dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,3,uncap_alcohol_burner/3,0.03490837733993853,0.23286556329141256,0.03490837733993853,0.000307156268501044,0.23286556329141256,0.012422397251112143,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,4,uncap_alcohol_burner/4,0.03261564722685308,0.20124486284969406,0.03261564722685308,0.00026915062773853017,0.20124486284969406,0.01173132275857643,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,1,uncap_alcohol_burner/1,0.025229064267147643,0.17195358413505882,0.025229064267147643,0.0003794340589517512,0.17195358413505882,0.019407106224750004,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.026641421510272757,0.14960224269189623,0.026641421510272757,0.0012420510685742338,0.14960224269189623,0.019594923210903826,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,2,uncap_alcohol_burner/2,0.024843084801348714,0.18748882403758557,0.024843084801348714,0.0003001745940996,0.18748882403758557,0.01170131057263637,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,stir_beaker,3,stir_beaker/3,0.0477079754168619,0.37601531690143875,0.06778163899824535,0.02763431183547845,0.6828747326630956,0.06915590113978186,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,stir_beaker,4,stir_beaker/4,0.06295219118122103,0.37775710608795054,0.07635875208160726,0.04954563028083478,0.6727464399574904,0.08276777221841072,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,stir_beaker,1,stir_beaker/1,0.03941870796166427,0.3947355557756453,0.05907664835687,0.019760767566458552,0.6923648103968333,0.0971063011544573,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,stir_beaker,0,stir_beaker/0,0.05222442973170042,0.3765053806455087,0.07817305165344657,0.026275807809954265,0.6722470821140243,0.08076367917699309,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,stir_beaker,2,stir_beaker/2,0.04683053176744025,0.3669109587107586,0.06353598670904802,0.03012507682583249,0.6496040985453349,0.08421781887618232,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,unplug,3,unplug/3,0.026960271911723847,0.4798491171654977,0.04127280619501714,0.012647737628430555,0.789665621852821,0.17003261247817453,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,unplug,4,unplug/4,0.033794087899110446,0.4495367214037654,0.0411635887399047,0.026424587058316195,0.6989419277167686,0.20013151509076219,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,unplug,1,unplug/1,0.04584335396042997,0.9883640529941917,0.03794214356341202,0.05374456435744791,0.5209156883336107,1.4558124176547727,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,unplug,0,unplug/0,0.024368249225762126,0.4298425536010763,0.03983822486132707,0.008898273590197183,0.6876323287228685,0.17205277847928413,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,unplug,2,unplug/2,0.03105602497602362,0.44512698203952017,0.05179253790508667,0.010319512046960572,0.6791924981970248,0.21106146588201555,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pick_spoon_bowl,3,pick_spoon_bowl/3,0.07400712497074821,0.27536502665329304,0.09383473724969207,0.054179512691804356,0.48820490257558213,0.06252515073100395,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pick_spoon_bowl,4,pick_spoon_bowl/4,0.060367522404130285,0.4810693173884325,0.08435438217072629,0.03638066263753428,0.9361001401253828,0.02603849465148226,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pick_spoon_bowl,1,pick_spoon_bowl/1,0.03344628961590529,0.5641796363705185,0.05740959931023614,0.00948297992157444,1.0143251912918667,0.11403408144917031,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pick_spoon_bowl,0,pick_spoon_bowl/0,0.038504649857906616,0.49705673605279543,0.06618473515992351,0.01082456455588972,0.8452710378705505,0.1488424342350404,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pick_spoon_bowl,2,pick_spoon_bowl/2,0.03496112684043402,1.0815189934428515,0.052203935225947566,0.017718318454920487,2.01451756418124,0.14852042270446297,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,lift_board,3,lift_board/3,0.013890150350038717,0.06687939755279755,0.013890150350038717,6.106675364168575e-06,0.06687939755279755,0.00012013405849371845,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,lift_board,4,lift_board/4,0.015226972527202816,0.09638806589387197,0.015226972527202816,6.106677808058902e-06,0.09638806589387197,0.0001201340632227041,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,lift_board,1,lift_board/1,0.012855924172738703,0.062225376912517026,0.012855924172738703,6.106673296874244e-06,0.062225376912517026,0.00012013402041915797,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,lift_board,0,lift_board/0,0.014165255686744373,0.07461492033054866,0.014165255686744373,6.1066498606118866e-06,0.07461492033054866,0.00012013415879384724,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,lift_board,2,lift_board/2,0.016088897165935562,0.07154165734399269,0.016088897165935562,6.1066652614184355e-06,0.07154165734399269,0.0001201340330563468,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pour_tube,3,pour_tube/3,0.021685867779043373,0.9084205819765098,0.019255566521436677,0.024116169036650068,0.1570961854892027,1.6597449784638167,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pour_tube,4,pour_tube/4,0.02025646948053439,0.9070207039162914,0.015993105701147002,0.02451983325992178,0.15476867694393315,1.6592727308886497,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pour_tube,1,pour_tube/1,0.02269674263968304,0.8528398319197668,0.029742702582507385,0.0156507826968587,0.2576324238215354,1.4480472400179982,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pour_tube,0,pour_tube/0,0.1024890118500433,1.1529287919450715,0.17089413401485914,0.03408388968522746,1.0201742607896551,1.2856833231004876,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,pour_tube,2,pour_tube/2,0.02477550634704137,1.2895131439212841,0.02529270998922412,0.02425830270485862,0.18024311114929412,2.398783176693274,False,0.1,0.5
oakink,xhand,bimanual,mjwp_act,wipe_board,3,wipe_board/3,0.03047784312764849,0.09256768455338107,0.03047784312764849,0.00913786474261186,0.09256768455338107,0.10139151821281311,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,wipe_board,4,wipe_board/4,0.03556843706097725,0.1030771426253096,0.03556843706097725,0.01593568276222111,0.1030771426253096,0.08062646884934199,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,wipe_board,1,wipe_board/1,0.05485929586254199,0.3789399709106944,0.05485929586254199,0.02244274554914437,0.3789399709106944,0.05407430783959687,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,wipe_board,0,wipe_board/0,0.014576828354949318,0.09000747589855018,0.014576828354949318,0.02236343866681105,0.09000747589855018,0.02684144590068684,True,0.1,0.5
oakink,xhand,bimanual,mjwp_act,wipe_board,2,wipe_board/2,0.015675037129544028,0.07766482891300694,0.015675037129544028,0.012819721949056761,0.07766482891300694,0.0835733537195574,True,0.1,0.5