Datasets:
observation.state list | action list | skill.type stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 29
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 64.3 | frame_index int64 0 643 | episode_index int64 0 19 | index int64 0 11.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | move_to_position | 0.165256 | [
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] | 0 | move to initial position to start the task | [
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[
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] | [
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] | move_to_position | 0.230673 | [
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] | 0 | move to initial position to start the task | [
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[
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] | [
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] | move_to_position | 0.389658 | [
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] | 0 | move to initial position to start the task | [
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[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.3 | 3 | 0 | 3 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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[
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] | [
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] | move_to_position | 0.021801 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 0 | 5 | 0 |
[
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] | [
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] | move_to_position | 0.23274 | [
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] | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
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0.35299089550971985,
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] | 1 | 0.6 | 6 | 0 | 6 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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0.35297465324401855,
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] | 1 | 0.7 | 7 | 0 | 7 | 0 |
[
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] | [
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] | move_to_position | 0.211342 | [
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] | [
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0,
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] | [
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0,
0,
0
] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 0 | 8 | 0 |
[
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] | [
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] | move_to_position | 0.504192 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
0.000006140155619505094,
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0.3529622256755829,
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] | 1 | 0.9 | 9 | 0 | 9 | 0 |
[
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] | [
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0
] | move_to_position | 0.153875 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.000006799829407100333,
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] | 1 | 1 | 10 | 0 | 10 | 0 |
[
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] | [
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0
] | move_to_position | 0.66193 | [
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] | [
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0,
0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 0 | 11 | 0 |
[
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] | [
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0
] | move_to_position | 0.045418 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3529658615589142,
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] | 1 | 1.2 | 12 | 0 | 12 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.396344 | [
-1.9002946615219116,
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] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00001608087586646434,
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0.35296422243118286,
2.7947003841400146,
0.06064567714929581,
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] | 1 | 1.3 | 13 | 0 | 13 | 0 |
[
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0
] | [
-1.9002946615219116,
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0
] | move_to_position | 0.246568 | [
-1.9002946615219116,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000007411520527966786,
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0.35298359394073486,
2.794685125350952,
0.060634396970272064,
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] | 1 | 1.4 | 14 | 0 | 14 | 0 |
[
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0
] | [
-1.9002946615219116,
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0
] | move_to_position | 0.323608 | [
-1.9002946615219116,
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] | [
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0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000003285883394710254,
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0.3529956638813019,
2.7946438789367676,
0.06066598370671272,
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] | 1 | 1.5 | 15 | 0 | 15 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000009 | [
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1.6520957946777344,
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3.310063600540161,
0
] | [
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0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.000009571489499649033,
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0.3529817461967468,
2.7946672439575195,
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] | 1 | 1.6 | 16 | 0 | 16 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000005 | [
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1.6520957946777344,
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3.310063600540161,
0
] | [
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0.7052870392799377,
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0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
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0.3529517948627472,
2.7947566509246826,
0.060629721730947495,
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] | 1 | 1.7 | 17 | 0 | 17 | 0 |
[
-1.9002741575241089,
-1.9572187662124634,
1.9299477338790894,
-1.8932396173477173,
-1.5383285284042358,
2.881990671157837,
0
] | [
-1.9000130891799927,
-1.9570472240447998,
1.93004310131073,
-1.8935012817382812,
-1.5384234189987183,
2.8822810649871826,
0
] | move_to_position | 0.000028 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.00001187201814900618,
-0.44000008702278137,
0.35295575857162476,
2.794712781906128,
0.06061800941824913,
3.0696277618408203
] | 1 | 1.8 | 18 | 0 | 18 | 0 |
[
-1.8996866941452026,
-1.956863522529602,
1.930050253868103,
-1.8939510583877563,
-1.5385202169418335,
2.882638692855835,
0
] | [
-1.8991520404815674,
-1.9563900232315063,
1.9304275512695312,
-1.8945645093917847,
-1.5387126207351685,
2.883112907409668,
0
] | move_to_position | 0.000749 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0002087195316562429,
-0.44022655487060547,
0.352823406457901,
2.7944772243499756,
0.060640428215265274,
3.069596529006958
] | 1 | 1.9 | 19 | 0 | 19 | 0 |
[
-1.8984612226486206,
-1.9558273553848267,
1.9306014776229858,
-1.8954421281814575,
-1.5389150381088257,
2.8837544918060303,
0
] | [
-1.8976608514785767,
-1.9551728963851929,
1.9310792684555054,
-1.8964858055114746,
-1.5392251014709473,
2.8845183849334717,
0
] | move_to_position | 0.002304 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0005385924596339464,
-0.44058287143707275,
0.3522692322731018,
2.7946767807006836,
0.06056610494852066,
3.0696496963500977
] | 1 | 2 | 20 | 0 | 20 | 0 |
[
-1.8966392278671265,
-1.9543005228042603,
1.9315322637557983,
-1.8978649377822876,
-1.5395811796188354,
2.8854856491088867,
0
] | [
-1.8956859111785889,
-1.95346999168396,
1.9319126605987549,
-1.8990910053253174,
-1.539908528327942,
2.8863673210144043,
0
] | move_to_position | 0.004687 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0010024851653724909,
-0.4411829710006714,
0.3515393137931824,
2.7946553230285645,
0.06061374023556709,
3.069631814956665
] | 1 | 2.1 | 21 | 0 | 21 | 0 |
[
-1.8938206434249878,
-1.9518376588821411,
1.9326905012130737,
-1.9015904664993286,
-1.5405234098434448,
2.8881115913391113,
0
] | [
-1.8926383256912231,
-1.9507076740264893,
1.933147668838501,
-1.9031845331192017,
-1.540964961051941,
2.8892173767089844,
0
] | move_to_position | 0.008435 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0016510291025042534,
-0.4420415461063385,
0.3505670428276062,
2.794618606567383,
0.06059393659234047,
3.0696628093719482
] | 1 | 2.2 | 22 | 0 | 22 | 0 |
[
-1.890440821647644,
-1.9486557245254517,
1.9339598417282104,
-1.9061285257339478,
-1.5416854619979858,
2.8912556171417236,
0
] | [
-1.8888678550720215,
-1.9471311569213867,
1.9346110820770264,
-1.9083256721496582,
-1.5422714948654175,
2.8927478790283203,
0
] | move_to_position | 0.013085 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0024612625129520893,
-0.4432148337364197,
0.34927111864089966,
2.794692039489746,
0.06058674678206444,
3.0696771144866943
] | 1 | 2.3 | 23 | 0 | 23 | 0 |
[
-1.8861407041549683,
-1.9445010423660278,
1.935637354850769,
-1.912066102027893,
-1.5431827306747437,
2.89528489112854,
0
] | [
-1.8842178583145142,
-1.9425427913665771,
1.9363411664962769,
-1.9147454500198364,
-1.5438804626464844,
2.8971126079559326,
0
] | move_to_position | 0.019101 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.003492854069918394,
-0.4447155296802521,
0.3476121127605438,
2.794699192047119,
0.06060254946351051,
3.0697240829467773
] | 1 | 2.4 | 24 | 0 | 24 | 0 |
[
-1.8812917470932007,
-1.9395943880081177,
1.9374569654464722,
-1.9188967943191528,
-1.5448874235153198,
2.8998918533325195,
0
] | [
-1.8792668581008911,
-1.9375505447387695,
1.9381405115127563,
-1.9216268062591553,
-1.5455907583236694,
2.901771068572998,
0
] | move_to_position | 0.026058 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.004770440049469471,
-0.44668567180633545,
0.3454963266849518,
2.794682025909424,
0.06064648926258087,
3.069653034210205
] | 1 | 2.5 | 25 | 0 | 25 | 0 |
[
-1.8750280141830444,
-1.9333988428115845,
1.9396919012069702,
-1.92750084400177,
-1.547078013420105,
2.9057421684265137,
0
] | [
-1.8713655471801758,
-1.9298440217971802,
1.941149353981018,
-1.9325013160705566,
-1.5483194589614868,
2.909207582473755,
0
] | move_to_position | 0.034866 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.006362190470099449,
-0.4489440619945526,
0.34297579526901245,
2.794720411300659,
0.060644038021564484,
3.0696887969970703
] | 1 | 2.6 | 26 | 0 | 26 | 0 |
[
-1.8665598630905151,
-1.9251590967178345,
1.9429877996444702,
-1.9390450716018677,
-1.5499972105026245,
2.913686513900757,
0
] | [
-1.863543152809143,
-1.9221854209899902,
1.9441213607788086,
-1.9432860612869263,
-1.5510213375091553,
2.916569471359253,
0
] | move_to_position | 0.046591 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.008573461323976517,
-0.45185086131095886,
0.33959802985191345,
2.794767379760742,
0.06061636656522751,
3.0697247982025146
] | 1 | 2.7 | 27 | 0 | 27 | 0 |
[
-1.857704520225525,
-1.9164315462112427,
1.9462298154830933,
-1.951381802558899,
-1.5530203580856323,
2.922020435333252,
0
] | [
-1.8528882265090942,
-1.9113746881484985,
1.9479938745498657,
-1.9581493139266968,
-1.5547027587890625,
2.9265971183776855,
0
] | move_to_position | 0.058982 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.010817069560289383,
-0.45487502217292786,
0.33616986870765686,
2.7946629524230957,
0.06067880243062973,
3.069697618484497
] | 1 | 2.8 | 28 | 0 | 28 | 0 |
[
-1.8469094038009644,
-1.9050050973892212,
1.9499934911727905,
-1.9666720628738403,
-1.5567573308944702,
2.9323086738586426,
0
] | [
-1.8424372673034668,
-1.900149941444397,
1.9514985084533691,
-1.973007321357727,
-1.558315396308899,
2.9364330768585205,
0
] | move_to_position | 0.074571 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.01346735842525959,
-0.45853978395462036,
0.33205848932266235,
2.7945897579193115,
0.06066301092505455,
3.0695741176605225
] | 1 | 2.9 | 29 | 0 | 29 | 0 |
[
-1.8357547521591187,
-1.8925997018814087,
1.9535807371139526,
-1.9827429056167603,
-1.5605982542037964,
2.942709445953369,
0
] | [
-1.8308497667312622,
-1.8867987394332886,
1.9549527168273926,
-1.9898862838745117,
-1.5623232126235962,
2.9473390579223633,
0
] | move_to_position | 0.090998 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.016411375254392624,
-0.46269381046295166,
0.32745349407196045,
2.794612407684326,
0.06065194681286812,
3.0697081089019775
] | 1 | 3 | 30 | 0 | 30 | 0 |
[
-1.8240317106246948,
-1.8784619569778442,
1.9568203687667847,
-2.0000226497650146,
-1.5647066831588745,
2.9537742137908936,
0
] | [
-1.8196755647659302,
-1.8732258081436157,
1.9580823183059692,
-2.006516456604004,
-1.5661909580230713,
2.957855463027954,
0
] | move_to_position | 0.109003 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.019777854904532433,
-0.4676864743232727,
0.3219209909439087,
2.7949206829071045,
0.06062259152531624,
3.069671630859375
] | 1 | 3.1 | 31 | 0 | 31 | 0 |
[
-1.8110769987106323,
-1.8626638650894165,
1.9606517553329468,
-2.0195271968841553,
-1.5692237615585327,
2.9660325050354004,
0
] | [
-1.8062700033187866,
-1.8567676544189453,
1.9620493650436401,
-2.026639461517334,
-1.5708341598510742,
2.9704701900482178,
0
] | move_to_position | 0.12897 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.023462709039449692,
-0.47273820638656616,
0.3160579204559326,
2.795104503631592,
0.06055169552564621,
3.0697216987609863
] | 1 | 3.2 | 32 | 0 | 32 | 0 |
[
-1.7969030141830444,
-1.8450795412063599,
1.9646838903427124,
-2.040759325027466,
-1.5740708112716675,
2.979247808456421,
0
] | [
-1.7912771701812744,
-1.8377747535705566,
1.9661973714828491,
-2.049405097961426,
-1.576028823852539,
2.9845786094665527,
0
] | move_to_position | 0.150766 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.027476847171783447,
-0.4781307280063629,
0.30973753333091736,
2.7951908111572266,
0.060552679002285004,
3.0698070526123047
] | 1 | 3.3 | 33 | 0 | 33 | 0 |
[
-1.7820991277694702,
-1.82563316822052,
1.9684466123580933,
-2.0635015964508057,
-1.5792454481124878,
2.9932665824890137,
0
] | [
-1.7755935192108154,
-1.8168680667877197,
1.96969473361969,
-2.073575496673584,
-1.581462025642395,
2.9993395805358887,
0
] | move_to_position | 0.174254 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.031853266060352325,
-0.4840177297592163,
0.30275267362594604,
2.795527696609497,
0.0605308972299099,
3.0696377754211426
] | 1 | 3.4 | 34 | 0 | 34 | 0 |
[
-1.766783595085144,
-1.80453360080719,
1.971114993095398,
-2.08727765083313,
-1.5845140218734741,
3.007622003555298,
0
] | [
-1.759301781654358,
-1.7935947179794312,
1.9718819856643677,
-2.0991573333740234,
-1.5871034860610962,
3.0146780014038086,
0
] | move_to_position | 0.199176 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.036515623331069946,
-0.4904255270957947,
0.29564324021339417,
2.7954189777374268,
0.06057833880186081,
3.0697546005249023
] | 1 | 3.5 | 35 | 0 | 35 | 0 |
[
-1.7508162260055542,
-1.7806154489517212,
1.9721988439559937,
-2.1127607822418213,
-1.5900968313217163,
3.0226807594299316,
0
] | [
-1.7432777881622314,
-1.7687675952911377,
1.9722285270690918,
-2.1249165534973145,
-1.5926483869552612,
3.029770612716675,
0
] | move_to_position | 0.226594 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.04114637151360512,
-0.4973554015159607,
0.2888220250606537,
2.7945351600646973,
0.060637470334768295,
3.069652795791626
] | 1 | 3.6 | 36 | 0 | 36 | 0 |
[
-1.735068678855896,
-1.7556320428848267,
1.972131609916687,
-2.138348340988159,
-1.5954698324203491,
3.0374367237091064,
0
] | [
-1.7288882732391357,
-1.7453956604003906,
1.972136378288269,
-2.1485729217529297,
-1.597628116607666,
3.0433261394500732,
0
] | move_to_position | 0.254556 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.04662781581282616,
-0.5055222511291504,
0.28068748116493225,
2.793658971786499,
0.06076442450284958,
3.0696616172790527
] | 1 | 3.7 | 37 | 0 | 37 | 0 |
[
-1.7185333967208862,
-1.7279378175735474,
1.9719609022140503,
-2.165907621383667,
-1.6012157201766968,
3.0531373023986816,
0
] | [
-1.7117782831192017,
-1.71641206741333,
1.9717069864273071,
-2.1771469116210938,
-1.6035484075546265,
3.0594472885131836,
0
] | move_to_position | 0.28477 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.05210287496447563,
-0.5134491920471191,
0.2723217010498047,
2.7929632663726807,
0.060739338397979736,
3.0695455074310303
] | 1 | 3.8 | 38 | 0 | 38 | 0 |
[
-1.7022141218185425,
-1.6996151208877563,
1.9712265729904175,
-2.19319748878479,
-1.6068428754806519,
3.068425178527832,
0
] | [
-1.6948410272598267,
-1.6862789392471313,
1.9707145690917969,
-2.2057347297668457,
-1.6094051599502563,
3.075411081314087,
0
] | move_to_position | 0.315005 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.057861775159835815,
-0.521372377872467,
0.26341697573661804,
2.792917013168335,
0.06069766357541084,
3.069591522216797
] | 1 | 3.9 | 39 | 0 | 39 | 0 |
[
-1.6856802701950073,
-1.669331669807434,
1.9698184728622437,
-2.221214532852173,
-1.6125730276107788,
3.0840535163879395,
0
] | [
-1.678425908088684,
-1.6554391384124756,
1.9689583778381348,
-2.2335875034332275,
-1.6150745153427124,
3.0908899307250977,
0
] | move_to_position | 0.346541 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.06391165405511856,
-0.5295167565345764,
0.2537752687931061,
2.793347120285034,
0.060729555785655975,
3.0695905685424805
] | 1 | 4 | 40 | 0 | 40 | 0 |
[
-1.6695317029953003,
-1.637921929359436,
1.9675911664962769,
-2.248695135116577,
-1.618172526359558,
3.0992720127105713,
0
] | [
-1.6615943908691406,
-1.621707797050476,
1.9659826755523682,
-2.262162208557129,
-1.6208770275115967,
3.106771945953369,
0
] | move_to_position | 0.378318 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0702231377363205,
-0.5377601385116577,
0.24350693821907043,
2.7944767475128174,
0.060641832649707794,
3.0696845054626465
] | 1 | 4.1 | 41 | 0 | 41 | 0 |
[
-1.6532591581344604,
-1.6040445566177368,
1.9636458158493042,
-2.276418447494507,
-1.6237949132919312,
3.114610195159912,
0
] | [
-1.6475368738174438,
-1.5916661024093628,
1.9616942405700684,
-2.2862584590911865,
-1.6257151365280151,
3.1200449466705322,
0
] | move_to_position | 0.411749 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.07669488340616226,
-0.5464620590209961,
0.23280103504657745,
2.7958245277404785,
0.060634806752204895,
3.0697598457336426
] | 1 | 4.2 | 42 | 0 | 42 | 0 |
[
-1.6376408338546753,
-1.569640040397644,
1.957537055015564,
-2.3033359050750732,
-1.62909734249115,
3.129395008087158,
0
] | [
-1.6319977045059204,
-1.5566879510879517,
1.9547467231750488,
-2.3131935596466064,
-1.6310564279556274,
3.1347248554229736,
0
] | move_to_position | 0.44535 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.08319202810525894,
-0.5554765462875366,
0.22254343330860138,
2.7961299419403076,
0.0606120228767395,
3.0698320865631104
] | 1 | 4.3 | 43 | 0 | 43 | 0 |
[
-1.6220039129257202,
-1.5331662893295288,
1.9491413831710815,
-2.3306877613067627,
-1.6344960927963257,
3.1441802978515625,
0
] | [
-1.6161197423934937,
-1.5192252397537231,
1.9455125331878662,
-2.340794563293457,
-1.6365065574645996,
3.1497325897216797,
0
] | move_to_position | 0.480623 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.08933085948228836,
-0.5643277168273926,
0.21284767985343933,
2.7959718704223633,
0.060678187757730484,
3.0697007179260254
] | 1 | 4.4 | 44 | 0 | 44 | 0 |
[
-1.607216715812683,
-1.497578740119934,
1.9394878149032593,
-2.3562023639678955,
-1.6395081281661987,
3.158182382583618,
0
] | [
-1.6010260581970215,
-1.4821280241012573,
1.9349068403244019,
-2.366847276687622,
-1.6416796445846558,
3.164005756378174,
0
] | move_to_position | 0.514775 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.09652731567621231,
-0.574463427066803,
0.20203165709972382,
2.795167922973633,
0.06064537912607193,
3.0697760581970215
] | 1 | 4.5 | 45 | 0 | 45 | 0 |
[
-1.5930413007736206,
-1.4620603322982788,
1.9286373853683472,
-2.3803293704986572,
-1.6443709135055542,
3.1714529991149902,
0
] | [
-1.5866104364395142,
-1.4454095363616943,
1.9232091903686523,
-2.3912758827209473,
-1.6466121673583984,
3.1776440143585205,
0
] | move_to_position | 0.54847 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.10311422497034073,
-0.5836414694786072,
0.1919640302658081,
2.794741630554199,
0.060685768723487854,
3.069749355316162
] | 1 | 4.6 | 46 | 0 | 46 | 0 |
[
-1.5793942213058472,
-1.4265068769454956,
1.9167426824569702,
-2.403254270553589,
-1.6490896940231323,
3.1845474243164062,
0
] | [
-1.5729894638061523,
-1.4092674255371094,
1.9104548692703247,
-2.413713216781616,
-1.6512627601623535,
3.190537691116333,
0
] | move_to_position | 0.581907 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.10976438224315643,
-0.5926437973976135,
0.1817266196012497,
2.7946629524230957,
0.060624416917562485,
3.0696709156036377
] | 1 | 4.7 | 47 | 0 | 47 | 0 |
[
-1.5663970708847046,
-1.390823245048523,
1.9032119512557983,
-2.4245431423187256,
-1.6534961462020874,
3.1968321800231934,
0
] | [
-1.5602492094039917,
-1.3732846975326538,
1.8960251808166504,
-2.434255838394165,
-1.6555999517440796,
3.202608346939087,
0
] | move_to_position | 0.615158 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.11633774638175964,
-0.6017937660217285,
0.17155137658119202,
2.794666290283203,
0.06062307953834534,
3.0696959495544434
] | 1 | 4.8 | 48 | 0 | 48 | 0 |
[
-1.5536655187606812,
-1.3540395498275757,
1.8876699209213257,
-2.4446446895599365,
-1.6578501462936401,
3.208815574645996,
0
] | [
-1.5478981733322144,
-1.3365890979766846,
1.8798441886901855,
-2.4537220001220703,
-1.6597939729690552,
3.2143189907073975,
0
] | move_to_position | 0.649209 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.12289904803037643,
-0.6110312938690186,
0.16136391460895538,
2.7946527004241943,
0.060683995485305786,
3.069746255874634
] | 1 | 4.9 | 49 | 0 | 49 | 0 |
[
-1.5416511297225952,
-1.3175785541534424,
1.8709830045700073,
-2.463271379470825,
-1.661929965019226,
3.220181941986084,
0
] | [
-1.5364696979522705,
-1.3013641834259033,
1.8631792068481445,
-2.471266269683838,
-1.663666844367981,
3.225160837173462,
0
] | move_to_position | 0.682825 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.12948563694953918,
-0.6202945709228516,
0.15104292333126068,
2.7947895526885986,
0.060620661824941635,
3.0697646141052246
] | 1 | 5 | 50 | 0 | 50 | 0 |
[
-1.5302222967147827,
-1.2816928625106812,
1.853524088859558,
-2.480680227279663,
-1.6657499074935913,
3.231091022491455,
0
] | [
-1.5257586240768433,
-1.2676057815551758,
1.8463413715362549,
-2.487212657928467,
-1.6672916412353516,
3.2353250980377197,
0
] | move_to_position | 0.715866 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1355609893798828,
-0.6288480758666992,
0.14137892425060272,
2.794748544692993,
0.060629840940237045,
3.069732427597046
] | 1 | 5.1 | 51 | 0 | 51 | 0 |
[
-1.5199531316757202,
-1.2490863800048828,
1.8367823362350464,
-2.4956023693084717,
-1.6692417860031128,
3.2408344745635986,
0
] | [
-1.5158137083053589,
-1.2358418703079224,
1.8297107219696045,
-2.501434326171875,
-1.6706535816192627,
3.2447638511657715,
0
] | move_to_position | 0.745901 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.14205388724803925,
-0.6375811100006104,
0.1312907338142395,
2.7947020530700684,
0.060628246515989304,
3.0696823596954346
] | 1 | 5.2 | 52 | 0 | 52 | 0 |
[
-1.5106109380722046,
-1.2186996936798096,
1.8201769590377808,
-2.5084211826324463,
-1.6723965406417847,
3.2496936321258545,
0
] | [
-1.5063252449035645,
-1.2040868997573853,
1.8115209341049194,
-2.514085292816162,
-1.673851490020752,
3.2537758350372314,
0
] | move_to_position | 0.77393 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1476941853761673,
-0.6452246904373169,
0.12256672233343124,
2.794650077819824,
0.0606435090303421,
3.069761276245117
] | 1 | 5.3 | 53 | 0 | 53 | 0 |
[
-1.5017684698104858,
-1.1882879734039307,
1.8018792867660522,
-2.5198142528533936,
-1.6753438711166382,
3.2581048011779785,
0
] | [
-1.4986332654953003,
-1.1772199869155884,
1.7950092554092407,
-2.5236639976501465,
-1.6764363050460815,
3.2610862255096436,
0
] | move_to_position | 0.802199 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.15313811600208282,
-0.6530213356018066,
0.11401933431625366,
2.794651746749878,
0.06066851317882538,
3.069690465927124
] | 1 | 5.4 | 54 | 0 | 54 | 0 |
[
-1.4938124418258667,
-1.1600267887115479,
1.784061312675476,
-2.529315710067749,
-1.6780370473861694,
3.265598773956299,
0
] | [
-1.4906936883926392,
-1.1486501693725586,
1.7766001224517822,
-2.5329980850219727,
-1.6790987253189087,
3.2686357498168945,
0
] | move_to_position | 0.828509 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1582747995853424,
-0.6602492928504944,
0.10605603456497192,
2.7946736812591553,
0.06068188324570656,
3.0698049068450928
] | 1 | 5.5 | 55 | 0 | 55 | 0 |
[
-1.4865940809249878,
-1.1338266134262085,
1.7668145895004272,
-2.5376312732696533,
-1.680487036705017,
3.2725183963775635,
0
] | [
-1.48377525806427,
-1.1233810186386108,
1.7598696947097778,
-2.540806531906128,
-1.6814162731170654,
3.2752153873443604,
0
] | move_to_position | 0.853066 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1630014032125473,
-0.6668793559074402,
0.09864741563796997,
2.7946953773498535,
0.06065971404314041,
3.069723129272461
] | 1 | 5.6 | 56 | 0 | 56 | 0 |
[
-1.4799903631210327,
-1.1095895767211914,
1.7506474256515503,
-2.545079469680786,
-1.6827348470687866,
3.278848886489868,
0
] | [
-1.4775298833847046,
-1.1005654335021973,
1.7445977926254272,
-2.547694444656372,
-1.683508276939392,
3.2811546325683594,
0
] | move_to_position | 0.875788 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1673455536365509,
-0.6728109121322632,
0.09178395569324493,
2.7946619987487793,
0.06061748042702675,
3.069681406021118
] | 1 | 5.7 | 57 | 0 | 57 | 0 |
[
-1.4742845296859741,
-1.0883463621139526,
1.7359956502914429,
-2.5510685443878174,
-1.6846040487289429,
3.2842698097229004,
0
] | [
-1.471771478652954,
-1.078873634338379,
1.729274034500122,
-2.553441286087036,
-1.6854327917099,
3.286633014678955,
0
] | move_to_position | 0.895781 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1713464856147766,
-0.6782172322273254,
0.0855986475944519,
2.794616222381592,
0.06064401939511299,
3.06973934173584
] | 1 | 5.8 | 58 | 0 | 58 | 0 |
[
-1.4691194295883179,
-1.0684741735458374,
1.721692442893982,
-2.555849313735962,
-1.6863216161727905,
3.2891275882720947,
0
] | [
-1.4668365716934204,
-1.0596702098846436,
1.7150111198425293,
-2.557833433151245,
-1.6870778799057007,
3.291330337524414,
0
] | move_to_position | 0.914576 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.17490239441394806,
-0.6832626461982727,
0.07995675504207611,
2.794699192047119,
0.060670703649520874,
3.069727659225464
] | 1 | 5.9 | 59 | 0 | 59 | 0 |
[
-1.4644941091537476,
-1.0505332946777344,
1.707929015159607,
-2.5597431659698486,
-1.6878327131271362,
3.2935407161712646,
0
] | [
-1.4625025987625122,
-1.0424243211746216,
1.7017775774002075,
-2.561354398727417,
-1.6885201930999756,
3.295456647872925,
0
] | move_to_position | 0.931854 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1781097948551178,
-0.6877736449241638,
0.07504264265298843,
2.7946958541870117,
0.06066332012414932,
3.0697507858276367
] | 1 | 6 | 60 | 0 | 60 | 0 |
[
-1.4604557752609253,
-1.0342355966567993,
1.6954630613327026,
-2.5629608631134033,
-1.6891907453536987,
3.2973954677581787,
0
] | [
-1.459233045578003,
-1.0293145179748535,
1.6916013956069946,
-2.563915252685547,
-1.6896076202392578,
3.298570156097412,
0
] | move_to_position | 0.947458 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.18088005483150482,
-0.6917712092399597,
0.07063271850347519,
2.794689655303955,
0.06065459921956062,
3.0696513652801514
] | 1 | 6.1 | 61 | 0 | 61 | 0 |
[
-1.4573935270309448,
-1.022028923034668,
1.685916781425476,
-2.5654327869415283,
-1.6902049779891968,
3.3003156185150146,
0
] | [
-1.4559812545776367,
-1.0164119005203247,
1.681710124015808,
-2.5665597915649414,
-1.690690040588379,
3.301666021347046,
0
] | move_to_position | 0.959248 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.18328623473644257,
-0.6950283646583557,
0.06698878854513168,
2.794564962387085,
0.060633864253759384,
3.069732666015625
] | 1 | 6.2 | 62 | 0 | 62 | 0 |
[
-1.4547008275985718,
-1.0113450288772583,
1.67782723903656,
-2.5675251483917236,
-1.6911104917526245,
3.302867889404297,
0
] | [
-1.453558087348938,
-1.0066930055618286,
1.674122929573059,
-2.568415880203247,
-1.6914960145950317,
3.3039731979370117,
0
] | move_to_position | 0.969443 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.18520589172840118,
-0.6975998878479004,
0.0638861283659935,
2.794672727584839,
0.060631509870290756,
3.069734573364258
] | 1 | 6.3 | 63 | 0 | 63 | 0 |
[
-1.452391505241394,
-1.0018844604492188,
1.6702975034713745,
-2.569257974624634,
-1.6918505430221558,
3.305105209350586,
0
] | [
-1.451590657234192,
-0.9986507296562195,
1.6676627397537231,
-2.5697710514068604,
-1.6921495199203491,
3.305846929550171,
0
] | move_to_position | 0.978602 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.1868092566728592,
-0.6997711062431335,
0.06137940660119057,
2.794707775115967,
0.060656577348709106,
3.0697240829467773
] | 1 | 6.4 | 64 | 0 | 64 | 0 |
[
-1.4506763219833374,
-0.9949450492858887,
1.6645621061325073,
-2.5702898502349854,
-1.6924413442611694,
3.3067142963409424,
0
] | [
-1.4501241445541382,
-0.9925472140312195,
1.6626319885253906,
-2.570672035217285,
-1.6926358938217163,
3.307244062423706,
0
] | move_to_position | 0.985396 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.18815936148166656,
-0.7016956210136414,
0.059326380491256714,
2.7946465015411377,
0.060632746666669846,
3.069734573364258
] | 1 | 6.5 | 65 | 0 | 65 | 0 |
[
-1.44931161403656,
-0.9892009496688843,
1.659842848777771,
-2.5710947513580322,
-1.692844271659851,
3.3079893589019775,
0
] | [
-1.4489355087280273,
-0.9875232577323914,
1.6584010124206543,
-2.571324348449707,
-1.6930296421051025,
3.3083765506744385,
0
] | move_to_position | 0.990985 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.18916752934455872,
-0.7030733227729797,
0.05773979797959328,
2.794750213623047,
0.06063607335090637,
3.069774866104126
] | 1 | 6.6 | 66 | 0 | 66 | 0 |
[
-1.4483941793441772,
-0.9851390719413757,
1.6563857793807983,
-2.571566343307495,
-1.6931957006454468,
3.308886766433716,
0
] | [
-1.448014497756958,
-0.9835951328277588,
1.655052661895752,
-2.571794033050537,
-1.6933344602584839,
3.3092544078826904,
0
] | move_to_position | 0.994981 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.18981926143169403,
-0.7040932774543762,
0.05663752928376198,
2.794804811477661,
0.060698095709085464,
3.0697474479675293
] | 1 | 6.7 | 67 | 0 | 67 | 0 |
[
-1.4478262662887573,
-0.9823213815689087,
1.6539510488510132,
-2.5719411373138428,
-1.6933797597885132,
3.3095061779022217,
0
] | [
-1.4475539922714233,
-0.9816579222679138,
1.6534305810928345,
-2.572054862976074,
-1.6934870481491089,
3.3096930980682373,
0
] | move_to_position | 0.997759 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.19023148715496063,
-0.7048309445381165,
0.055948685854673386,
2.7947030067443848,
0.060621827840805054,
3.0696232318878174
] | 1 | 6.8 | 68 | 0 | 68 | 0 |
[
-1.4474724531173706,
-0.980796754360199,
1.6527527570724487,
-2.5721614360809326,
-1.6935309171676636,
3.309889793395996,
0
] | [
-1.4472813606262207,
-0.9805236458778381,
1.65249502658844,
-2.5722217559814453,
-1.6935774087905884,
3.309952735900879,
0
] | move_to_position | 0.999222 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.19047057628631592,
-0.7051205039024353,
0.055586185306310654,
2.7947232723236084,
0.060647718608379364,
3.06964373588562
] | 1 | 6.9 | 69 | 0 | 69 | 0 |
[
-1.447234034538269,
-0.9803631901741028,
1.6524451971054077,
-2.5722339153289795,
-1.6936057806015015,
3.3100407123565674,
0
] | [
-1.4471791982650757,
-0.980098307132721,
1.652144193649292,
-2.572284460067749,
-1.6936113834381104,
3.3100500106811523,
0
] | move_to_position | 0.999648 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.19064806401729584,
-0.7051876187324524,
0.05545346438884735,
2.794738531112671,
0.060678631067276,
3.0697779655456543
] | 1 | 7 | 70 | 0 | 70 | 0 |
[
-1.4471882581710815,
-0.9802083969116211,
1.6522492170333862,
-2.5723001956939697,
-1.6936367750167847,
3.310065984725952,
0
] | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | move_to_position | 0.999833 | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | [
-0.19066515564918518,
0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | [
0.19066515564918518,
-0.7052870392799377,
0.055383916944265366,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.19064633548259735,
-0.7052479386329651,
0.05545416101813316,
2.79467511177063,
0.06063731759786606,
3.069697856903076
] | 1 | 7.1 | 71 | 0 | 71 | 0 |
[
-1.447177767753601,
-0.9802191853523254,
1.652241587638855,
-2.572289228439331,
-1.6936711072921753,
3.31003475189209,
0
] | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | gripper_open | 1 | [
-1.447177767753601,
-0.9802191853523254,
1.652241587638855,
-2.572289228439331,
-1.6936711072921753,
3.31003475189209,
0
] | [
-0.1906575709581375,
0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | [
0.1906575709581375,
-0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | 0 | pick red block and place on red dish: open gripper | [
0.19065658748149872,
-0.7052743434906006,
0.05547867715358734,
2.794609546661377,
0.060635846108198166,
3.069718360900879
] | 1 | 7.2 | 72 | 0 | 72 | 0 |
[
-1.447196364402771,
-0.980039119720459,
1.6521061658859253,
-2.5723283290863037,
-1.6936148405075073,
3.310065984725952,
0.0117647061124444
] | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | gripper_open | 1 | [
-1.447177767753601,
-0.9802191853523254,
1.652241587638855,
-2.572289228439331,
-1.6936711072921753,
3.31003475189209,
0
] | [
-0.1906575709581375,
0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | [
0.1906575709581375,
-0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | 0 | pick red block and place on red dish: open gripper | [
0.1906757950782776,
-0.7052984833717346,
0.05538950115442276,
2.794682502746582,
0.060625772923231125,
3.0697262287139893
] | 1 | 7.3 | 73 | 0 | 73 | 0 |
[
-1.447177767753601,
-0.9800234436988831,
1.6521023511886597,
-2.5722930431365967,
-1.6936115026474,
3.3100695610046387,
0.0117647061124444
] | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | gripper_open | 1 | [
-1.447177767753601,
-0.9802191853523254,
1.652241587638855,
-2.572289228439331,
-1.6936711072921753,
3.31003475189209,
0
] | [
-0.1906575709581375,
0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | [
0.1906575709581375,
-0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | 0 | pick red block and place on red dish: open gripper | [
0.19064374268054962,
-0.7053109407424927,
0.0553969070315361,
2.7946624755859375,
0.060665566474199295,
3.0696871280670166
] | 1 | 7.4 | 74 | 0 | 74 | 0 |
[
-1.4471930265426636,
-0.9800234436988831,
1.6521061658859253,
-2.5723092555999756,
-1.6936115026474,
3.310053825378418,
0.0117647061124444
] | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | gripper_open | 1 | [
-1.447177767753601,
-0.9802191853523254,
1.652241587638855,
-2.572289228439331,
-1.6936711072921753,
3.31003475189209,
0
] | [
-0.1906575709581375,
0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | [
0.1906575709581375,
-0.7052556872367859,
0.055453795939683914,
2.794666051864624,
0.060637522488832474,
3.0697081089019775
] | 0 | pick red block and place on red dish: open gripper | [
0.19065609574317932,
-0.7053086757659912,
0.05543042719364166,
2.7946348190307617,
0.06065825745463371,
3.069688558578491
] | 1 | 7.5 | 75 | 0 | 75 | 0 |
[
-1.4472001791000366,
-0.9800390601158142,
1.652098536491394,
-2.5722782611846924,
-1.693602442741394,
3.3100502490997314,
0
] | [
-1.4471651315689087,
-0.980039656162262,
1.6520957946777344,
-2.5722930431365967,
-1.6936160326004028,
3.310063600540161,
0
] | move_to_position | 0.000268 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.1906808316707611,
-0.7052931785583496,
0.05539077892899513,
2.794686794281006,
0.060662902891635895,
3.069753646850586
] | 1 | 7.6 | 76 | 0 | 76 | 0 |
[
-1.447165846824646,
-0.979995846748352,
1.6520947217941284,
-2.5722930431365967,
-1.693602442741394,
3.3100814819335938,
0
] | [
-1.4471780061721802,
-0.9799020290374756,
1.6520766019821167,
-2.5723469257354736,
-1.6935769319534302,
3.3100273609161377,
0
] | move_to_position | 0.000439 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.1906634122133255,
-0.705289900302887,
0.05534254387021065,
2.7947511672973633,
0.06069065257906914,
3.06974458694458
] | 1 | 7.7 | 77 | 0 | 77 | 0 |
[
-1.4473580121994019,
-0.9788278937339783,
1.6514161825180054,
-2.5726492404937744,
-1.6935209035873413,
3.3097424507141113,
0
] | [
-1.447997808456421,
-0.9777815341949463,
1.650754451751709,
-2.573133707046509,
-1.6932438611984253,
3.3091976642608643,
0
] | move_to_position | 0.014054 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.19049963355064392,
-0.705785870552063,
0.054814282804727554,
2.794759511947632,
0.06067489832639694,
3.069904327392578
] | 1 | 7.8 | 78 | 0 | 78 | 0 |
[
-1.4487899541854858,
-0.9758192896842957,
1.649300456047058,
-2.5738613605499268,
-1.6929887533187866,
3.3084638118743896,
0
] | [
-1.4494305849075317,
-0.9743437767028809,
1.648415207862854,
-2.574392318725586,
-1.692780613899231,
3.3078298568725586,
0
] | move_to_position | 0.055507 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.18963657319545746,
-0.7070299983024597,
0.05364951118826866,
2.794827938079834,
0.060650527477264404,
3.069819927215576
] | 1 | 7.9 | 79 | 0 | 79 | 0 |
[
-1.4507554769515991,
-0.9711165428161621,
1.6461480855941772,
-2.575605630874634,
-1.6924189329147339,
3.306583881378174,
0
] | [
-1.451632022857666,
-0.9691183567047119,
1.6447612047195435,
-2.5762648582458496,
-1.6921052932739258,
3.3057541847229004,
0
] | move_to_position | 0.117901 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.18848343193531036,
-0.7088170647621155,
0.05200401321053505,
2.7948358058929443,
0.06062960997223854,
3.0697810649871826
] | 1 | 8 | 80 | 0 | 80 | 0 |
[
-1.4532917737960815,
-0.9651473164558411,
1.6418617963790894,
-2.5776708126068115,
-1.6916335821151733,
3.304166793823242,
0
] | [
-1.4541401863098145,
-0.9631301164627075,
1.6405009031295776,
-2.5783445835113525,
-1.6913424730300903,
3.3033945560455322,
0
] | move_to_position | 0.198458 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.18721990287303925,
-0.7108771800994873,
0.050256405025720596,
2.7946674823760986,
0.06064537912607193,
3.069801092147827
] | 1 | 8.1 | 81 | 0 | 81 | 0 |
[
-1.4559205770492554,
-0.9587517976760864,
1.6373199224472046,
-2.579826593399048,
-1.6907919645309448,
3.3016984462738037,
0
] | [
-1.456844449043274,
-0.9565529227256775,
1.6357522010803223,
-2.5805246829986572,
-1.6905027627944946,
3.300839900970459,
0
] | move_to_position | 0.283827 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.1857261210680008,
-0.7132245302200317,
0.048055250197649,
2.7947654724121094,
0.06067328155040741,
3.0697319507598877
] | 1 | 8.2 | 82 | 0 | 82 | 0 |
[
-1.458525538444519,
-0.9523733258247375,
1.6327370405197144,
-2.5818240642547607,
-1.689958930015564,
3.2992935180664062,
0
] | [
-1.4595849514007568,
-0.9497216939926147,
1.6307470798492432,
-2.5826621055603027,
-1.6896239519119263,
3.2982337474823,
0
] | move_to_position | 0.368723 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.18418005108833313,
-0.7156957387924194,
0.04576660692691803,
2.7948310375213623,
0.060710057616233826,
3.0696897506713867
] | 1 | 8.3 | 83 | 0 | 83 | 0 |
[
-1.461549162864685,
-0.944724977016449,
1.6270569562911987,
-2.5841782093048096,
-1.6889852285385132,
3.2963316440582275,
0
] | [
-1.462977647781372,
-0.9412094354629517,
1.6244547367095947,
-2.5852630138397217,
-1.688533902168274,
3.295006513595581,
0
] | move_to_position | 0.47129 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.18245701491832733,
-0.7185830473899841,
0.043283458799123764,
2.7946996688842773,
0.06066329777240753,
3.0696849822998047
] | 1 | 8.4 | 84 | 0 | 84 | 0 |
[
-1.4652389287948608,
-0.9355223774909973,
1.6202114820480347,
-2.586982011795044,
-1.6877998113632202,
3.2928292751312256,
0
] | [
-1.4665651321411133,
-0.9321701526641846,
1.6177294254302979,
-2.5879781246185303,
-1.6873805522918701,
3.2915945053100586,
0
] | move_to_position | 0.594687 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | [
0.17410437762737274,
-0.7319654226303101,
0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.1804066151380539,
-0.7219234108924866,
0.040273308753967285,
2.7946555614471436,
0.0606357641518116,
3.0697152614593506
] | 1 | 8.5 | 85 | 0 | 85 | 0 |
[
-1.468784213066101,
-0.9265192151069641,
1.6134337186813354,
-2.589677095413208,
-1.686672568321228,
3.2894654273986816,
0
] | [
-1.4700543880462646,
-0.9233410954475403,
1.611116886138916,
-2.590583324432373,
-1.6862584352493286,
3.288276195526123,
0
] | move_to_position | 0.715367 | [
-1.477096676826477,
-0.9052602052688599,
1.5972696542739868,
-2.595590829849243,
-1.683990478515625,
3.281580924987793,
0
] | [
-0.17410437762737274,
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0,
0
] | [
0.17410437762737274,
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0.03099999949336052,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.1784694641828537,
-0.7250195741653442,
0.037375833839178085,
2.79473614692688,
0.060647133737802505,
3.069702386856079
] | 1 | 8.6 | 86 | 0 | 86 | 0 |
[
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0
] | [
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1.6052688360214233,
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0
] | move_to_position | 0.826137 | [
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1.5972696542739868,
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] | [
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0,
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] | [
0.17410437762737274,
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0,
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] | 0 | pick red block and place on red dish: descend to red block | [
0.17662635445594788,
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0.03461091220378876,
2.7948155403137207,
0.06070665270090103,
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] | 1 | 8.7 | 87 | 0 | 87 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.912323 | [
-1.477096676826477,
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] | [
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0
] | [
0.17410437762737274,
-0.7319654226303101,
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0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
0.17527055740356445,
-0.730015754699707,
0.032727524638175964,
2.7947304248809814,
0.06071121618151665,
3.0696847438812256
] | 1 | 8.8 | 88 | 0 | 88 | 0 |
[
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0
] | [
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1.598307728767395,
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] | move_to_position | 0.969672 | [
-1.477096676826477,
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] | [
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] | [
0.17410437762737274,
-0.7319654226303101,
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0,
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] | 0 | pick red block and place on red dish: descend to red block | [
0.17446862161159515,
-0.7313249707221985,
0.03150496631860733,
2.794780731201172,
0.06065814197063446,
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] | 1 | 8.9 | 89 | 0 | 89 | 0 |
[
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] | [
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] | move_to_position | 0.992484 | [
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] | [
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] | [
0.17410437762737274,
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] | 0 | pick red block and place on red dish: descend to red block | [
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0.03106902539730072,
2.794733762741089,
0.06067437306046486,
3.0697760581970215
] | 1 | 9 | 90 | 0 | 90 | 0 |
[
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] | [
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] | move_to_position | 0.996183 | [
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1.5972696542739868,
-2.595590829849243,
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] | [
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0,
0
] | [
0.17410437762737274,
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0,
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] | 0 | pick red block and place on red dish: descend to red block | [
0.1742068976163864,
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0.03100983239710331,
2.7947258949279785,
0.06068843975663185,
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] | 1 | 9.1 | 91 | 0 | 91 | 0 |
[
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1.5974959135055542,
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0
] | [
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1
] | gripper_close | 0 | [
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] | [
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] | 1 | pick red block and place on red dish: grasp red block | [
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2.794645071029663,
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] | 1 | 9.2 | 92 | 0 | 92 | 0 |
[
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1
] | gripper_close | 0.011765 | [
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] | [
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] | 1 | pick red block and place on red dish: grasp red block | [
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0.06067140772938728,
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] | 1 | 9.3 | 93 | 0 | 93 | 0 |
[
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] | gripper_close | 0.05098 | [
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] | [
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] | 1 | pick red block and place on red dish: grasp red block | [
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] | 1 | 9.4 | 94 | 0 | 94 | 0 |
[
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1
] | gripper_close | 0.180392 | [
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1.5974959135055542,
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] | [
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] | 1 | pick red block and place on red dish: grasp red block | [
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] | 1 | 9.5 | 95 | 0 | 95 | 0 |
[
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] | [
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1
] | gripper_close | 0.317647 | [
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1
] | [
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] | [
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0.030998311936855316,
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] | 1 | pick red block and place on red dish: grasp red block | [
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0.030919985845685005,
2.7947757244110107,
0.0606888085603714,
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] | 1 | 9.6 | 96 | 0 | 96 | 0 |
[
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] | [
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1.5972696542739868,
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1
] | gripper_close | 0.447058 | [
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1.5974959135055542,
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1
] | [
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0.7318440675735474,
0.030998311936855316,
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] | [
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-0.7318440675735474,
0.030998311936855316,
2.794733762741089,
0.060686517506837845,
3.0698063373565674
] | 1 | pick red block and place on red dish: grasp red block | [
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0.03125867620110512,
2.7940609455108643,
0.060575976967811584,
3.0696613788604736
] | 1 | 9.7 | 97 | 0 | 97 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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1.5974959135055542,
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3.2815868854522705,
1
] | [
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0.7318440675735474,
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] | [
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0.030998311936855316,
2.794733762741089,
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3.0698063373565674
] | 1 | pick red block and place on red dish: grasp red block | [
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0.031221361830830574,
2.7942276000976562,
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] | 0 | 9.8 | 98 | 0 | 98 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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1.5974959135055542,
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1
] | [
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0.7318440675735474,
0.030998311936855316,
2.794733762741089,
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] | [
0.17418654263019562,
-0.7318440675735474,
0.030998311936855316,
2.794733762741089,
0.060686517506837845,
3.0698063373565674
] | 1 | pick red block and place on red dish: grasp red block | [
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0.031178360804915428,
2.794295072555542,
0.060616977512836456,
3.069657802581787
] | 0 | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 20,
"total_frames": 11441,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:20"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
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"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"observation.images.realsense_topview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
"video.height": 480,
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"video.codec": "h264",
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"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.realsense_wrist": {
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"shape": [
480,
640,
3
],
"names": [
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"channels"
],
"info": {
"video.height": 480,
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"video.codec": "h264",
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"video.is_depth_map": false,
"video.fps": 10,
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}
},
"skill.type": {
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1
],
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},
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],
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},
"skill.goal_position.joint": {
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7
],
"names": [
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"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"skill.goal_position.world_xyzrpy": {
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6
],
"names": [
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]
},
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6
],
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]
},
"skill.goal_position.gripper": {
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1
],
"names": [
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]
},
"skill.natural_language": {
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1
],
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},
"observation.ee_pos.robot_xyzrpy": {
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6
],
"names": [
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]
},
"observation.gripper_binary": {
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1
],
"names": null
},
"timestamp": {
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1
],
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},
"frame_index": {
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