CoRL2026-CSI/Gr00t_BaseCaP_Sim_turn_off_lever_100ep_vision_encoder_final
Robotics • 3B • Updated • 23
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 79
values | skill.verification_question stringclasses 79
values | skill.type stringclasses 6
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 12
values | subtask.object_name stringclasses 34
values | subtask.target_position list | timestamp float32 0 31.1 | frame_index int64 0 311 | episode_index int64 0 99 | index int64 0 29.7k | task_index int64 0 10 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.005012 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.008395 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.012852 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.021954 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.036115 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.05525 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.079192 | [
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72.75862121582031,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.107706 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.140493 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.177204 | [
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72.75862121582031,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.217443 | [
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[
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[
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3.0793614387512207
] | 1 | [
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1.2207891941070557,
1.2037067413330078,
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] | [
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1.0926069021224976,
1.2047102451324463,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.30672 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
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] | [
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] | [
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0.07185772806406021,
3.099902629852295,
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3.0728509426116943
] | 1 | [
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1.0413939952850342,
1.205165147781372,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.354785 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
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] | [
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68.64987182617188,
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] | [
0.18241868913173676,
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0.07814133912324905,
3.0988593101501465,
0.6890887022018433,
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.40444 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
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72.49554443359375,
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] | [
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] | [
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3.0977704524993896,
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] | 1 | [
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] | [
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1.2060725688934326,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.455142 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
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] | [
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62.7091064453125,
72.58426666259766,
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] | [
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0.09084228426218033,
3.096649169921875,
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] | 1 | [
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] | [
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1.2065154314041138,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.506337 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
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] | [
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] | [
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3.095505714416504,
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] | 1 | [
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] | [
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1.206944465637207,
-0.005321069620549679,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.557464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
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] | [
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57.1337776184082,
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] | [
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0.10320056974887848,
3.094353675842285,
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3.038283109664917
] | 1 | [
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1.2061817646026611,
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] | [
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0.7947767972946167,
1.2073549032211304,
-0.005682465620338917,
-0.0012939722510054708
] | Move to initial position | Is the robot at initial position? | move_initial | 0.607963 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-0.22381477057933807,
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61.96730041503906,
72.58770751953125,
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] | [
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54.56022644042969,
72.6533432006836,
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] | [
0.1960342526435852,
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0.10906928032636642,
3.0932044982910156,
0.7325289845466614,
3.031491279602051
] | 1 | [
0.03782970830798149,
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1.2065765857696533,
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] | [
0.05276619270443916,
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0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
-0.0013351710513234138
] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.12234226614236832,
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59.212825775146484,
72.60902404785156,
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] | [
1.0087400674819946,
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52.16755676269531,
72.67362976074219,
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] | [
0.19899266958236694,
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0.11464529484510422,
3.0920727252960205,
0.7407094240188599,
3.024916648864746
] | 1 | [
0.043378639966249466,
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0.8300336003303528,
1.2069553136825562,
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] | [
0.05758768320083618,
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0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
-0.001373474020510912
] | Move to initial position | Is the robot at initial position? | move_initial | 0.704875 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.4521801769733429,
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56.58823013305664,
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] | [
1.2834818363189697,
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49.98200225830078,
72.69215393066406,
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] | [
0.20191991329193115,
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0.11987327039241791,
3.090972900390625,
0.748505175113678,
3.0186331272125244
] | 1 | [
0.04866597428917885,
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0.7855253219604492,
1.2073129415512085,
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] | [
0.061991821974515915,
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0.6734958291053772,
1.2084319591522217,
-0.006630517542362213,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.750227 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
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54.1223258972168,
72.64794921875,
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] | [
1.5291792154312134,
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48.02749252319336,
72.70872497558594,
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] | [
0.20476315915584564,
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0.1247049942612648,
3.0899202823638916,
0.755828320980072,
3.012712240219116
] | 1 | [
0.053633783012628555,
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0.7437081336975098,
1.2076467275619507,
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] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
-0.0014397504273802042
] | Move to initial position | Is the robot at initial position? | move_initial | 0.792838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
1.0486621856689453,
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51.842098236083984,
72.66519927978516,
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0.003789191134274006
] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
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] | [
0.20746980607509613,
-0.00979016162455082,
0.12910053133964539,
3.088930130004883,
0.7625995874404907,
3.0072224140167236
] | 1 | [
0.05822763964533806,
-1.1062370538711548,
0.7050396800041199,
1.2079530954360962,
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] | [
0.0693601742386818,
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0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.832241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
1.308769941329956,
-59.17613220214844,
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72.68077850341797,
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] | [
1.9230180978775024,
-55.43163299560547,
44.894527435302734,
72.73528289794922,
-0.2081596553325653,
0.0020163662265986204
] | [
0.2099885195493698,
-0.010651076212525368,
0.13302694261074066,
3.0880165100097656,
0.7687429785728455,
3.002225875854492
] | 1 | [
0.06239719316363335,
-1.0775946378707886,
0.6699447631835938,
1.208229899406433,
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] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
-0.001489904592745006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.868004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
1.5395591259002686,
-57.77140808105469,
47.93645477294922,
72.69451904296875,
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0.0016554341418668628
] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
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0.0011784601956605911
] | [
0.21227119863033295,
-0.01143608707934618,
0.1364586055278778,
3.0871946811676025,
0.7741912007331848,
2.9977829456329346
] | 1 | [
0.06609676778316498,
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0.6388071179389954,
1.2084739208221436,
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] | [
0.07454922050237656,
-0.9940032362937927,
0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
-0.0015082205645740032
] | Move to initial position | Is the robot at initial position? | move_initial | 0.899736 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
1.73849356174469,
-56.560569763183594,
46.35379409790039,
72.70623779296875,
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0.0009042430901899934
] | [
2.1730449199676514,
-53.909645080566406,
42.90557861328125,
72.75214385986328,
-0.21655422449111938,
0.0005597662529908121
] | [
0.21427392959594727,
-0.012129044160246849,
0.13937649130821228,
3.0864765644073486,
0.7788882851600647,
2.993943929672241
] | 1 | [
0.06928570568561554,
-1.0302704572677612,
0.6119681000709534,
1.2086820602416992,
-0.007065459154546261,
-0.001514214789494872
] | [
0.07625160366296768,
-0.9823064804077148,
0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
-0.0015217447653412819
] | Move to initial position | Is the robot at initial position? | move_initial | 0.927087 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
1.9034013748168945,
-55.55679702758789,
45.0419921875,
72.7159423828125,
-0.20596297085285187,
0.0003752684569917619
] | [
2.2404532432556152,
-53.49931335449219,
42.369346618652344,
72.7566909790039,
-0.21881742775440216,
0.00016706023598089814
] | [
0.21595779061317444,
-0.012715098448097706,
0.1417657434940338,
3.0858752727508545,
0.7827785611152649,
2.9907562732696533
] | 1 | [
0.0719291940331459,
-1.0121089220046997,
0.5897223949432373,
1.2088545560836792,
-0.007235928438603878,
-0.0015257777413353324
] | [
0.07733216881752014,
-0.9748822450637817,
0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0015303289983421564
] | Move to initial position | Is the robot at initial position? | move_initial | 0.949759 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0000046465038394671865
] | [
0.21729041635990143,
-0.013181240297853947,
0.1436169445514679,
3.0854008197784424,
0.7858226299285889,
2.9882583618164062
] | 1 | [
0.07399813830852509,
-0.9978939294815063,
0.5723121762275696,
1.2089886665344238,
-0.00736896600574255,
-0.0015323566040024161
] | [
0.07777906209230423,
-0.9718117117881775,
0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015338791999965906
] | Move to initial position | Is the robot at initial position? | move_initial | 0.967503 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
2.1252822875976562,
-54.184364318847656,
43.2505989074707,
72.71295928955078,
-0.2119712084531784,
0
] | [
2.059436082839966,
-53.81406784057617,
43.01564407348633,
72.58784484863281,
-0.21320094168186188,
0
] | [
0.21832643449306488,
-0.013526145368814468,
0.14501172304153442,
3.085059642791748,
0.7883502840995789,
2.9864895343780518
] | 1 | [
0.0754859670996666,
-0.9872770309448242,
0.5593436360359192,
1.208801507949829,
-0.007424636278301477,
-0.0015339808305725455
] | [
0.0744304433465004,
-0.9805771708488464,
0.5553592443466187,
1.2065790891647339,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.000374 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3 | 30 | 0 | 30 | 0 |
[
2.1055729389190674,
-54.04853439331055,
43.162376403808594,
72.67730712890625,
-0.21266958117485046,
0
] | [
1.8359119892120361,
-53.46830368041992,
42.84963607788086,
72.10206604003906,
-0.21320094168186188,
0
] | [
0.2185598462820053,
-0.01348651759326458,
0.14505316317081451,
3.0850746631622314,
0.7880218625068665,
2.9868006706237793
] | 1 | [
0.07517002522945404,
-0.9848194718360901,
0.5578475594520569,
1.2081681489944458,
-0.0074465712532401085,
-0.0015339808305725455
] | [
0.07084733247756958,
-0.9743211269378662,
0.5525440573692322,
1.1979498863220215,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.001746 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.1 | 31 | 0 | 31 | 0 |
[
2.0155975818634033,
-53.84573745727539,
43.05242156982422,
72.48907470703125,
-0.21363362669944763,
0
] | [
1.439873218536377,
-52.855682373046875,
42.555503845214844,
71.24136352539062,
-0.21320094168186188,
0
] | [
0.21918225288391113,
-0.013271590694785118,
0.14528770744800568,
3.0848703384399414,
0.7895542979240417,
2.988076686859131
] | 1 | [
0.07372771203517914,
-0.9811501502990723,
0.5559829473495483,
1.2048245668411255,
-0.00747684994712472,
-0.0015339808305725455
] | [
0.06449878960847855,
-0.9632368087768555,
0.5475561022758484,
1.1826608180999756,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.005012 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.2 | 32 | 0 | 32 | 0 |
[
1.817618489265442,
-53.50129699707031,
42.87955856323242,
72.06439971923828,
-0.21446864306926727,
0
] | [
0.9017907977104187,
-52.023338317871094,
42.15587615966797,
70.07196044921875,
-0.21320094168186188,
0
] | [
0.22045354545116425,
-0.012785888276994228,
0.14583119750022888,
3.0843613147735596,
0.7937822937965393,
2.9908697605133057
] | 1 | [
0.07055408507585526,
-0.9749181270599365,
0.5530514717102051,
1.197280764579773,
-0.007503076456487179,
-0.0015339808305725455
] | [
0.05587327852845192,
-0.9481769800186157,
0.540779173374176,
1.1618881225585938,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.011504 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.3 | 33 | 0 | 33 | 0 |
[
1.4945403337478638,
-53.08462905883789,
42.64023208618164,
71.36714172363281,
-0.21502657234668732,
0
] | [
0.22437411546707153,
-52.30607986450195,
41.652767181396484,
68.59974670410156,
-0.21320094168186188,
0
] | [
0.22241303324699402,
-0.011969085782766342,
0.14695937931537628,
3.0833165645599365,
0.8026578426361084,
2.995288372039795
] | 1 | [
0.06537511199712753,
-0.9673792123794556,
0.548992931842804,
1.1848950386047363,
-0.007520600222051144,
-0.0015339808305725455
] | [
0.04501422122120857,
-0.9532926678657532,
0.5322473645210266,
1.1357364654541016,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.021167 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.4 | 34 | 0 | 34 | 0 |
[
1.0404175519943237,
-52.85566711425781,
42.282737731933594,
70.3824691772461,
-0.2154630571603775,
0
] | [
-0.5814277529716492,
-51.059608459472656,
41.05430603027344,
66.8485107421875,
-0.21320094168186188,
0
] | [
0.22497090697288513,
-0.010776269249618053,
0.14965106546878815,
3.0809967517852783,
0.822003185749054,
3.0008745193481445
] | 1 | [
0.058095477521419525,
-0.9632365107536316,
0.5429304838180542,
1.1674038171768188,
-0.0075343092903494835,
-0.0015339808305725455
] | [
0.032097138464450836,
-0.9307398796081543,
0.5220986008644104,
1.1046284437179565,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.032756 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.5 | 35 | 0 | 35 | 0 |
[
0.45664188265800476,
-52.23810958862305,
41.83740997314453,
69.11388397216797,
-0.2155541479587555,
0
] | [
-1.4946848154067993,
-49.64691925048828,
40.376041412353516,
64.86375427246094,
-0.21320094168186188,
0
] | [
0.2283909171819687,
-0.009196225553750992,
0.15218910574913025,
3.078652858734131,
0.8408499360084534,
3.008498430252075
] | 1 | [
0.04873749613761902,
-0.9520629048347473,
0.5353785753250122,
1.144869327545166,
-0.007537170313298702,
-0.0015339808305725455
] | [
0.01745753549039364,
-0.9051796793937683,
0.5105964541435242,
1.0693721771240234,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.049457 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.6 | 36 | 0 | 36 | 0 |
[
-0.25072988867759705,
-51.31529998779297,
41.3060188293457,
67.5761947631836,
-0.21551239490509033,
0
] | [
-2.5136725902557373,
-48.070674896240234,
39.61689758300781,
62.649208068847656,
-0.21320094168186188,
0
] | [
0.23258793354034424,
-0.007199843879789114,
0.15475420653820038,
3.076118230819702,
0.8604081273078918,
3.0179331302642822
] | 1 | [
0.03739825636148453,
-0.9353662133216858,
0.5263671875,
1.1175546646118164,
-0.007535859011113644,
-0.0015339808305725455
] | [
0.0011230602394789457,
-0.8766602277755737,
0.4977227747440338,
1.030034065246582,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.07062 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.7 | 37 | 0 | 37 | 0 |
[
-1.0734871625900269,
-50.14883804321289,
40.54122543334961,
65.78089141845703,
-0.21479883790016174,
0
] | [
-3.6197383403778076,
-46.3468017578125,
38.784236907958984,
60.245418548583984,
-0.21320094168186188,
0
] | [
0.23760883510112762,
-0.004763751290738583,
0.15808407962322235,
3.0729174613952637,
0.8840740323066711,
3.0286850929260254
] | 1 | [
0.02420937642455101,
-0.9142610430717468,
0.5133976936340332,
1.0856637954711914,
-0.0075134471990168095,
-0.0015339808305725455
] | [
-0.01660728268325329,
-0.8454696536064148,
0.483602374792099,
0.9873343706130981,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.096106 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.8 | 38 | 0 | 38 | 0 |
[
-2.0020759105682373,
-48.748165130615234,
39.59783172607422,
63.8030891418457,
-0.21790353953838348,
0.28571537137031555
] | [
-4.7986650466918945,
-44.439598083496094,
37.896724700927734,
57.68328094482422,
-0.21320094168186188,
1.1428574323654175
] | [
0.2432304173707962,
-0.0018556811846792698,
0.16182395815849304,
3.0690717697143555,
0.9097504615783691,
3.0405044555664062
] | 1 | [
0.00932400580495596,
-0.8889182806015015,
0.4973994493484497,
1.050531029701233,
-0.007610960863530636,
0.0047115362249314785
] | [
-0.03550559654831886,
-0.8109620213508606,
0.4685518145561218,
0.9418218731880188,
-0.0074632600881159306,
0.023447997868061066
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.12631 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 3.9 | 39 | 0 | 39 | 0 |
[
-3.0257604122161865,
-47.199764251708984,
38.761661529541016,
61.523284912109375,
-0.21336035430431366,
1.7142854928970337
] | [
-6.046902179718018,
-42.420265197753906,
34.72345733642578,
54.97051239013672,
-0.21320094168186188,
2.571427583694458
] | [
0.24934649467468262,
0.0015407130122184753,
0.16530217230319977,
3.065143585205078,
0.9363067150115967,
3.0538673400878906
] | 1 | [
-0.00708575826138258,
-0.8609025478363037,
0.48321953415870667,
1.0100337266921997,
-0.007468267343938351,
0.03593897446990013
] | [
-0.05551496148109436,
-0.7744256258010864,
0.41473904252052307,
0.8936336040496826,
-0.0074632600881159306,
0.05467543751001358
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.164755 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4 | 40 | 0 | 40 | 0 |
[
-4.132476329803467,
-45.45453643798828,
37.77035140991211,
59.11752700805664,
-0.21321234107017517,
3.1428589820861816
] | [
-7.343727111816406,
-40.322330474853516,
35.980770111083984,
52.15214920043945,
-0.21320094168186188,
4.000000953674316
] | [
0.25585827231407166,
0.005438098683953285,
0.16904576122760773,
3.0605063438415527,
0.9641450643539429,
3.067837715148926
] | 1 | [
-0.024826524779200554,
-0.8293256163597107,
0.46640875935554504,
0.9672991037368774,
-0.00746361818164587,
0.06716648489236832
] | [
-0.07630319148302078,
-0.7364670634269714,
0.43606075644493103,
0.8435696363449097,
-0.0074632600881159306,
0.08590294420719147
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.205982 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.1 | 41 | 0 | 41 | 0 |
[
-5.311066150665283,
-43.55401611328125,
36.807212829589844,
56.601200103759766,
-0.21679526567459106,
4.5714287757873535
] | [
-8.679744720458984,
-38.16099166870117,
34.974998474121094,
49.24861145019531,
-0.21320094168186188,
5.4285712242126465
] | [
0.2625427544116974,
0.009836621582508087,
0.17234620451927185,
3.055551290512085,
0.9906460046768188,
3.082559585571289
] | 1 | [
-0.04371943697333336,
-0.7949389219284058,
0.4500756859779358,
0.9226003289222717,
-0.007576151750981808,
0.09839391708374023
] | [
-0.09771968424320221,
-0.6973612904548645,
0.4190047085285187,
0.7919926047325134,
-0.0074632600881159306,
0.11713038384914398
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.249137 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.2 | 42 | 0 | 42 | 0 |
[
-6.549426555633545,
-41.56871795654297,
35.79137420654297,
53.9055290222168,
-0.21630944311618805,
5.999999046325684
] | [
-10.043991088867188,
-35.953983306884766,
31.71439552307129,
46.28372573852539,
-0.21320094168186188,
6.857144355773926
] | [
0.26947537064552307,
0.01473167259246111,
0.17592188715934753,
3.049858570098877,
1.019676923751831,
3.097611904144287
] | 1 | [
-0.06357047706842422,
-0.7590183615684509,
0.4328489601612091,
0.8747157454490662,
-0.007560892961919308,
0.12962135672569275
] | [
-0.1195886954665184,
-0.6574292182922363,
0.3637109100818634,
0.7393258810043335,
-0.0074632600881159306,
0.14835788309574127
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.294492 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.3 | 43 | 0 | 43 | 0 |
[
-7.835607528686523,
-39.51982879638672,
34.71485137939453,
51.05412673950195,
-0.21149298548698425,
7.428572654724121
] | [
-11.422070503234863,
-33.72460174560547,
30.676959991455078,
43.28877258300781,
-0.21320094168186188,
8.285714149475098
] | [
0.27655088901519775,
0.020109141245484352,
0.17982856929302216,
3.043238639831543,
1.0513334274291992,
3.1126115322113037
] | 1 | [
-0.0841880813241005,
-0.721947193145752,
0.4145931005477905,
0.8240649104118347,
-0.007409616373479366,
0.16084887087345123
] | [
-0.14167943596839905,
-0.6170923709869385,
0.34611791372299194,
0.6861250400543213,
-0.0074632600881159306,
0.1795853227376938
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.34171 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.4 | 44 | 0 | 44 | 0 |
[
-9.157272338867188,
-37.38669967651367,
33.69230651855469,
48.179447174072266,
-0.2111627757549286,
8.857142448425293
] | [
-12.803016662597656,
-31.54366683959961,
29.637365341186523,
40.287593841552734,
-0.21320094168186188,
9.714284896850586
] | [
0.28347739577293396,
0.025923840701580048,
0.1831497848033905,
3.0361037254333496,
1.0809427499771118,
3.127556800842285
] | 1 | [
-0.10537450015544891,
-0.6833518147468567,
0.39725261926651,
0.7730005383491516,
-0.007399245165288448,
0.19207629561424255
] | [
-0.16381613910198212,
-0.5776320695877075,
0.328488290309906,
0.6328136324882507,
-0.0074632600881159306,
0.2108127772808075
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.389579 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.5 | 45 | 0 | 45 | 0 |
[
-10.502286911010742,
-35.2288703918457,
32.664894104003906,
45.25539016723633,
-0.2109805941581726,
10.28571605682373
] | [
-14.17360782623291,
-29.395662307739258,
28.605566024780273,
37.30891799926758,
-0.21320094168186188,
11.142858505249023
] | [
0.2902449667453766,
0.03213432803750038,
0.18641237914562225,
3.02797532081604,
1.111036777496338,
-3.1412951946258545
] | 1 | [
-0.126935213804245,
-0.6443095803260803,
0.37982961535453796,
0.7210590243339539,
-0.007393523119390011,
0.22330380976200104
] | [
-0.18578685820102692,
-0.5387675762176514,
0.3109908699989319,
0.579901933670044,
-0.0074632600881159306,
0.24204029142856598
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.43804 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.6 | 46 | 0 | 46 | 0 |
[
-11.858377456665039,
-33.07316970825195,
31.634933471679688,
42.30714416503906,
-0.2107946127653122,
11.714285850524902
] | [
-15.523442268371582,
-27.280189514160156,
29.822973251342773,
34.37535095214844,
-0.21320094168186188,
12.571428298950195
] | [
0.2967597544193268,
0.038680803030729294,
0.1896458864212036,
3.0186307430267334,
1.1416078805923462,
-3.1279921531677246
] | 1 | [
-0.14867348968982697,
-0.6053057909011841,
0.36236336827278137,
0.6686878800392151,
-0.0073876818642020226,
0.25453123450279236
] | [
-0.2074248343706131,
-0.5004916787147522,
0.33163586258888245,
0.5277915000915527,
-0.0074632600881159306,
0.2732677161693573
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.486689 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.7 | 47 | 0 | 47 | 0 |
[
-13.213310241699219,
-30.911855697631836,
30.6539306640625,
39.42200469970703,
-0.21551619470119476,
13.14285659790039
] | [
-16.836997985839844,
-25.22157096862793,
26.60053062438965,
31.520626068115234,
-0.21320094168186188,
14.000001907348633
] | [
0.3028792440891266,
0.04548244923353195,
0.19235318899154663,
3.008347988128662,
1.1700893640518188,
-3.1157429218292236
] | 1 | [
-0.1703931987285614,
-0.5662004947662354,
0.3457273542881012,
0.6174377202987671,
-0.007535978220403194,
0.28575870394706726
] | [
-0.228481262922287,
-0.4632444381713867,
0.2769891619682312,
0.4770815968513489,
-0.0074632600881159306,
0.3044952154159546
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.534745 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.8 | 48 | 0 | 48 | 0 |
[
-14.554925918579102,
-28.815292358398438,
29.764795303344727,
36.45146560668945,
-0.2109805941581726,
14.571429252624512
] | [
-18.104429244995117,
-23.235240936279297,
27.879972457885742,
28.76614761352539,
-0.21320094168186188,
15.428571701049805
] | [
0.308662474155426,
0.0524744987487793,
0.195007786154747,
2.9968314170837402,
1.19968581199646,
-3.1048545837402344
] | 1 | [
-0.19189941883087158,
-0.5282667279243469,
0.3306492567062378,
0.5646705627441406,
-0.007393523119390011,
0.31698617339134216
] | [
-0.24879831075668335,
-0.4273051917552948,
0.298686146736145,
0.4281524419784546,
-0.0074632600881159306,
0.3357226550579071
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.582766 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 4.9 | 49 | 0 | 49 | 0 |
[
-15.87061882019043,
-26.729833602905273,
28.779804229736328,
33.64928436279297,
-0.2152884602546692,
16
] | [
-19.3158016204834,
-21.33676528930664,
24.73458480834961,
26.133495330810547,
-0.21320094168186188,
16.857141494750977
] | [
0.3139977753162384,
0.05956055596470833,
0.1976068615913391,
2.983238458633423,
1.228039026260376,
-3.096548080444336
] | 1 | [
-0.21299012005329132,
-0.49053388833999634,
0.3139456510543823,
0.5148940086364746,
-0.0075288256630301476,
0.34821364283561707
] | [
-0.26821672916412354,
-0.392955482006073,
0.24534617364406586,
0.381387323141098,
-0.0074632600881159306,
0.3669500946998596
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.629539 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5 | 50 | 0 | 50 | 0 |
[
-17.148513793945312,
-24.737865447998047,
27.894079208374023,
30.819604873657227,
-0.21116657555103302,
17.428573608398438
] | [
-20.01831817626953,
-20.235774993896484,
26.439170837402344,
24.606731414794922,
-0.21320094168186188,
18.285715103149414
] | [
0.31889626383781433,
0.0666520744562149,
0.20011717081069946,
2.967803478240967,
1.2568575143814087,
-3.0906341075897217
] | 1 | [
-0.23347489535808563,
-0.45449262857437134,
0.29892536997795105,
0.46462902426719666,
-0.007399364374577999,
0.37944114208221436
] | [
-0.27947813272476196,
-0.37303492426872253,
0.2742528021335602,
0.3542666435241699,
-0.0074632600881159306,
0.3981775939464569
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.675551 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.1 | 51 | 0 | 51 | 0 |
[
-18.240921020507812,
-23.024253845214844,
27.336265563964844,
28.431638717651367,
-0.20874886214733124,
18.85714340209961
] | [
-20.616043090820312,
-19.282262802124023,
25.98922348022461,
23.307706832885742,
-0.21320094168186188,
19.714284896850586
] | [
0.3227173388004303,
0.07283521443605423,
0.20108287036418915,
2.9549522399902344,
1.277374505996704,
-3.08536434173584
] | 1 | [
-0.2509862780570984,
-0.42348772287368774,
0.28946587443351746,
0.4222103953361511,
-0.0073234280571341515,
0.41066858172416687
] | [
-0.28905972838401794,
-0.35578274726867676,
0.26662254333496094,
0.33119142055511475,
-0.0074632600881159306,
0.4294050335884094
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.715302 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.2 | 52 | 0 | 52 | 0 |
[
-19.13753318786621,
-21.608409881591797,
26.842456817626953,
26.501211166381836,
-0.21024426817893982,
20.28571319580078
] | [
-21.230022430419922,
-18.301481246948242,
25.527050018310547,
21.973360061645508,
-0.21320094168186188,
21.142858505249023
] | [
0.3256832957267761,
0.07800665497779846,
0.2018517553806305,
2.942713499069214,
1.2940717935562134,
-3.082749843597412
] | 1 | [
-0.2653590738773346,
-0.39787042140960693,
0.2810917794704437,
0.38791924715042114,
-0.007370396517217159,
0.4418960213661194
] | [
-0.29890188574790955,
-0.3380371630191803,
0.2587849199771881,
0.3074887692928314,
-0.0074632600881159306,
0.4606325328350067
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.749132 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.3 | 53 | 0 | 53 | 0 |
[
-19.921768188476562,
-20.367305755615234,
26.358640670776367,
24.80644989013672,
-0.2112690508365631,
21.71428680419922
] | [
-21.861528396606445,
-17.292701721191406,
25.051681518554688,
20.600919723510742,
-0.21320094168186188,
22.571428298950195
] | [
0.3281802833080292,
0.08260542899370193,
0.2027246654033661,
2.9300084114074707,
1.3095622062683105,
-3.082435369491577
] | 1 | [
-0.27793043851852417,
-0.37541475892066956,
0.2728871703147888,
0.35781434178352356,
-0.00740258302539587,
0.4731235206127167
] | [
-0.30902498960494995,
-0.3197849988937378,
0.25072354078292847,
0.2831094264984131,
-0.0074632600881159306,
0.49185997247695923
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.779762 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.4 | 54 | 0 | 54 | 0 |
[
-20.644411087036133,
-19.220989227294922,
25.876998901367188,
23.240440368652344,
-0.21186873316764832,
23.14285659790039
] | [
-22.51302719116211,
-16.25198745727539,
24.56126594543457,
19.185033798217773,
-0.21320094168186188,
23.999998092651367
] | [
0.3303934633731842,
0.08690187335014343,
0.20365755259990692,
2.9163689613342285,
1.3244179487228394,
-3.084059000015259
] | 1 | [
-0.2895144820213318,
-0.3546741008758545,
0.2647193968296051,
0.3299965560436249,
-0.007421418093144894,
0.5043509602546692
] | [
-0.31946858763694763,
-0.30095505714416504,
0.24240699410438538,
0.2579583525657654,
-0.0074632600881159306,
0.5230873823165894
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.808575 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.5 | 55 | 0 | 55 | 0 |
[
-21.336843490600586,
-18.120372772216797,
25.392133712768555,
21.73737144470215,
-0.21225208044052124,
24.571430206298828
] | [
-23.179758071899414,
-15.186938285827637,
24.05938148498535,
17.736040115356445,
-0.21320094168186188,
25.428571701049805
] | [
0.33242666721343994,
0.09106770157814026,
0.20462194085121155,
2.901298999786377,
1.338996171951294,
-3.0876035690307617
] | 1 | [
-0.30061423778533936,
-0.33476030826568604,
0.25649699568748474,
0.3032967746257782,
-0.0074334582313895226,
0.5355784893035889
] | [
-0.3301563262939453,
-0.2816847860813141,
0.23389595746994019,
0.2322191447019577,
-0.0074632600881159306,
0.554314911365509
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.836379 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.6 | 56 | 0 | 56 | 0 |
[
-22.018701553344727,
-17.034841537475586,
24.899980545043945,
20.255931854248047,
-0.21251776814460754,
26
] | [
-23.87234878540039,
-14.080584526062012,
23.538034439086914,
16.230850219726562,
-0.21320094168186188,
26.85714340209961
] | [
0.3343377709388733,
0.09521293640136719,
0.20560099184513092,
2.8842501640319824,
1.353529930114746,
-3.093296766281128
] | 1 | [
-0.3115444779396057,
-0.3151194751262665,
0.24815097451210022,
0.2769812345504761,
-0.007441802881658077,
0.566805899143219
] | [
-0.3412586450576782,
-0.2616671919822693,
0.22505487501621246,
0.20548170804977417,
-0.0074632600881159306,
0.5855423808097839
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.863615 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.7 | 57 | 0 | 57 | 0 |
[
-22.703584671020508,
-15.943256378173828,
24.396520614624023,
18.767230987548828,
-0.2126392126083374,
27.428569793701172
] | [
-24.59245491027832,
-12.930272102355957,
22.995973587036133,
14.665858268737793,
-0.21320094168186188,
28.285715103149414
] | [
0.3361607789993286,
0.09941594302654266,
0.20658718049526215,
2.864532709121704,
1.3681979179382324,
-3.1016037464141846
] | 1 | [
-0.32252323627471924,
-0.29536908864974976,
0.23961322009563446,
0.25053671002388,
-0.007445617578923702,
0.5980333089828491
] | [
-0.35280200839042664,
-0.24085424840450287,
0.21586252748966217,
0.17768196761608124,
-0.0074632600881159306,
0.6167698502540588
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.890464 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.8 | 58 | 0 | 58 | 0 |
[
-23.40060043334961,
-14.831459045410156,
23.878692626953125,
17.251829147338867,
-0.21267716586589813,
28.85714340209961
] | [
-25.35550308227539,
-11.711363792419434,
22.421585083007812,
13.007539749145508,
-0.21320094168186188,
29.71428680419922
] | [
0.33791232109069824,
0.1037304699420929,
0.20757515728473663,
2.8412392139434814,
1.383114218711853,
-3.1132829189300537
] | 1 | [
-0.3336964547634125,
-0.2752529978752136,
0.2308318167924881,
0.22361786663532257,
-0.007446809206157923,
0.6292608380317688
] | [
-0.36503374576568604,
-0.21880017220973969,
0.20612195134162903,
0.14822444319725037,
-0.0074632600881159306,
0.6479973196983337
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.916718 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 5.9 | 59 | 0 | 59 | 0 |
[
-24.120725631713867,
-13.68226432800293,
23.340187072753906,
15.68596363067627,
-0.21269994974136353,
30
] | [
-25.52125358581543,
-11.446592330932617,
22.296817779541016,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.33960866928100586,
0.10822384804487228,
0.20856942236423492,
2.8129096031188965,
1.3984534740447998,
-3.1296122074127197
] | 1 | [
-0.34524014592170715,
-0.25446027517318726,
0.22169974446296692,
0.19580261409282684,
-0.007447524927556515,
0.6542428135871887
] | [
-0.3676907420158386,
-0.2140095829963684,
0.2040061354637146,
0.14182567596435547,
-0.0074632600881159306,
0.6542428135871887
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.941489 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 6 | 60 | 0 | 60 | 0 |
[
-24.673704147338867,
-12.796804428100586,
22.934520721435547,
14.488218307495117,
-0.2120964676141739,
30
] | [
-25.52125358581543,
-11.446592330932617,
22.296817779541016,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.3408299684524536,
0.11169607192277908,
0.20923642814159393,
2.788242816925049,
1.4098784923553467,
3.1381149291992188
] | 1 | [
-0.3541044592857361,
-0.2384393811225891,
0.21482039988040924,
0.17452646791934967,
-0.0074285706505179405,
0.6542428135871887
] | [
-0.3676907420158386,
-0.2140095829963684,
0.2040061354637146,
0.14182567596435547,
-0.0074632600881159306,
0.6542428135871887
] | Approach lime lever handle and open gripper | Is the gripper above the lime lever handle and open? | move_and_open | 0.959145 | [
-25.52125358581543,
-9.861139297485352,
22.66960334777832,
12.647319793701172,
-0.21320094168186188,
30
] | [
0.34477201104164124,
0.11790278553962708,
0.199997678399086,
2.8199057579040527,
1.3948646783828735,
-3.100273847579956
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.20000000298023224
] | 6.1 | 61 | 0 | 61 | 0 |
[
-25.00845718383789,
-12.261731147766113,
22.687837600708008,
13.764359474182129,
-0.2120964676141739,
30
] | [
-25.01366424560547,
-12.431501388549805,
22.320178985595703,
13.760883331298828,
-0.2120964676141739,
30
] | [
0.3415334224700928,
0.11380624771118164,
0.20963484048843384,
2.771451950073242,
1.4167518615722656,
3.1268978118896484
] | 1 | [
-0.35947057604789734,
-0.22875814139842987,
0.21063710749149323,
0.16166819632053375,
-0.0074285706505179405,
0.6542428135871887
] | [
-0.3595540523529053,
-0.23182983696460724,
0.20440229773521423,
0.16160646080970764,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.2 | 62 | 0 | 62 | 0 |
[
-25.012338638305664,
-12.320470809936523,
22.56260108947754,
13.781183242797852,
-0.21346282958984375,
30
] | [
-25.045082092285156,
-12.242532730102539,
22.350067138671875,
13.739909172058105,
-0.2120964676141739,
30
] | [
0.34146949648857117,
0.11380407214164734,
0.2105180323123932,
2.764190435409546,
1.4194203615188599,
3.119776964187622
] | 1 | [
-0.35953280329704285,
-0.22982093691825867,
0.2085133194923401,
0.16196705400943756,
-0.0074714855290949345,
0.6542428135871887
] | [
-0.36005768179893494,
-0.2284107655286789,
0.20490914583206177,
0.16123388707637787,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.3 | 63 | 0 | 63 | 0 |
[
-25.022714614868164,
-12.309822082519531,
22.459228515625,
13.745506286621094,
-0.21103373169898987,
30
] | [
-25.100807189941406,
-11.907361030578613,
22.4030818939209,
13.702706336975098,
-0.2120964676141739,
30
] | [
0.341521292924881,
0.11388035863637924,
0.21107150614261627,
2.7591726779937744,
1.421483039855957,
3.114992618560791
] | 1 | [
-0.3596991300582886,
-0.22962826490402222,
0.20676031708717346,
0.16133330762386322,
-0.007395192049443722,
0.6542428135871887
] | [
-0.36095094680786133,
-0.22234641015529633,
0.20580817759037018,
0.16057302057743073,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.4 | 64 | 0 | 64 | 0 |
[
-25.04945182800293,
-12.180577278137207,
22.41535186767578,
13.709627151489258,
-0.20954211056232452,
30
] | [
-25.180233001708984,
-11.429635047912598,
22.4786434173584,
13.649681091308594,
-0.2120964676141739,
30
] | [
0.3417118489742279,
0.11409983783960342,
0.21070262789726257,
2.7618699073791504,
1.4206135272979736,
3.1180946826934814
] | 1 | [
-0.360127717256546,
-0.22728979587554932,
0.20601625740528107,
0.16069597005844116,
-0.007348342798650265,
0.6542428135871887
] | [
-0.36222416162490845,
-0.21370276808738708,
0.20708955824375153,
0.15963111817836761,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.0018 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.5 | 65 | 0 | 65 | 0 |
[
-25.095470428466797,
-11.922562599182129,
22.418033599853516,
13.669133186340332,
-0.20871849358081818,
30
] | [
-25.282377243041992,
-12.647383689880371,
22.575820922851562,
13.581488609313965,
-0.2120964676141739,
30
] | [
0.3420553207397461,
0.11448443681001663,
0.20943187177181244,
2.7717790603637695,
1.4169114828109741,
3.128631114959717
] | 1 | [
-0.36086541414260864,
-0.22262145578861237,
0.2060617208480835,
0.15997664630413055,
-0.007322474382817745,
0.6542428135871887
] | [
-0.3638615310192108,
-0.23573586344718933,
0.20873750746250153,
0.15841977298259735,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.011547 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.6 | 66 | 0 | 66 | 0 |
[
-25.16197395324707,
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22.53826141357422,
13.715676307678223,
-0.21697364747524261,
30
] | [
-25.4034366607666,
-11.91923999786377,
22.69099235534668,
13.5006685256958,
-0.2120964676141739,
30
] | [
0.34177538752555847,
0.11475009471178055,
0.2090095728635788,
2.7745754718780518,
1.4151030778884888,
3.132422685623169
] | 1 | [
-0.3619314432144165,
-0.22364573180675507,
0.2081005722284317,
0.16080342233181,
-0.007581754587590694,
0.6542428135871887
] | [
-0.365802139043808,
-0.22256134450435638,
0.21069060266017914,
0.1569841355085373,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.010433 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.7 | 67 | 0 | 67 | 0 |
[
-25.248939514160156,
-12.018153190612793,
22.547273635864258,
13.585420608520508,
-0.21054410934448242,
30
] | [
-25.543132781982422,
-11.079000473022461,
22.82389259338379,
13.4074068069458,
-0.2120964676141739,
30
] | [
0.34161752462387085,
0.11517150700092316,
0.20953403413295746,
2.7689757347106934,
1.417844295501709,
3.128312587738037
] | 1 | [
-0.3633255362510681,
-0.22435100376605988,
0.2082533985376358,
0.1584896296262741,
-0.007379813585430384,
0.6542428135871887
] | [
-0.3680414855480194,
-0.20735862851142883,
0.21294434368610382,
0.1553274691104889,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.010084 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.8 | 68 | 0 | 68 | 0 |
[
-25.355409622192383,
-11.715448379516602,
22.612045288085938,
13.479388236999512,
-0.20735971629619598,
30
] | [
-25.698930740356445,
-10.141910552978516,
22.97211265563965,
13.303394317626953,
-0.2120964676141739,
30
] | [
0.34192174673080444,
0.11587882041931152,
0.2078995257616043,
2.780579090118408,
1.4135072231292725,
3.1414976119995117
] | 1 | [
-0.36503225564956665,
-0.21887408196926117,
0.2093518078327179,
0.15660612285137177,
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0.6542428135871887
] | [
-0.3705389201641083,
-0.19040358066558838,
0.21545788645744324,
0.15347984433174133,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.0224 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 6.9 | 69 | 0 | 69 | 0 |
[
-25.480243682861328,
-11.165975570678711,
22.718971252441406,
13.387083053588867,
-0.2065778374671936,
30
] | [
-25.868249893188477,
-9.123501777648926,
23.133193969726562,
13.190357208251953,
-0.2120964676141739,
30
] | [
0.3425261676311493,
0.11680664867162704,
0.20469963550567627,
2.802475929260254,
1.404028058052063,
-3.118072271347046
] | 1 | [
-0.36703336238861084,
-0.2089322954416275,
0.21116507053375244,
0.15496645867824554,
-0.007255240343511105,
0.6542428135871887
] | [
-0.37325313687324524,
-0.1719771921634674,
0.2181895226240158,
0.15147191286087036,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.043927 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7 | 70 | 0 | 70 | 0 |
[
-25.62185287475586,
-10.434144020080566,
22.853031158447266,
13.294780731201172,
-0.20677900314331055,
30
] | [
-26.050701141357422,
-8.026100158691406,
23.30677032470703,
13.068551063537598,
-0.2120964676141739,
30
] | [
0.3433096408843994,
0.1179019883275032,
0.20038066804409027,
2.8285632133483887,
1.3909015655517578,
-3.09010648727417
] | 1 | [
-0.3693033754825592,
-0.1956910490989685,
0.213438481092453,
0.1533268392086029,
-0.007261558435857296,
0.6542428135871887
] | [
-0.3761778473854065,
-0.15212157368659973,
0.2211330682039261,
0.1493082046508789,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.072297 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.1 | 71 | 0 | 71 | 0 |
[
-25.778610229492188,
-9.562589645385742,
23.00595474243164,
13.196385383605957,
-0.20735591650009155,
30
] | [
-26.24307632446289,
-6.8690056800842285,
23.489788055419922,
12.940120697021484,
-0.2120964676141739,
30
] | [
0.3441806137561798,
0.11912243813276291,
0.1952199637889862,
2.8551723957061768,
1.3750457763671875,
-3.0614545345306396
] | 1 | [
-0.3718161880970001,
-0.17992174625396729,
0.21603178977966309,
0.15157899260520935,
-0.007279678247869015,
0.6542428135871887
] | [
-0.37926164269447327,
-0.13118591904640198,
0.22423671185970306,
0.14702683687210083,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.105935 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.2 | 72 | 0 | 72 | 0 |
[
-25.948795318603516,
-8.581293106079102,
23.172849655151367,
13.089698791503906,
-0.20798975229263306,
30
] | [
-26.443706512451172,
-5.662164688110352,
23.680660247802734,
12.806178092956543,
-0.2120964676141739,
30
] | [
0.34506887197494507,
0.12043255567550659,
0.18940198421478271,
2.8804256916046143,
1.3570733070373535,
-3.034003496170044
] | 1 | [
-0.37454429268836975,
-0.16216684877872467,
0.21886201202869415,
0.1496838629245758,
-0.007299585733562708,
0.6542428135871887
] | [
-0.3824777603149414,
-0.10935017466545105,
0.22747354209423065,
0.14464755356311798,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.143727 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.3 | 73 | 0 | 73 | 0 |
[
-26.130512237548828,
-7.513185977935791,
23.350948333740234,
12.975127220153809,
-0.2085818499326706,
30
] | [
-26.651268005371094,
-4.413632392883301,
23.878124237060547,
12.667609214782715,
-0.2120964676141739,
30
] | [
0.34591811895370483,
0.12180057913064957,
0.18305836617946625,
2.9035184383392334,
1.3374172449111938,
-3.008575201034546
] | 1 | [
-0.37745723128318787,
-0.14284126460552216,
0.22188223898410797,
0.1476486772298813,
-0.007318182848393917,
0.6542428135871887
] | [
-0.3858049809932709,
-0.08676010370254517,
0.23082217574119568,
0.14218607544898987,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.184816 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.4 | 74 | 0 | 74 | 0 |
[
-26.321924209594727,
-6.37626314163208,
23.537939071655273,
12.853389739990234,
-0.20910942554473877,
30
] | [
-26.863143920898438,
-3.1391444206237793,
24.079694747924805,
12.526159286499023,
-0.2120964676141739,
30
] | [
0.3466845750808716,
0.12319907546043396,
0.17629344761371613,
2.924210786819458,
1.3164232969284058,
-2.985429525375366
] | 1 | [
-0.3805255889892578,
-0.12227057665586472,
0.22505326569080353,
0.14548619091510773,
-0.007334752939641476,
0.6542428135871887
] | [
-0.3892013728618622,
-0.06370040774345398,
0.23424044251441956,
0.13967344164848328,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.228525 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.5 | 75 | 0 | 75 | 0 |
[
-26.521183013916016,
-5.186107158660889,
23.731914520263672,
12.725785255432129,
-0.20960283279418945,
30
] | [
-27.077787399291992,
-1.8480159044265747,
24.283897399902344,
12.382862091064453,
-0.2120964676141739,
30
] | [
0.34733304381370544,
0.12460323423147202,
0.1691972315311432,
2.9425466060638428,
1.294384479522705,
-2.9645442962646484
] | 1 | [
-0.38371971249580383,
-0.10073672235012054,
0.22834272682666779,
0.1432194858789444,
-0.007350250147283077,
0.6542428135871887
] | [
-0.39264214038848877,
-0.040339626371860504,
0.237703338265419,
0.13712798058986664,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.274264 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.6 | 76 | 0 | 76 | 0 |
[
-26.726354598999023,
-3.9566640853881836,
23.931171417236328,
12.593756675720215,
-0.21006588637828827,
30
] | [
-27.293169021606445,
-0.5524469614028931,
24.488801956176758,
12.239072799682617,
-0.2120964676141739,
30
] | [
0.3478366434574127,
0.12599028646945953,
0.16185149550437927,
2.9587042331695557,
1.271561622619629,
-2.945765495300293
] | 1 | [
-0.3870086371898651,
-0.07849203795194626,
0.23172175884246826,
0.1408742070198059,
-0.0073647936806082726,
0.6542428135871887
] | [
-0.39609473943710327,
-0.01689850352704525,
0.24117814004421234,
0.1345737725496292,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.321502 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.7 | 77 | 0 | 77 | 0 |
[
-26.935527801513672,
-2.7008447647094727,
24.133956909179688,
12.4586820602417,
-0.21047958731651306,
30
] | [
-27.507471084594727,
0.7366359233856201,
24.69268035888672,
12.096002578735352,
-0.2120964676141739,
30
] | [
0.3481762409210205,
0.12734010815620422,
0.1543343961238861,
2.972907543182373,
1.2482004165649414,
-2.9288928508758545
] | 1 | [
-0.3903616964817047,
-0.05577011778950691,
0.23516061902046204,
0.13847480714321136,
-0.007377787493169308,
0.6542428135871887
] | [
-0.3995300233364105,
0.006425263825803995,
0.24463555216789246,
0.1320323497056961,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.369746 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.8 | 78 | 0 | 78 | 0 |
[
-27.146818161010742,
-1.431044101715088,
24.338560104370117,
12.322003364562988,
-0.21086673438549042,
30
] | [
-27.718610763549805,
2.0066895484924316,
24.8935489654541,
11.955044746398926,
-0.2120964676141739,
30
] | [
0.3483397960662842,
0.12863510847091675,
0.1467222273349762,
2.985380172729492,
1.2245347499847412,
-2.913727283477783
] | 1 | [
-0.3937487006187439,
-0.03279522806406021,
0.23863032460212708,
0.13604691624641418,
-0.007389946840703487,
0.6542428135871887
] | [
-0.4029146134853363,
0.02940472960472107,
0.24804191291332245,
0.1295284479856491,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.418521 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 7.9 | 79 | 0 | 79 | 0 |
[
-27.358308792114258,
-0.1592353731393814,
24.543195724487305,
12.185032844543457,
-0.2112462818622589,
30
] | [
-27.92473602294922,
3.2465813159942627,
25.08964729309082,
11.817434310913086,
-0.2120964676141739,
30
] | [
0.34832268953323364,
0.12986025214195251,
0.13909049332141876,
2.996330499649048,
1.2007943391799927,
-2.900084972381592
] | 1 | [
-0.39713892340660095,
-0.00978400744497776,
0.2421005666255951,
0.13361383974552155,
-0.0074018677696585655,
0.6542428135871887
] | [
-0.4062187969684601,
0.051838468760252,
0.25136736035346985,
0.12708400189876556,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.467369 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8 | 80 | 0 | 80 | 0 |
[
-27.568058013916016,
1.1026157140731812,
24.746177673339844,
12.049257278442383,
-0.21162202954292297,
30
] | [
-28.1243896484375,
4.4475417137146,
25.27958869934082,
11.684144973754883,
-0.2120964676141739,
30
] | [
0.3481268584728241,
0.13100291788578033,
0.13151419162750244,
3.005946159362793,
1.1772031784057617,
-2.887803077697754
] | 1 | [
-0.40050122141838074,
0.013047046959400177,
0.2455427646636963,
0.13120198249816895,
-0.007413669489324093,
0.6542428135871887
] | [
-0.4094192683696747,
0.07356780767440796,
0.25458842515945435,
0.12471631914377213,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.51583 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.1 | 81 | 0 | 81 | 0 |
[
-27.77420997619629,
2.3430228233337402,
24.94565200805664,
11.915831565856934,
-0.2119939923286438,
30
] | [
-28.314510345458984,
5.591164588928223,
25.46046257019043,
11.557219505310059,
-0.2120964676141739,
30
] | [
0.34776148200035095,
0.13205400109291077,
0.12406722456216812,
3.0143892765045166,
1.1539846658706665,
-2.8767428398132324
] | 1 | [
-0.40380585193634033,
0.03549011051654816,
0.24892547726631165,
0.1288318783044815,
-0.007425351999700069,
0.6542428135871887
] | [
-0.41246694326400757,
0.09425972402095795,
0.25765570998191833,
0.12246167659759521,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.563462 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.2 | 82 | 0 | 82 | 0 |
[
-27.97480010986328,
3.5502288341522217,
25.139795303344727,
11.786090850830078,
-0.21234697103500366,
30
] | [
-28.442642211914062,
6.361913681030273,
25.582361221313477,
11.47167682647705,
-0.2120964676141739,
30
] | [
0.34724199771881104,
0.13300657272338867,
0.1168239414691925,
3.021798610687256,
1.1313626766204834,
-2.866791009902954
] | 1 | [
-0.40702134370803833,
0.05733245238661766,
0.2522177994251251,
0.12652723491191864,
-0.007436438463628292,
0.6542428135871887
] | [
-0.41452088952064514,
0.10820511728525162,
0.25972288846969604,
0.1209421381354332,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.609812 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.3 | 83 | 0 | 83 | 0 |
[
-28.153297424316406,
4.6295647621154785,
25.330476760864258,
11.693284034729004,
-0.21454454958438873,
30
] | [
-28.53544807434082,
6.937007904052734,
25.670652389526367,
11.409719467163086,
-0.2120964676141739,
30
] | [
0.34658288955688477,
0.13376861810684204,
0.11021985858678818,
3.027925491333008,
1.1104176044464111,
-2.8584418296813965
] | 1 | [
-0.40988266468048096,
0.07686120271682739,
0.25545141100883484,
0.1248786598443985,
-0.007505460642278194,
0.6542428135871887
] | [
-0.4160085916519165,
0.11861047148704529,
0.26122015714645386,
0.1198415607213974,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.651267 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.4 | 84 | 0 | 84 | 0 |
[
-28.29790496826172,
5.50688362121582,
25.47690773010254,
11.608380317687988,
-0.21557311713695526,
30
] | [
-28.630718231201172,
7.528249740600586,
25.761287689208984,
11.34611701965332,
-0.2120964676141739,
30
] | [
0.3459787666797638,
0.13435372710227966,
0.10492300987243652,
3.032500743865967,
1.093696117401123,
-2.8520562648773193
] | 1 | [
-0.4122007489204407,
0.09273480623960495,
0.2579346001148224,
0.12337047606706619,
-0.007537766359746456,
0.6542428135871887
] | [
-0.41753578186035156,
0.12930800020694733,
0.26275715231895447,
0.11871176213026047,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.684936 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.5 | 85 | 0 | 85 | 0 |
[
-28.422901153564453,
6.267984867095947,
25.592662811279297,
11.52113151550293,
-0.21523532271385193,
30
] | [
-28.72859764099121,
8.135685920715332,
25.854406356811523,
11.28077220916748,
-0.2120964676141739,
30
] | [
0.3454265296459198,
0.13484463095664978,
0.10041873902082443,
3.0362000465393066,
1.0796170234680176,
-2.846773386001587
] | 1 | [
-0.4142044484615326,
0.10650563985109329,
0.2598975896835327,
0.12182062864303589,
-0.007527156732976437,
0.6542428135871887
] | [
-0.41910478472709656,
0.1402985155582428,
0.2643362879753113,
0.11755100637674332,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.714117 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.6 | 86 | 0 | 86 | 0 |
[
-28.53702735900879,
6.965997219085693,
25.69434356689453,
11.436299324035645,
-0.21447622776031494,
30
] | [
-28.829368591308594,
8.761078834533691,
25.95027732849121,
11.213496208190918,
-0.2120964676141739,
30
] | [
0.34488239884376526,
0.13527391850948334,
0.09632515162229538,
3.039412021636963,
1.0668621063232422,
-2.8421101570129395
] | 1 | [
-0.41603389382362366,
0.11913498491048813,
0.2616219222545624,
0.12031371146440506,
-0.00750331487506628,
0.6542428135871887
] | [
-0.4207201600074768,
0.15161395072937012,
0.26596206426620483,
0.11635594815015793,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.740859 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.7 | 87 | 0 | 87 | 0 |
[
-28.645654678344727,
7.633193016052246,
25.790555953979492,
11.354757308959961,
-0.21370574831962585,
30
] | [
-28.933685302734375,
9.408462524414062,
26.049518585205078,
11.143854141235352,
-0.2120964676141739,
30
] | [
0.3443182706832886,
0.135660782456398,
0.09242314100265503,
3.042342185974121,
1.054690957069397,
-2.837799549102783
] | 1 | [
-0.4177752137184143,
0.13120676577091217,
0.26325348019599915,
0.1188652440905571,
-0.007479115389287472,
0.6542428135871887
] | [
-0.4223923683166504,
0.16332724690437317,
0.2676450312137604,
0.11511886119842529,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.766405 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.8 | 88 | 0 | 88 | 0 |
[
-28.752138137817383,
8.289318084716797,
25.885915756225586,
11.276138305664062,
-0.21302255988121033,
30
] | [
-29.04022979736328,
10.069679260253906,
26.150880813598633,
11.072724342346191,
-0.2120964676141739,
30
] | [
0.3437153398990631,
0.13601642847061157,
0.08858459442853928,
3.0451080799102783,
1.0426777601242065,
-2.8336844444274902
] | 1 | [
-0.41948214173316956,
0.14307823777198792,
0.26487061381340027,
0.1174686923623085,
-0.007457657717168331,
0.6542428135871887
] | [
-0.42410027980804443,
0.17529085278511047,
0.2693639397621155,
0.11385534703731537,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.791512 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 8.9 | 89 | 0 | 89 | 0 |
[
-28.858654022216797,
8.947203636169434,
25.982553482055664,
11.199076652526855,
-0.2125139683485031,
30
] | [
-29.152015686035156,
10.763427734375,
26.25722885131836,
10.99809455871582,
-0.2120964676141739,
30
] | [
0.3430617153644562,
0.13634808361530304,
0.08473354578018188,
3.0477700233459473,
1.0305801630020142,
-2.8296778202056885
] | 1 | [
-0.4211896061897278,
0.1549815535545349,
0.26650941371917725,
0.11609980463981628,
-0.0074416836723685265,
0.6542428135871887
] | [
-0.4258922338485718,
0.18784305453300476,
0.2711673974990845,
0.11252966523170471,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.81667 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9 | 90 | 0 | 90 | 0 |
[
-28.966856002807617,
9.616522789001465,
26.081771850585938,
11.122113227844238,
-0.2121192365884781,
30
] | [
-29.269500732421875,
11.49254035949707,
26.369003295898438,
10.919660568237305,
-0.2120964676141739,
30
] | [
0.3423468768596649,
0.1366603821516037,
0.08081568032503128,
3.0503718852996826,
1.0182284116744995,
-2.825713872909546
] | 1 | [
-0.42292410135269165,
0.1670917570590973,
0.26819199323654175,
0.11473266780376434,
-0.007429285906255245,
0.6542428135871887
] | [
-0.4277755320072174,
0.20103511214256287,
0.27306288480758667,
0.11113639920949936,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.842243 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.1 | 91 | 0 | 91 | 0 |
[
-29.078676223754883,
10.203668594360352,
25.997270584106445,
10.586150169372559,
0.2434024214744568,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.34275925159454346,
0.13737763464450836,
0.07921677827835083,
3.0734801292419434,
1.01969575881958,
-2.796766757965088
] | 1 | [
-0.424716591835022,
0.17771515250205994,
0.2667589783668518,
0.10521209239959717,
0.006877855397760868,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.862159 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.2 | 92 | 0 | 92 | 0 |
[
-29.188060760498047,
10.5975980758667,
25.922069549560547,
10.265425682067871,
0.5886427164077759,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.342940092086792,
0.13800804316997528,
0.0781298577785492,
3.0911221504211426,
1.0201836824417114,
-2.774315357208252
] | 1 | [
-0.4264700412750244,
0.18484264612197876,
0.26548370718955994,
0.099514901638031,
0.017721250653266907,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.871822 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.3 | 93 | 0 | 93 | 0 |
[
-29.273374557495117,
10.727570533752441,
25.890501022338867,
10.2390775680542,
0.7639291882514954,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.342794805765152,
0.13839593529701233,
0.07761416584253311,
3.100207567214966,
1.019090175628662,
-2.7623274326324463
] | 1 | [
-0.427837610244751,
0.18719427287578583,
0.26494836807250977,
0.09904686361551285,
0.023226693272590637,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.874153 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.4 | 94 | 0 | 94 | 0 |
[
-29.324996948242188,
10.791354179382324,
25.877193450927734,
10.251236915588379,
0.9067036509513855,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.34266582131385803,
0.1386018991470337,
0.07729312777519226,
3.107577323913574,
1.0181158781051636,
-2.7528750896453857
] | 1 | [
-0.4286651313304901,
0.18834833800792694,
0.26472270488739014,
0.09926285594701767,
0.027710990980267525,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.874598 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.5 | 95 | 0 | 95 | 0 |
[
-29.35572052001953,
10.824337005615234,
25.868820190429688,
10.268692016601562,
0.9946675896644592,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3425785303115845,
0.13871881365776062,
0.07710760086774826,
3.112105131149292,
1.017439365386963,
-2.7470791339874268
] | 1 | [
-0.42915764451026917,
0.18894509971141815,
0.26458069682121277,
0.09957291930913925,
0.030473783612251282,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.874583 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.6 | 96 | 0 | 96 | 0 |
[
-29.369792938232422,
10.852667808532715,
25.869993209838867,
10.271398544311523,
1.071563959121704,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3425302803516388,
0.1387585699558258,
0.07694081217050552,
3.116046905517578,
1.016925573348999,
-2.7422313690185547
] | 1 | [
-0.42938321828842163,
0.1894576996564865,
0.26460060477256775,
0.0996209979057312,
0.03288896381855011,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.874469 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.7 | 97 | 0 | 97 | 0 |
[
-29.380035400390625,
10.860076904296875,
25.866825103759766,
10.281234741210938,
1.099339246749878,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3424982726573944,
0.1387966275215149,
0.07689095288515091,
3.1174707412719727,
1.0166922807693481,
-2.7403972148895264
] | 1 | [
-0.42954739928245544,
0.18959175050258636,
0.26454687118530273,
0.09979572892189026,
0.03376133739948273,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.874339 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.8 | 98 | 0 | 98 | 0 |
[
-29.3856201171875,
10.864404678344727,
25.86309814453125,
10.285858154296875,
1.1080081462860107,
30
] | [
-29.319467544555664,
11.80262565612793,
26.416542053222656,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3424854874610901,
0.1388212889432907,
0.07687253504991531,
3.1179158687591553,
1.0166015625,
-2.739786148071289
] | 1 | [
-0.4296369254589081,
0.18967005610466003,
0.26448366045951843,
0.09987785667181015,
0.03403361514210701,
0.6542428135871887
] | [
-0.4285764992237091,
0.20664557814598083,
0.2738690674304962,
0.1105438694357872,
-0.0074285706505179405,
0.6542428135871887
] | Contact lime lever handle | Is the gripper contacting the lime lever handle? | move | 0.874343 | [
-29.319467544555664,
13.779341697692871,
26.75077247619629,
10.886303901672363,
-0.2120964676141739,
30
] | [
0.3447442352771759,
0.11787018179893494,
0.05500463396310806,
3.0652201175689697,
0.9361704587936401,
-2.807742118835449
] | 30 | Turn off the lime lever | lime lever handle | [
0.3447858691215515,
0.11791006475687027,
0.054999999701976776
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
CoRL2026-CSI/IsaacLab-SO101_turn_off_lever_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_turn_off_lever_baseCaP_300epi.
- Episodes: 100 (
episode_index0 through 99) - FPS: 10
- Source FPS: 30
- Downsampling: observations use source frames
0, 3, 6, ...; action columns use source frames2, 5, 8, .... - Tail policy: source frames without a valid
3k+2action are dropped.
The dataset follows LeRobot v3.0 format.
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Models trained or fine-tuned on CoRL2026-CSI/IsaacLab-SO101_turn_off_lever_baseCaP_100epi_10fps