0.47640129923820496,
0.5136721730232239,
-0.3381515145301819,
-1.9820399284362793,
0.24713434278964996,
2.4784128665924072,
1.4379966259002686
] | [
0.47640129923820496,
0.5136721730232239,
-0.3381515145301819,
-1.9820399284362793,
0.24713434278964996,
2.4784128665924072,
1.4379966259002686,
0.021140938624739647
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.06872725486755371,
-0.05373011529445648,
0.12660552561283112,
0.0049912515096366405,
0.1585453301668167,
-0.04945448040962219,
-0.9828860759735107,
-6.906116485595703,
0,
0,
0,
0.07961305230855942,
0.08008292317390442
] | [
-0.2106667011976242,
0.000013730861610383727,
57.64845657348633,
-0.003922630101442337,
-1.1519732475280762,
0.034387700259685516
] | 0 | [
-0.0030713677406311035,
0.019450828433036804,
0.010574519634246826,
0.013057902455329895,
0.0032982195261865854,
0.0013074844609946012
] | [
-0.0006492435932159424,
-0.00009626150131225586,
0.0009989440441131592,
-0.0001049041748046875,
0.004583001136779785,
-0.0019233226776123047,
-0.00441431999206543
] | [
0.4767022430896759,
0.5136535167694092,
-0.3386687934398651,
-1.98191499710083,
0.24458825588226318,
2.4796252250671387,
1.4404174089431763
] | [
0,
0,
0,
0,
0,
0,
0
] | 1 | [
0,
0,
0,
0,
0,
0,
0,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | true | 3.52 | 88 | 0 | 88 | 0 |
false | false | 0.026973 | [
0.42398542165756226,
0.04544749855995178,
0.35200780630111694,
-2.5204389095306396,
0.4979688227176666,
-2.1420295238494873
] | [
-0.0003224313841201365,
-0.5683480501174927,
-0.00007639799878234044,
-2.8094072341918945,
0.000024368706363020465,
3.0294878482818604,
0.7387816309928894
] | [
-0.0003224313841201365,
-0.5683480501174927,
-0.00007639799878234044,
-2.8094072341918945,
0.000024368706363020465,
3.0294878482818604,
0.7387816309928894,
0.026973001658916473
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
-0.0022061634808778763,
0.0027671921998262405,
0.002710804110392928,
0.00463896244764328,
0.002288311719894409,
0.044351909309625626,
0.031414300203323364,
-0.4581579566001892,
0,
0,
0,
0.005255215335637331,
0.00580454058945179
] | [
4.113645076751709,
0.0032809190452098846,
65.84827423095703,
-0.006781681906431913,
-0.7307080626487732,
0.03591371700167656
] | 0 | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0,
0
] | [
-0.003020599251613021,
-0.5654754042625427,
-0.00018554972484707832,
-2.8085310459136963,
0.0003264691913500428,
3.032355308532715,
0.7367855906486511
] | [
-0.0026981679257005453,
0.002872645854949951,
-0.00010915172606473789,
0.0008761882781982422,
0.0003021004959009588,
0.002867460250854492,
-0.0019960403442382812
] | 1 | [
-0.0026981679257005453,
0.002872645854949951,
-0.00010915172606473789,
0.0008761882781982422,
0.0003021004959009588,
0.002867460250854492,
-0.0019960403442382812,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0 | 0 | 1 | 89 | 0 |
false | false | 0.026976 | [
0.42524656653404236,
0.040723755955696106,
0.34881213307380676,
-2.524913787841797,
0.48695245385169983,
-2.146484375
] | [
-0.00997215136885643,
-0.5572143793106079,
-0.00018973310943692923,
-2.8050546646118164,
0.0009551362600177526,
3.0270252227783203,
0.7275123596191406
] | [
-0.00997215136885643,
-0.5572143793106079,
-0.00018973310943692923,
-2.8050546646118164,
0.0009551362600177526,
3.0270252227783203,
0.7275123596191406,
0.026975970715284348
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.5165557265281677,
-0.40047138929367065,
0.04128975793719292,
-0.020657863467931747,
-0.001565840095281601,
0.03919927775859833,
0.5491929054260254,
-0.45816224813461304,
0,
0,
0,
0.005243942141532898,
0.005795030854642391
] | [
4.04063081741333,
-0.08096184581518173,
65.86593627929688,
0.0008847902645356953,
-0.7400860786437988,
0.03587445989251137
] | 0 | [
0.0012611448764801025,
-0.004723742604255676,
-0.0031956732273101807,
-0.007125812582671642,
0.009280657395720482,
-0.00237220898270607
] | [
-0.009649720042943954,
0.011133670806884766,
-0.00011333511065458879,
0.004352569580078125,
0.0009307675645686686,
-0.002462625503540039,
-0.01126927137374878
] | [
-0.026268139481544495,
-0.5370042324066162,
-0.0010232692584395409,
-2.7987546920776367,
0.0025276767555624247,
3.0293047428131104,
0.7107336521148682
] | [
-0.02324753999710083,
0.028471171855926514,
-0.0008377195335924625,
0.00977635383605957,
0.00220120744779706,
-0.003050565719604492,
-0.02605193853378296
] | 1 | [
-0.02324753999710083,
0.028471171855926514,
-0.0008377195335924625,
0.00977635383605957,
0.00220120744779706,
-0.003050565719604492,
-0.02605193853378296,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.04 | 1 | 1 | 90 | 0 |
false | false | 0.027061 | [
0.4282936751842499,
0.02835075370967388,
0.3384113311767578,
-2.539641857147217,
0.4564463198184967,
-2.157878875732422
] | [
-0.03440113738179207,
-0.523301899433136,
-0.0010910059791058302,
-2.794260263442993,
0.0028176794294267893,
3.022859811782837,
0.6974681615829468
] | [
-0.03440113738179207,
-0.523301899433136,
-0.0010910059791058302,
-2.794260263442993,
0.0028176794294267893,
3.022859811782837,
0.6974681615829468,
0.02706083096563816
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
1.208195447921753,
-1.1749032735824585,
0.10275813937187195,
-0.06306205689907074,
-0.008117742836475372,
0.04117169231176376,
1.4073424339294434,
-0.45938557386398315,
0,
0,
0,
0.0052400133572518826,
0.005797399673610926
] | [
4.101902961730957,
-0.23343102633953094,
65.93159484863281,
0.015449482947587967,
-0.742995023727417,
0.03546365723013878
] | 0 | [
0.0030471086502075195,
-0.012373002246022224,
-0.01040080189704895,
-0.0183579009026289,
0.027673032134771347,
-0.004955419804900885
] | [
-0.02442898601293564,
0.033912479877471924,
-0.000901272869668901,
0.010794401168823242,
0.0018625431694090366,
-0.0041654109954833984,
-0.030044198036193848
] | [
-0.06552311033010483,
-0.4776693284511566,
-0.0028728360775858164,
-2.7817556858062744,
0.005046894308179617,
3.0229098796844482,
0.660216748714447
] | [
-0.03925497084856033,
0.059334903955459595,
-0.0018495668191462755,
0.016999006271362305,
0.0025192175526171923,
-0.006394863128662109,
-0.05051690340042114
] | 1 | [
-0.03925497084856033,
0.059334903955459595,
-0.0018495668191462755,
0.016999006271362305,
0.0025192175526171923,
-0.006394863128662109,
-0.05051690340042114,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.08 | 2 | 1 | 91 | 0 |
false | false | 0.027201 | [
0.4312914311885834,
0.009007111191749573,
0.3195688724517822,
-2.567582607269287,
0.404493510723114,
-2.1710221767425537
] | [
-0.07122035324573517,
-0.46621525287628174,
-0.002948273904621601,
-2.7781825065612793,
0.004415841307491064,
3.015634536743164,
0.6467788815498352
] | [
-0.07122035324573517,
-0.46621525287628174,
-0.002948273904621601,
-2.7781825065612793,
0.004415841307491064,
3.015634536743164,
0.6467788815498352,
0.02720080129802227
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
1.7510603666305542,
-1.884645938873291,
0.16067206859588623,
-0.0966176688671112,
-0.011268960312008858,
0.046279747039079666,
2.307664394378662,
-0.4660821557044983,
0,
0,
0,
0.005381076131016016,
0.00593931321054697
] | [
3.4622273445129395,
-0.3516520857810974,
67.0567398071289,
0.027085362002253532,
-0.7999926805496216,
0.03558453917503357
] | 0 | [
0.002997756004333496,
-0.01934364251792431,
-0.018842458724975586,
-0.028916407376527786,
0.050081197172403336,
-0.0022031962871551514
] | [
-0.0368192158639431,
0.05708664655685425,
-0.001857267925515771,
0.016077756881713867,
0.0015981618780642748,
-0.0072252750396728516,
-0.05068928003311157
] | [
-0.11294832825660706,
-0.3994535803794861,
-0.005468752235174179,
-2.7611358165740967,
0.0058060623705387115,
3.012181282043457,
0.5888017416000366
] | [
-0.04742521792650223,
0.07821574807167053,
-0.0025959161575883627,
0.020619869232177734,
0.0007591680623590946,
-0.010728597640991211,
-0.0714150071144104
] | 1 | [
-0.04742521792650223,
0.07821574807167053,
-0.0025959161575883627,
0.020619869232177734,
0.0007591680623590946,
-0.010728597640991211,
-0.0714150071144104,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.12 | 3 | 1 | 92 | 0 |
false | false | 0.02643 | [
0.43201056122779846,
-0.014339273795485497,
0.2943558692932129,
-2.6060569286346436,
0.3364309072494507,
-2.1763551235198975
] | [
-0.11463866382837296,
-0.39323389530181885,
-0.004845927469432354,
-2.758563995361328,
0.004425377119332552,
3.004443407058716,
0.5781816840171814
] | [
-0.11463866382837296,
-0.39323389530181885,
-0.004845927469432354,
-2.758563995361328,
0.004425377119332552,
3.004443407058716,
0.5781816840171814,
0.026430319994688034
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
2.0180938243865967,
-2.3462560176849365,
0.15680374205112457,
-0.11691410839557648,
-0.008285913616418839,
0.049790158867836,
3.0671043395996094,
-0.44804060459136963,
0,
0,
0,
0.005122245289385319,
0.00566930091008544
] | [
3.7328293323516846,
-0.429019957780838,
66.68498229980469,
0.035282522439956665,
-0.7729744911193848,
0.035734884440898895
] | 0 | [
0.0007191300392150879,
-0.02334638498723507,
-0.025213003158569336,
-0.03547774255275726,
0.06827373057603836,
0.0073943473398685455
] | [
-0.04341831058263779,
0.07298135757446289,
-0.0018976535648107529,
0.019618511199951172,
0.000009535811841487885,
-0.011191129684448242,
-0.06859719753265381
] | [
-0.1602635383605957,
-0.3144072890281677,
-0.006581853609532118,
-2.73816180229187,
0.0037568355910480022,
2.996751070022583,
0.5034978985786438
] | [
-0.04731521010398865,
0.08504629135131836,
-0.0011131013743579388,
0.022974014282226562,
-0.0020492267794907093,
-0.015430212020874023,
-0.08530384302139282
] | 1 | [
-0.04731521010398865,
0.08504629135131836,
-0.0011131013743579388,
0.022974014282226562,
-0.0020492267794907093,
-0.015430212020874023,
-0.08530384302139282,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.16 | 4 | 1 | 93 | 0 |
false | false | 0.026503 | [
0.4295840859413147,
-0.0383523590862751,
0.26610782742500305,
-2.6529452800750732,
0.2607024013996124,
-2.1658077239990234
] | [
-0.15872272849082947,
-0.31257057189941406,
-0.005784083157777786,
-2.73610782623291,
0.002063885796815157,
2.9887070655822754,
0.49627095460891724
] | [
-0.15872272849082947,
-0.31257057189941406,
-0.005784083157777786,
-2.73610782623291,
0.002063885796815157,
2.9887070655822754,
0.49627095460891724,
0.026502659544348717
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
2.023008346557617,
-2.554302930831909,
0.10559802502393723,
-0.13603417575359344,
-0.0007024481892585754,
0.057931989431381226,
3.6256279945373535,
-0.4490506052970886,
0,
0,
0,
0.005126587115228176,
0.005678522400557995
] | [
3.9097752571105957,
-0.40965256094932556,
66.32536315917969,
0.03381398320198059,
-0.758246123790741,
0.03667384013533592
] | 0 | [
-0.0024264752864837646,
-0.024013085290789604,
-0.02824804186820984,
-0.03626098483800888,
0.08018600195646286,
0.022896889597177505
] | [
-0.04408406466245651,
0.08066332340240479,
-0.0009381556883454323,
0.02245616912841797,
-0.002361491322517395,
-0.01573634147644043,
-0.08191072940826416
] | [
-0.20287470519542694,
-0.22878101468086243,
-0.006150798872113228,
-2.712986946105957,
-0.001175271114334464,
2.9765191078186035,
0.4096480906009674
] | [
-0.04261116683483124,
0.0856262743473053,
0.00043105473741889,
0.025174856185913086,
-0.004932106472551823,
-0.020231962203979492,
-0.09384980797767639
] | 1 | [
-0.04261116683483124,
0.0856262743473053,
0.00043105473741889,
0.025174856185913086,
-0.004932106472551823,
-0.020231962203979492,
-0.09384980797767639,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.2 | 5 | 1 | 94 | 0 |
false | false | 0.028982 | [
0.42421138286590576,
-0.060843054205179214,
0.23686440289020538,
-2.7081668376922607,
0.18481244146823883,
-2.136239528656006
] | [
-0.19981981813907623,
-0.22890901565551758,
-0.005294209346175194,
-2.711496591567993,
-0.002858996856957674,
2.9686312675476074,
0.40548843145370483
] | [
-0.19981981813907623,
-0.22890901565551758,
-0.005294209346175194,
-2.711496591567993,
-0.002858996856957674,
2.9686312675476074,
0.40548843145370483,
0.028982432559132576
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
1.8751418590545654,
-2.6341090202331543,
0.026966474950313568,
-0.15061554312705994,
0.009958464652299881,
0.07477475702762604,
3.999499559402466,
-0.4874766767024994,
0,
0,
0,
0.005551154725253582,
0.006162552163004875
] | [
2.1215193271636963,
-0.33644476532936096,
63.02524948120117,
0.028321757912635803,
-0.8960295915603638,
0.037595637142658234
] | 0 | [
-0.0053727030754089355,
-0.022490695118904114,
-0.02924342453479767,
-0.03218545392155647,
0.08732109516859055,
0.040373433381319046
] | [
-0.041097089648246765,
0.08366155624389648,
0.0004898738116025925,
0.024611234664916992,
-0.004922882653772831,
-0.02007579803466797,
-0.0907825231552124
] | [
-0.23977242410182953,
-0.14317014813423157,
-0.003931456711143255,
-2.6864686012268066,
-0.008568362332880497,
2.9533345699310303,
0.31180673837661743
] | [
-0.03689771890640259,
0.08561086654663086,
0.0022193421609699726,
0.02651834487915039,
-0.007393090985715389,
-0.023184537887573242,
-0.09784135222434998
] | 1 | [
-0.03689771890640259,
0.08561086654663086,
0.0022193421609699726,
0.02651834487915039,
-0.007393090985715389,
-0.023184537887573242,
-0.09784135222434998,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.24 | 6 | 1 | 95 | 0 |
false | false | 0.03176 | [
0.41676008701324463,
-0.08032678812742233,
0.2077186405658722,
-2.771017551422119,
0.11597951501607895,
-2.08864426612854
] | [
-0.23577691614627838,
-0.1440419703722,
-0.003134374273940921,
-2.685274600982666,
-0.01007482223212719,
2.946423053741455,
0.31123924255371094
] | [
-0.23577691614627838,
-0.1440419703722,
-0.003134374273940921,
-2.685274600982666,
-0.01007482223212719,
2.946423053741455,
0.31123924255371094,
0.03176034986972809
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
1.6279462575912476,
-2.664837598800659,
-0.05950162559747696,
-0.16355547308921814,
0.020061694085597992,
0.08833372592926025,
4.128960609436035,
-0.5284520983695984,
0,
0,
0,
0.006253605708479881,
0.0068927668035030365
] | [
1.748356580734253,
-0.23871847987174988,
60.241641998291016,
0.019240466877818108,
-0.9314659833908081,
0.038509320467710495
] | 0 | [
-0.007451295852661133,
-0.01948373392224312,
-0.02914576232433319,
-0.024442603811621666,
0.08945383131504059,
0.05592654272913933
] | [
-0.03595709800720215,
0.08486704528331757,
0.002159835072234273,
0.02622199058532715,
-0.007215825375169516,
-0.022208213806152344,
-0.0942491888999939
] | [
-0.2691573202610016,
-0.057533834129571915,
0.00023228561622090638,
-2.658834934234619,
-0.017887599766254425,
2.929880142211914,
0.21598781645298004
] | [
-0.029384896159172058,
0.08563631772994995,
0.004163742531090975,
0.0276336669921875,
-0.009319237433373928,
-0.02345442771911621,
-0.09581892192363739
] | 1 | [
-0.029384896159172058,
0.08563631772994995,
0.004163742531090975,
0.0276336669921875,
-0.009319237433373928,
-0.02345442771911621,
-0.09581892192363739,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.28 | 7 | 1 | 96 | 0 |
false | false | 0.032608 | [
0.408020943403244,
-0.09520469605922699,
0.17901471257209778,
-2.841508150100708,
0.05940677225589752,
-2.02520489692688
] | [
-0.26444992423057556,
-0.058875035494565964,
0.0013156248023733497,
-2.6583268642425537,
-0.01923384517431259,
2.9234960079193115,
0.21893644332885742
] | [
-0.26444992423057556,
-0.058875035494565964,
0.0013156248023733497,
-2.6583268642425537,
-0.01923384517431259,
2.9234960079193115,
0.21893644332885742,
0.03260760381817818
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
1.2666411399841309,
-2.671550989151001,
-0.18009305000305176,
-0.17015106976032257,
0.02874540537595749,
0.09522227942943573,
4.018385887145996,
-0.5583760738372803,
0,
0,
0,
0.006720167119055986,
0.007380257360637188
] | [
1.3270812034606934,
-0.17317095398902893,
60.01951217651367,
0.013707770965993404,
-0.9723238945007324,
0.03933018073439598
] | 0 | [
-0.00873914361000061,
-0.014877907931804657,
-0.028703927993774414,
-0.014132939279079437,
0.0890546515583992,
0.06898811459541321
] | [
-0.02867300808429718,
0.08516693115234375,
0.004449998959898949,
0.026947736740112305,
-0.009159022942185402,
-0.022927045822143555,
-0.09230279922485352
] | [
-0.28834986686706543,
0.027717772871255875,
0.007445040624588728,
-2.631727457046509,
-0.028820093721151352,
2.9065685272216797,
0.1274295300245285
] | [
-0.019192546606063843,
0.08525160700082779,
0.007212754804641008,
0.02710747718811035,
-0.010932493954896927,
-0.023311614990234375,
-0.08855828642845154
] | 1 | [
-0.019192546606063843,
0.08525160700082779,
0.007212754804641008,
0.02710747718811035,
-0.010932493954896927,
-0.023311614990234375,
-0.08855828642845154,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.32 | 8 | 1 | 97 | 0 |
false | false | 0.029494 | [
0.3985365033149719,
-0.10382357239723206,
0.15068139135837555,
-2.918375015258789,
0.01822197623550892,
-1.9481369256973267
] | [
-0.2832348644733429,
0.026094209402799606,
0.008590031415224075,
-2.6317989826202393,
-0.030031761154532433,
2.900256872177124,
0.13316850364208221
] | [
-0.2832348644733429,
0.026094209402799606,
0.008590031415224075,
-2.6317989826202393,
-0.030031761154532433,
2.900256872177124,
0.13316850364208221,
0.029494179412722588
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.7701703906059265,
-2.6665804386138916,
-0.31717434525489807,
-0.16724063456058502,
0.03614848107099533,
0.09956207871437073,
3.7187790870666504,
-0.5711346864700317,
0,
0,
0,
0.0069993725046515465,
0.007661057636141777
] | [
4.182651996612549,
-0.12256360054016113,
64.56085968017578,
0.007896684110164642,
-0.7447893023490906,
0.04044478014111519
] | 0 | [
-0.009484440088272095,
-0.008618876338005066,
-0.02833332121372223,
-0.003149044467136264,
0.0870920792222023,
0.07991591095924377
] | [
-0.018784940242767334,
0.08496924489736557,
0.007274406496435404,
0.026527881622314453,
-0.010797915980219841,
-0.0232391357421875,
-0.08576793968677521
] | [
-0.29458439350128174,
0.11206527799367905,
0.01826215721666813,
-2.605865240097046,
-0.0411096066236496,
2.883164167404175,
0.049623921513557434
] | [
-0.006234526634216309,
0.08434750139713287,
0.010817116126418114,
0.02586221694946289,
-0.012289512902498245,
-0.023404359817504883,
-0.07780560851097107
] | 1 | [
-0.006234526634216309,
0.08434750139713287,
0.010817116126418114,
0.02586221694946289,
-0.012289512902498245,
-0.023404359817504883,
-0.07780560851097107,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.36 | 9 | 1 | 98 | 0 |
false | false | 0.026181 | [
0.3897247016429901,
-0.10494890064001083,
0.12349604815244675,
-2.996764659881592,
-0.005906169302761555,
-1.8594484329223633
] | [
-0.28990164399147034,
0.10865163803100586,
0.019754091277718544,
-2.606221914291382,
-0.04198497161269188,
2.8780605792999268,
0.05737067759037018
] | [
-0.28990164399147034,
0.10865163803100586,
0.019754091277718544,
-2.606221914291382,
-0.04198497161269188,
2.8780605792999268,
0.05737067759037018,
0.026180671527981758
] | [
440,
440,
440,
440,
440,
440,
440,
17,
0,
0,
0,
0.20000000298023224,
0.20000000298023224
] | [
80,
80,
80,
80,
80,
80,
80,
0.019999999552965164,
0,
0,
0,
0.0010000000474974513,
0.0010000000474974513
] | [
400,
400,
400,
400,
100,
100,
100,
200,
1,
1,
1,
50,
50
] | [
0.16103291511535645,
-2.590290069580078,
-0.5074213743209839,
-0.15934698283672333,
0.041887231171131134,
0.08566990494728088,
3.2722976207733154,
-0.4414788782596588,
0,
0,
0,
0.004986832849681377,
0.0055425954051315784
] | [
4.355855941772461,
-0.06042352691292763,
65.84194946289062,
0.0015240265056490898,
-0.7191012501716614,
0.040384646505117416
] | 0 | [
-0.008811801671981812,
-0.001125328242778778,
-0.027185343205928802,
0.006497887894511223,
0.08175861090421677,
0.08943731337785721
] | [
-0.006666779518127441,
0.08255742490291595,
0.011164059862494469,
0.025577068328857422,
-0.011953210458159447,
-0.022196292877197266,
-0.07579782605171204
] | [
-0.28754574060440063,
0.18973875045776367,
0.034156639128923416,
-2.5812621116638184,
-0.053941354155540466,
2.8624346256256104,
-0.014766061678528786
] | [
0.0070386528968811035,
0.07767347246408463,
0.015894481912255287,
0.02460312843322754,
-0.01283174753189087,
-0.020729541778564453,
-0.06438998132944107
] | 1 | [
0.0070386528968811035,
0.07767347246408463,
0.015894481912255287,
0.02460312843322754,
-0.01283174753189087,
-0.020729541778564453,
-0.06438998132944107,
0,
1
] | place_on_block | ["robot", "obj", "target_obj"] | gripper_open_traj | {"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1ce90>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f28d4f1f090>", "place_pose": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([-0.1002, 0.3652, -0.0145, -2.3907, 0.0051, 2.7618, 1.4543],\n device='cuda:0'), velocity=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([-0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-0.0004, 0.0003, 0.1940]], device='cuda:0'), quaternion=tensor([[ 0.0029, -0.0470, 0.9989, -0.0018]], device='cuda:0'), rotation=tensor([[[-0.9956, -0.0939, 0.0059],\n [-0.0940, 0.9956, -0.0034],\n [-0.0055, -0.0039, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"} | false | 0.4 | 10 | 1 | 99 | 0 |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.