CoRL2026-CSI/IsaacLab-smolVLA-SO101-Multitask-8epoch_LoRA
Robotics • Updated • 3
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 large_stringlengths 13 51 | skill.verification_question large_stringlengths 19 64 | skill.type large_stringclasses 8
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 large_stringclasses 568
values | subtask.object_name large_stringclasses 103
values | subtask.target_position list | timestamp float32 0 85.9 | frame_index int64 0 859 | episode_index int64 0 3.3k | index int64 0 1.18M | task_index int64 0 799 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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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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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.079192 | [
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[
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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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[
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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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1.2207891941070557,
1.2037067413330078,
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] | [
0.008572350256145,
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1.1230472326278687,
1.2044399976730347,
-0.0031163792591542006,
-0.0009840844431892037
] | 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 | 108 | ||
[
-2.424027919769287,
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] | [
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] | [
0.18018648028373718,
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0.07185772806406021,
3.099902629852295,
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3.0728509426116943
] | 1 | [
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1.1736211776733398,
1.204108476638794,
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] | [
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1.0721713304519653,
1.2048918008804321,
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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 | 108 | ||
[
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72.47196197509766,
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] | [
-1.2913645505905151,
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70.46476745605469,
72.51851654052734,
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] | [
0.18241868913173676,
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0.07814133912324905,
3.0988593101501465,
0.6890887022018433,
3.0661094188690186
] | 1 | [
0.008350245654582977,
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1.124889850616455,
1.204520583152771,
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] | [
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1.0208457708358765,
1.2053475379943848,
-0.003915286622941494,
-0.0010805628262460232
] | 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 | 108 | ||
[
-1.6940178871154785,
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73.66582489013672,
72.49554443359375,
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] | [
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67.44480895996094,
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] | [
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0.08449617773294449,
3.0977704524993896,
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3.059204578399658
] | 1 | [
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] | [
0.02680233307182789,
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0.9696328639984131,
1.205802321434021,
-0.004315617494285107,
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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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] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 108 | ||
[
-1.3216471672058105,
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72.5191421508789,
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] | [
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64.46456146240234,
72.56938171386719,
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] | [
0.18746434152126312,
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0.09084228426218033,
3.096649169921875,
0.7065880298614502,
3.052215337753296
] | 1 | [
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1.0248854160308838,
1.205358624458313,
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] | [
0.0328078493475914,
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0.9190933704376221,
1.2062510251998901,
-0.004710683599114418,
-0.001176617108285427
] | Move to initial position | Is the robot at initial position? | move_initial | 0.506337 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 108 | ||
[
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67.7440185546875,
72.54257202148438,
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] | [
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61.55670928955078,
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] | [
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0.0971018522977829,
3.095505714416504,
0.7153728008270264,
3.045215368270874
] | 1 | [
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] | [
0.038667503744363785,
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0.8697815537452698,
1.2066890001296997,
-0.005096154287457466,
-0.0012231676373630762
] | 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
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 108 | ||
[
-0.582500159740448,
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] | [
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72.6177978515625,
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] | [
0.19309557974338531,
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0.10320056974887848,
3.094353675842285,
0.7240524888038635,
3.038283109664917
] | 1 | [
0.032079946249723434,
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1.2061817646026611,
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] | [
0.04431712627410889,
-1.2017210721969604,
0.8222371935844421,
1.207111120223999,
-0.005467808339744806,
-0.0012680495856329799
] | 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,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 108 | ||
[
-0.22381477057933807,
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61.96730041503906,
72.58770751953125,
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] | [
0.5163601636886597,
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56.084415435791016,
72.64041900634766,
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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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0.8767444491386414,
1.2065765857696533,
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] | [
0.049694787710905075,
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0.7769815325737,
1.2075129747390747,
-0.0058215707540512085,
-0.0013107709819450974
] | 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,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 108 | ||
[
0.12234226614236832,
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59.212825775146484,
72.60902404785156,
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0.008377096615731716
] | [
0.831192672252655,
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53.57993698120117,
72.66165161132812,
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0.008377096615731716
] | [
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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] | [
0.05474158376455307,
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0.7345101833343506,
1.2078901529312134,
-0.006153569091111422,
-0.0013508639531210065
] | 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 | 108 | ||
[
0.4521801769733429,
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56.58823013305664,
72.62915802001953,
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] | [
1.121936321258545,
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51.26708984375,
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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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] | [
0.0594022311270237,
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0.6952885985374451,
1.2082383632659912,
-0.006460164207965136,
-0.001387889264151454
] | 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 | 108 | ||
[
0.7620851993560791,
-62.503231048583984,
54.1223258972168,
72.64794921875,
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0.005148384254425764
] | [
1.3854042291641235,
-58.70424270629883,
49.17121505737305,
72.69902801513672,
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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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] | [
0.06362564861774445,
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0.6597464084625244,
1.2085540294647217,
-0.006737996824085712,
-0.0014214410912245512
] | 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,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 108 | ||
[
1.0486621856689453,
-60.75917053222656,
51.842098236083984,
72.66519927978516,
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0.003789191134274006
] | [
1.618710994720459,
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47.31527328491211,
72.71475982666016,
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0.003789191134274006
] | [
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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] | [
0.06736557930707932,
-1.0433603525161743,
0.628273069858551,
1.2088334560394287,
-0.006984023842960596,
-0.0014511520275846124
] | 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,
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] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 108 | ||
[
1.308769941329956,
-59.17613220214844,
49.77259826660156,
72.68077850341797,
-0.18639349937438965,
0.0026206078473478556
] | [
1.8192994594573975,
-56.06299591064453,
45.7196044921875,
72.72828674316406,
-0.20467734336853027,
0.0026206078473478556
] | [
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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] | [
0.07058103382587433,
-1.0212676525115967,
0.6012134552001953,
1.209073781967163,
-0.007195549085736275,
-0.0014766963431611657
] | 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,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 108 | ||
[
1.5395591259002686,
-57.77140808105469,
47.93645477294922,
72.69451904296875,
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0.0016554341418668628
] | [
1.984972357749939,
-55.05449676513672,
44.40168380737305,
72.73945617675781,
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0.0016554341418668628
] | [
0.21227119863033295,
-0.01143608707934618,
0.1364586055278778,
3.0871946811676025,
0.7741912007331848,
2.9977829456329346
] | 1 | [
0.06609676778316498,
-1.0521785020828247,
0.6388071179389954,
1.2084739208221436,
-0.006859584711492062,
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] | [
0.07323678582906723,
-1.0030206441879272,
0.5788639187812805,
1.2092721462249756,
-0.00737025449052453,
-0.0014977942919358611
] | 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 | 108 | ||
[
1.73849356174469,
-56.560569763183594,
46.35379409790039,
72.70623779296875,
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0.0009042430901899934
] | [
2.113914966583252,
-54.26958465576172,
43.375953674316406,
72.74815368652344,
-0.21456895768642426,
0.0009042430901899934
] | [
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
] | [
0.07530374825000763,
-0.9888190031051636,
0.5614694356918335,
1.2094266414642334,
-0.007506227120757103,
-0.001514214789494872
] | 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 | 108 | ||
[
1.9034013748168945,
-55.55679702758789,
45.0419921875,
72.7159423828125,
-0.20596297085285187,
0.0003752684569917619
] | [
2.204714059829712,
-53.71686553955078,
42.65365219116211,
72.75428009033203,
-0.21761749684810638,
0.0003752684569917619
] | [
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
] | [
0.07675926387310028,
-0.9788184762001038,
0.5492205619812012,
1.2095354795455933,
-0.00760197639465332,
-0.0015257777413353324
] | 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 | 108 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.2563750743865967,
-53.40239334106445,
42.24269104003906,
72.75775909423828,
-0.21935200691223145,
0.00007430330151692033
] | [
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
] | [
0.07758739590644836,
-0.973128616809845,
0.5422514081001282,
1.2095973491668701,
-0.00765645457431674,
-0.0015323566040024161
] | 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 | 108 | ||
[
2.1252822875976562,
-54.184364318847656,
43.2505989074707,
72.71295928955078,
-0.2119712084531784,
0
] | [
2.102046012878418,
-53.904579162597656,
43.05883026123047,
72.71271514892578,
-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
] | [
0.07511349022388458,
-0.9822148084640503,
0.5560916066169739,
1.2087972164154053,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.000269 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3 | 30 | 0 | 30 | 108 |
[
2.0863354206085205,
-54.06118392944336,
43.16798400878906,
72.69082641601562,
-0.21271513402462006,
0
] | [
1.8638126850128174,
-53.799659729003906,
43.00556182861328,
72.54073333740234,
-0.21320094168186188,
0
] | [
0.21852390468120575,
-0.01342807523906231,
0.14503994584083557,
3.085085153579712,
0.7879157066345215,
2.9871153831481934
] | 1 | [
0.07486164569854736,
-0.9850482940673828,
0.5579426288604736,
1.2084083557128906,
-0.007448001764714718,
-0.0015339808305725455
] | [
0.07129458338022232,
-0.9803164601325989,
0.5551882982254028,
1.2057421207427979,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.001399 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.1 | 31 | 0 | 31 | 108 |
[
1.9069054126739502,
-53.917842864990234,
43.08442306518555,
72.56710815429688,
-0.21379303932189941,
0
] | [
1.2626780271530151,
-53.5349235534668,
42.871150970458984,
72.10676574707031,
-0.21320094168186188,
0
] | [
0.218974307179451,
-0.012940662913024426,
0.14521068334579468,
3.0849359035491943,
0.7889317870140076,
2.9898619651794434
] | 1 | [
0.07198536396026611,
-0.982454776763916,
0.5565255880355835,
1.206210732460022,
-0.00748185720294714,
-0.0015339808305725455
] | [
0.061658333986997604,
-0.9755265116691589,
0.5529088973999023,
1.198033332824707,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.004475 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.2 | 32 | 0 | 32 | 108 |
[
1.511630654335022,
-53.704978942871094,
42.969993591308594,
72.28606414794922,
-0.21468497812747955,
0
] | [
0.3639976978302002,
-53.13915252685547,
42.67021179199219,
71.45799255371094,
-0.21320094168186188,
0
] | [
0.21985913813114166,
-0.011851790361106396,
0.14561225473880768,
3.0845580101013184,
0.7920017838478088,
2.995910167694092
] | 1 | [
0.06564906984567642,
-0.9786033630371094,
0.5545850992202759,
1.2012183666229248,
-0.007509871385991573,
-0.0015339808305725455
] | [
0.04725240170955658,
-0.9683657288551331,
0.549501359462738,
1.1865088939666748,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.010758 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.3 | 33 | 0 | 33 | 108 |
[
0.8658537864685059,
-53.39717102050781,
42.8099250793457,
71.82283782958984,
-0.21536436676979065,
0
] | [
-0.8257541060447693,
-52.61519241333008,
42.40419006347656,
70.59909057617188,
-0.21320094168186188,
0
] | [
0.22125095129013062,
-0.01004786603152752,
0.14628081023693085,
3.083921194076538,
0.7973570227622986,
3.0057926177978516
] | 1 | [
0.05529720336198807,
-0.973034143447876,
0.5518706440925598,
1.1929898262023926,
-0.007531209848821163,
-0.0015339808305725455
] | [
0.02818056009709835,
-0.9588855504989624,
0.5449901223182678,
1.1712517738342285,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.020823 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.4 | 34 | 0 | 34 | 108 |
[
-0.04075286164879799,
-52.98368835449219,
42.597652435302734,
71.16999053955078,
-0.2157287299633026,
0
] | [
-2.2891299724578857,
-51.97072982788086,
42.07698440551758,
69.54266357421875,
-0.21320094168186188,
0
] | [
0.22315432131290436,
-0.007468216121196747,
0.1472279280424118,
3.0830140113830566,
0.805046558380127,
3.0196661949157715
] | 1 | [
0.040764208883047104,
-0.9655528664588928,
0.5482708811759949,
1.181393027305603,
-0.007542653474956751,
-0.0015339808305725455
] | [
0.0047225006856024265,
-0.9472250938415527,
0.5394412875175476,
1.152485966682434,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.034842 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.5 | 35 | 0 | 35 | 108 |
[
-1.2066730260849,
-52.46149444580078,
42.33109664916992,
70.32903289794922,
-0.21588055789470673,
0
] | [
-3.980963706970215,
-52.5562744140625,
41.698699951171875,
68.32129669189453,
-0.21320094168186188,
0
] | [
0.22553303837776184,
-0.004072321578860283,
0.1484519988298416,
3.0818254947662354,
0.8150234222412109,
3.037491798400879
] | 1 | [
0.022074392065405846,
-0.9561046361923218,
0.5437505841255188,
1.1664546728134155,
-0.007547422312200069,
-0.0015339808305725455
] | [
-0.022397762164473534,
-0.9578195214271545,
0.5330262780189514,
1.1307902336120605,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.052775 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.6 | 36 | 0 | 36 | 108 |
[
-2.6197309494018555,
-52.34819030761719,
42.019290924072266,
69.31068420410156,
-0.21591851115226746,
0
] | [
-5.8978681564331055,
-51.71207809448242,
41.27008819580078,
66.93745422363281,
-0.21320094168186188,
0
] | [
0.22798876464366913,
0.00015874579548835754,
0.15138612687587738,
3.079216957092285,
0.8362770676612854,
3.05822491645813
] | 1 | [
-0.0005770658026449382,
-0.954054594039917,
0.5384629368782043,
1.1483652591705322,
-0.007548614405095577,
-0.0015339808305725455
] | [
-0.053125929087400436,
-0.9425452351570129,
0.5257578492164612,
1.106208324432373,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.072351 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.7 | 37 | 0 | 37 | 108 |
[
-4.263464450836182,
-51.946319580078125,
41.641963958740234,
68.12188720703125,
-0.21560348570346832,
0
] | [
-8.004755973815918,
-50.784217834472656,
40.79899597167969,
65.41645812988281,
-0.21320094168186188,
0
] | [
0.2308628261089325,
0.005221379455178976,
0.1541399359703064,
3.0766375064849854,
0.8564496636390686,
3.082648754119873
] | 1 | [
-0.026926277205348015,
-0.9467834234237671,
0.5320641398429871,
1.1272480487823486,
-0.007538720034062862,
-0.0015339808305725455
] | [
-0.08689954876899719,
-0.9257571697235107,
0.5177689790725708,
1.0791901350021362,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.096107 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.8 | 38 | 0 | 38 | 108 |
[
-6.118710517883301,
-51.322654724121094,
41.22269058227539,
66.7809829711914,
-0.21530364453792572,
0.28571537137031555
] | [
-10.271012306213379,
-49.786170959472656,
40.292274475097656,
63.780418395996094,
-0.21320094168186188,
0.28571537137031555
] | [
0.23400625586509705,
0.011120965704321861,
0.156760111451149,
3.074016809463501,
0.8760213851928711,
3.110398054122925
] | 1 | [
-0.0566660538315773,
-0.9354992508888245,
0.524954080581665,
1.103428840637207,
-0.007529302500188351,
0.0047115362249314785
] | [
-0.12322786450386047,
-0.9076992273330688,
0.5091758966445923,
1.0501283407211304,
-0.0074632600881159306,
0.0047115362249314785
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.124945 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 3.9 | 39 | 0 | 39 | 108 |
[
-8.163201332092285,
-50.538490295410156,
40.76357650756836,
65.30374145507812,
-0.21504555642604828,
1.7142854928970337
] | [
-12.69071102142334,
-48.720550537109375,
39.75068283081055,
62.033599853515625,
-0.21320094168186188,
1.7142854928970337
] | [
0.23728471994400024,
0.017846303060650826,
0.159372478723526,
3.0712413787841797,
0.8957821726799011,
3.141026735305786
] | 1 | [
-0.08943944424390793,
-0.9213111400604248,
0.5171683430671692,
1.0771878957748413,
-0.0075211962684988976,
0.03593897446990013
] | [
-0.1620158702135086,
-0.8884186148643494,
0.4999915361404419,
1.0190987586975098,
-0.0074632600881159306,
0.03593897446990013
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.163016 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4 | 40 | 0 | 40 | 108 |
[
-10.374188423156738,
-49.634124755859375,
40.26705551147461,
63.70619583129883,
-0.2146546095609665,
3.1428589820861816
] | [
-15.222389221191406,
-47.605613708496094,
39.17689514160156,
60.2059440612793,
-0.21320094168186188,
3.1428589820861816
] | [
0.24056941270828247,
0.025374433025717735,
0.1620449423789978,
3.0682406425476074,
0.9161334037780762,
-3.1090705394744873
] | 1 | [
-0.1248817890882492,
-0.9049481749534607,
0.5087482333183289,
1.0488098859786987,
-0.00750891724601388,
0.06716648489236832
] | [
-0.2025989294052124,
-0.8682457208633423,
0.49026113748550415,
0.9866331815719604,
-0.0074632600881159306,
0.06716648489236832
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.203788 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.1 | 41 | 0 | 41 | 108 |
[
-12.72879409790039,
-48.63863754272461,
39.736328125,
62.004844665527344,
-0.21430163085460663,
4.5714287757873535
] | [
-17.846189498901367,
-46.441314697265625,
38.58222579956055,
58.3117790222168,
-0.21320094168186188,
4.5714287757873535
] | [
0.24373555183410645,
0.033669017255306244,
0.16481177508831024,
3.0649514198303223,
0.9372518062591553,
-3.0739498138427734
] | 1 | [
-0.16262635588645935,
-0.8869365453720093,
0.4997480809688568,
1.0185879468917847,
-0.007497830782085657,
0.09839391708374023
] | [
-0.2446587085723877,
-0.8471797108650208,
0.4801766574382782,
0.9529861807823181,
-0.0074632600881159306,
0.09839391708374023
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.246845 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.2 | 42 | 0 | 42 | 108 |
[
-15.202608108520508,
-47.56171417236328,
39.1766471862793,
60.21712112426758,
-0.21388034522533417,
5.999999046325684
] | [
-20.542463302612305,
-45.19948196411133,
37.971134185791016,
56.365299224853516,
-0.21320094168186188,
5.999999046325684
] | [
0.2466748058795929,
0.04267534241080284,
0.16763725876808167,
3.0613770484924316,
0.9589141607284546,
-3.0371901988983154
] | 1 | [
-0.20228183269500732,
-0.8674514293670654,
0.4902569353580475,
0.9868317246437073,
-0.007484599016606808,
0.12962135672569275
] | [
-0.2878802418708801,
-0.8247108459472656,
0.46981364488601685,
0.9184098839759827,
-0.0074632600881159306,
0.12962135672569275
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.291824 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.3 | 43 | 0 | 43 | 108 |
[
-17.771814346313477,
-46.41533660888672,
38.40245056152344,
58.3603630065918,
-0.21354633569717407,
7.428572654724121
] | [
-23.280197143554688,
-43.93855667114258,
37.350643157958984,
54.388885498046875,
-0.21320094168186188,
7.428572654724121
] | [
0.24941486120224,
0.052357304841279984,
0.17130853235721588,
3.0569143295288086,
0.9841588139533997,
-2.999685049057007
] | 1 | [
-0.24346646666526794,
-0.846709668636322,
0.4771279990673065,
0.953849196434021,
-0.007474108599126339,
0.16084887087345123
] | [
-0.33176639676094055,
-0.8018965721130371,
0.4592912793159485,
0.883301854133606,
-0.0074632600881159306,
0.16084887087345123
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.338702 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.4 | 44 | 0 | 44 | 108 |
[
-20.411943435668945,
-45.224891662597656,
37.873321533203125,
56.4467887878418,
-0.2124076932668686,
8.857142448425293
] | [
-26.038616180419922,
-42.6681022644043,
36.7254638671875,
52.39754104614258,
-0.21320094168186188,
8.857142448425293
] | [
0.2515491843223572,
0.06255297362804413,
0.1739155501127243,
3.052915573120117,
1.0054737329483032,
-2.960698127746582
] | 1 | [
-0.28578799962997437,
-0.8251705765724182,
0.4681549370288849,
0.9198574423789978,
-0.007438345812261105,
0.19207629561424255
] | [
-0.3759841322898865,
-0.7789098620414734,
0.44868937134742737,
0.8479286432266235,
-0.0074632600881159306,
0.19207629561424255
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.38625 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.5 | 45 | 0 | 45 | 108 |
[
-23.0986385345459,
-43.99898910522461,
37.314796447753906,
54.50945281982422,
-0.21245324611663818,
10.28571605682373
] | [
-28.79131317138672,
-41.40028381347656,
36.10158157348633,
50.41032791137695,
-0.21320094168186188,
10.28571605682373
] | [
0.25317779183387756,
0.0731954425573349,
0.17656999826431274,
3.048520565032959,
1.027055025100708,
-2.9213674068450928
] | 1 | [
-0.3288559913635254,
-0.8029899597167969,
0.4586833715438843,
0.8854435682296753,
-0.007439776323735714,
0.22330380976200104
] | [
-0.42011013627052307,
-0.75597083568573,
0.43810948729515076,
0.8126287460327148,
-0.0074632600881159306,
0.22330380976200104
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.434515 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.6 | 46 | 0 | 46 | 108 |
[
-25.80739974975586,
-42.75844955444336,
36.73073959350586,
52.55424880981445,
-0.2122824490070343,
11.714285850524902
] | [
-31.516368865966797,
-40.145198822021484,
35.48396682739258,
48.44306945800781,
-0.21320094168186188,
11.714285850524902
] | [
0.2542533576488495,
0.08417019993066788,
0.1793118566274643,
3.0437023639678955,
1.0491101741790771,
-2.882093906402588
] | 1 | [
-0.37227770686149597,
-0.7805445194244385,
0.44877883791923523,
0.8507122993469238,
-0.007434411905705929,
0.25453123450279236
] | [
-0.4637930393218994,
-0.7332621812820435,
0.42763587832450867,
0.7776833772659302,
-0.0074632600881159306,
0.25453123450279236
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.483154 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.7 | 47 | 0 | 47 | 108 |
[
-28.513891220092773,
-41.52071762084961,
35.96508026123047,
50.588417053222656,
-0.21070732176303864,
13.14285659790039
] | [
-34.18504333496094,
-38.916080474853516,
34.879127502441406,
46.51651382446289,
-0.21320094168186188,
13.14285659790039
] | [
0.25483429431915283,
0.09539084881544113,
0.1828833669424057,
3.0377652645111084,
1.0744553804397583,
-2.843869686126709
] | 1 | [
-0.4156630337238312,
-0.7581498622894287,
0.4357946813106537,
0.8157922625541687,
-0.007384940050542355,
0.28575870394706726
] | [
-0.5065721273422241,
-0.7110233902931213,
0.4173789322376251,
0.743461012840271,
-0.0074632600881159306,
0.28575870394706726
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.532106 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.8 | 48 | 0 | 48 | 108 |
[
-31.193626403808594,
-40.28681564331055,
35.43655014038086,
48.65894317626953,
-0.21107548475265503,
14.571429252624512
] | [
-36.775428771972656,
-37.723018646240234,
34.29203414916992,
44.6464729309082,
-0.21320094168186188,
14.571429252624512
] | [
0.25465160608291626,
0.10660935938358307,
0.18531237542629242,
3.0323688983917236,
1.09521484375,
-2.8056905269622803
] | 1 | [
-0.45861944556236267,
-0.735824465751648,
0.42683178186416626,
0.7815180420875549,
-0.00739650335162878,
0.31698617339134216
] | [
-0.5480962991714478,
-0.6894369125366211,
0.40742290019989014,
0.7102425694465637,
-0.0074632600881159306,
0.31698617339134216
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.580139 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 4.9 | 49 | 0 | 49 | 108 |
[
-33.821624755859375,
-39.07672882080078,
34.888431549072266,
46.76436996459961,
-0.21115519106388092,
16
] | [
-39.26876449584961,
-36.57465362548828,
33.72693634033203,
42.84649658203125,
-0.21320094168186188,
16
] | [
0.25388601422309875,
0.11774681508541107,
0.18781167268753052,
3.0264954566955566,
1.1161043643951416,
-2.7688140869140625
] | 1 | [
-0.5007465481758118,
-0.7139300107955933,
0.4175367057323456,
0.7478638291358948,
-0.007399006746709347,
0.34821364283561707
] | [
-0.5880647301673889,
-0.6686592102050781,
0.39783987402915955,
0.6782686710357666,
-0.0074632600881159306,
0.34821364283561707
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.627414 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5 | 50 | 0 | 50 | 108 |
[
-36.37409210205078,
-37.90159225463867,
34.33800506591797,
44.92252731323242,
-0.21109825372695923,
17.428573608398438
] | [
-41.39487838745117,
-35.59542465209961,
33.24506378173828,
41.311622619628906,
-0.21320094168186188,
17.428573608398438
] | [
0.2525675594806671,
0.12865789234638214,
0.1903049647808075,
3.020191192626953,
1.1367168426513672,
-2.7335894107818604
] | 1 | [
-0.5416628122329712,
-0.6926679015159607,
0.40820246934890747,
0.7151462435722351,
-0.007397218607366085,
0.37944114208221436
] | [
-0.6221465468406677,
-0.6509417295455933,
0.38966822624206543,
0.6510039567947388,
-0.0074632600881159306,
0.37944114208221436
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.673547 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.1 | 51 | 0 | 51 | 108 |
[
-38.556068420410156,
-36.896568298339844,
33.85820007324219,
43.34207534790039,
-0.20928402245044708,
18.85714340209961
] | [
-42.57466506958008,
-35.05204391479492,
32.9776725769043,
40.45991516113281,
-0.21320094168186188,
18.85714340209961
] | [
0.25098705291748047,
0.13803620636463165,
0.19247522950172424,
3.0143773555755615,
1.1545835733413696,
-2.703885316848755
] | 1 | [
-0.5766401290893555,
-0.6744837164878845,
0.4000658690929413,
0.6870718598365784,
-0.007340236566960812,
0.41066858172416687
] | [
-0.641058623790741,
-0.6411101818084717,
0.3851337432861328,
0.6358746290206909,
-0.0074632600881159306,
0.41066858172416687
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.71425 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.2 | 52 | 0 | 52 | 108 |
[
-40.346839904785156,
-36.07272720336914,
33.462406158447266,
42.050201416015625,
-0.20928402245044708,
20.28571319580078
] | [
-43.784645080566406,
-34.4947624206543,
32.70343780517578,
39.58641052246094,
-0.21320094168186188,
20.28571319580078
] | [
0.24936026334762573,
0.14574505388736725,
0.19424454867839813,
3.009150266647339,
1.169190764427185,
-2.6799755096435547
] | 1 | [
-0.6053463816642761,
-0.6595777273178101,
0.3933539390563965,
0.6641237139701843,
-0.007340236566960812,
0.4418960213661194
] | [
-0.6604547500610352,
-0.631027102470398,
0.3804832398891449,
0.6203581690788269,
-0.0074632600881159306,
0.4418960213661194
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.749182 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.3 | 53 | 0 | 53 | 108 |
[
-41.91313552856445,
-35.35243606567383,
33.11429977416992,
40.92249298095703,
-0.20985333621501923,
21.71428680419922
] | [
-45.02559280395508,
-33.9232177734375,
32.422183990478516,
38.690555572509766,
-0.21320094168186188,
21.71428680419922
] | [
0.24769499897956848,
0.15248805284500122,
0.1957872360944748,
3.004232168197632,
1.181954026222229,
-2.6594135761260986
] | 1 | [
-0.6304542422294617,
-0.6465452909469604,
0.3874506950378418,
0.6440916657447815,
-0.007358117960393429,
0.4731235206127167
] | [
-0.6803472638130188,
-0.6206859946250916,
0.37571367621421814,
0.6044446229934692,
-0.0074632600881159306,
0.4731235206127167
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.780785 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.4 | 54 | 0 | 54 | 108 |
[
-43.356449127197266,
-34.6886100769043,
32.7917594909668,
39.883758544921875,
-0.21057067811489105,
23.14285659790039
] | [
-46.299156188964844,
-33.336647033691406,
32.133541107177734,
37.771148681640625,
-0.21320094168186188,
23.14285659790039
] | [
0.24596133828163147,
0.15869618952274323,
0.19720761477947235,
2.999397039413452,
1.193726658821106,
-2.640770435333252
] | 1 | [
-0.6535906791687012,
-0.634534478187561,
0.3819810152053833,
0.6256400942802429,
-0.0073806485161185265,
0.5043509602546692
] | [
-0.7007625699043274,
-0.6100729703903198,
0.3708188235759735,
0.5881127715110779,
-0.0074632600881159306,
0.5043509602546692
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.81049 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.5 | 55 | 0 | 55 | 108 |
[
-44.73942184448242,
-34.05400085449219,
32.48160171508789,
38.888309478759766,
-0.2112348973751068,
24.571430206298828
] | [
-47.60966110229492,
-32.747337341308594,
31.836523056030273,
36.8250732421875,
-0.21320094168186188,
24.571430206298828
] | [
0.24411897361278534,
0.1646328717470169,
0.19857291877269745,
2.994466781616211,
1.2050464153289795,
-2.6232028007507324
] | 1 | [
-0.6757599115371704,
-0.6230522990226746,
0.3767212927341461,
0.6079574227333069,
-0.007401510141789913,
0.5355784893035889
] | [
-0.7217701077461243,
-0.5994104146957397,
0.3657819628715515,
0.5713071227073669,
-0.0074632600881159306,
0.5355784893035889
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.839118 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.6 | 56 | 0 | 56 | 108 |
[
-46.10133743286133,
-33.435394287109375,
32.1751708984375,
37.907470703125,
-0.21180421113967896,
26
] | [
-48.968849182128906,
-32.14088821411133,
31.528470993041992,
35.84385681152344,
-0.21320094168186188,
26
] | [
0.24212567508220673,
0.17045779526233673,
0.19994334876537323,
2.9892594814300537,
1.2163251638412476,
-2.606250762939453
] | 1 | [
-0.6975915431976318,
-0.6118596196174622,
0.3715248107910156,
0.5905342698097229,
-0.00741939153522253,
0.566805899143219
] | [
-0.7435580492019653,
-0.5884377360343933,
0.3605579733848572,
0.5538772940635681,
-0.0074632600881159306,
0.566805899143219
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.867086 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.7 | 57 | 0 | 57 | 108 |
[
-47.46931457519531,
-32.81849670410156,
31.86640167236328,
36.921546936035156,
-0.21227484941482544,
27.428569793701172
] | [
-50.369606018066406,
-31.515892028808594,
31.210996627807617,
34.83262634277344,
-0.21320094168186188,
27.428569793701172
] | [
0.2399468570947647,
0.17628322541713715,
0.20133864879608154,
2.9836533069610596,
1.227753758430481,
-2.5895957946777344
] | 1 | [
-0.7195203304290771,
-0.600697934627533,
0.3662886321544647,
0.5730208158493042,
-0.007434173487126827,
0.5980333089828491
] | [
-0.7660123109817505,
-0.5771294832229614,
0.35517418384552,
0.5359143018722534,
-0.0074632600881159306,
0.5980333089828491
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.894554 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.8 | 58 | 0 | 58 | 108 |
[
-48.861576080322266,
-32.19342041015625,
31.551572799682617,
35.91754913330078,
-0.21251776814460754,
28.85714340209961
] | [
-51.83761215209961,
-30.860889434814453,
30.87828254699707,
33.772850036621094,
-0.21320094168186188,
28.85714340209961
] | [
0.23754943907260895,
0.18218159675598145,
0.20276805758476257,
2.977550745010376,
1.2394444942474365,
-2.5730392932891846
] | 1 | [
-0.7418384552001953,
-0.5893882513046265,
0.36094972491264343,
0.5551863312721252,
-0.007441802881658077,
0.6292608380317688
] | [
-0.7895445823669434,
-0.5652783513069153,
0.34953194856643677,
0.5170889496803284,
-0.0074632600881159306,
0.6292608380317688
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.921223 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 5.9 | 59 | 0 | 59 | 108 |
[
-50.29997634887695,
-31.549318313598633,
31.22601318359375,
34.880035400390625,
-0.21276447176933289,
30
] | [
-53.097232818603516,
-30.298866271972656,
30.592798233032227,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23488324880599976,
0.18823793530464172,
0.20424692332744598,
2.9707720279693604,
1.2515491247177124,
-2.5564072132110596
] | 1 | [
-0.7648961544036865,
-0.5777342915534973,
0.3554288446903229,
0.5367564558982849,
-0.007449551485478878,
0.6542428135871887
] | [
-0.809736430644989,
-0.5551095008850098,
0.3446906805038452,
0.500935971736908,
-0.0074632600881159306,
0.6542428135871887
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.945855 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 6 | 60 | 0 | 60 | 108 |
[
-51.404701232910156,
-31.05428123474121,
30.973222732543945,
34.07487487792969,
-0.21065418422222137,
30
] | [
-53.097232818603516,
-30.298866271972656,
30.592798233032227,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.2327137142419815,
0.19286715984344482,
0.20541119575500488,
2.9653279781341553,
1.261033535003662,
-2.5438554286956787
] | 1 | [
-0.782604992389679,
-0.5687774419784546,
0.35114195942878723,
0.5224539637565613,
-0.007383271120488644,
0.6542428135871887
] | [
-0.809736430644989,
-0.5551095008850098,
0.3446906805038452,
0.500935971736908,
-0.0074632600881159306,
0.6542428135871887
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.963139 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 6.1 | 61 | 0 | 61 | 108 |
[
-52.07327651977539,
-30.755290985107422,
30.821279525756836,
33.59112548828125,
-0.21033915877342224,
30
] | [
-53.097232818603516,
-30.298866271972656,
30.592798233032227,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23134258389472961,
0.1956520676612854,
0.20610198378562927,
2.961822986602783,
1.2666953802108765,
-2.5364763736724854
] | 1 | [
-0.7933223247528076,
-0.5633677244186401,
0.34856531023979187,
0.5138609409332275,
-0.007373376749455929,
0.6542428135871887
] | [
-0.809736430644989,
-0.5551095008850098,
0.3446906805038452,
0.500935971736908,
-0.0074632600881159306,
0.6542428135871887
] | Approach black block and open gripper | Is the gripper above the black block and open? | move_and_open | 0.972757 | [
-53.097232818603516,
-28.9904842376709,
30.887615203857422,
32.8635139465332,
-0.21320094168186188,
30
] | [
0.23048745095729828,
0.20128749310970306,
0.19986645877361298,
2.973393440246582,
1.246883511543274,
-2.5090842247009277
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.20000000298023224
] | 6.2 | 62 | 0 | 62 | 108 |
[
-52.17776870727539,
-30.680740356445312,
30.705575942993164,
33.51885223388672,
-0.20963700115680695,
30
] | [
-52.19682693481445,
-30.626976013183594,
30.500268936157227,
33.51579284667969,
-0.21033915877342224,
30
] | [
0.23117637634277344,
0.1961389183998108,
0.20651552081108093,
2.960700035095215,
1.2685626745224,
-2.5358664989471436
] | 1 | [
-0.7949973344802856,
-0.562018871307373,
0.3466031849384308,
0.5125770568847656,
-0.007351323030889034,
0.6542428135871887
] | [
-0.7953028082847595,
-0.5610460638999939,
0.34312155842781067,
0.5125227570533752,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.004038 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 6.3 | 63 | 0 | 63 | 108 |
[
-52.199851989746094,
-30.657489776611328,
30.61996841430664,
33.511627197265625,
-0.20966356992721558,
30
] | [
-52.29660415649414,
-30.607221603393555,
30.487716674804688,
33.496925354003906,
-0.21033915877342224,
30
] | [
0.23115873336791992,
0.19625987112522125,
0.20683936774730682,
2.9599618911743164,
1.2697012424468994,
-2.53621768951416
] | 1 | [
-0.7953513264656067,
-0.5615981817245483,
0.345151424407959,
0.5124487280845642,
-0.00735215749591589,
0.6542428135871887
] | [
-0.7969022989273071,
-0.5606886744499207,
0.34290868043899536,
0.5121876001358032,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.010221 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 6.4 | 64 | 0 | 64 | 108 |
[
-52.26380920410156,
-30.63306999206543,
30.562862396240234,
33.49909210205078,
-0.2098039984703064,
30
] | [
-52.461334228515625,
-30.574607849121094,
30.46699333190918,
33.46577453613281,
-0.21033915877342224,
30
] | [
0.2310071587562561,
0.19650782644748688,
0.207036554813385,
2.9594695568084717,
1.27043616771698,
-2.5356638431549072
] | 1 | [
-0.7963765859603882,
-0.5611563324928284,
0.3441830277442932,
0.5122261047363281,
-0.007356568239629269,
0.6542428135871887
] | [
-0.7995429039001465,
-0.5600985884666443,
0.34255725145339966,
0.5116342306137085,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.023106 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 6.5 | 65 | 0 | 65 | 108 |
[
-52.37797927856445,
-30.603153228759766,
30.519508361816406,
33.47813034057617,
-0.2100013643503189,
30
] | [
-52.685760498046875,
-30.530176162719727,
30.438758850097656,
33.423336029052734,
-0.21033915877342224,
30
] | [
0.23070546984672546,
0.1969190537929535,
0.20716644823551178,
2.9590868949890137,
1.2709910869598389,
-2.534201145172119
] | 1 | [
-0.7982067465782166,
-0.560615062713623,
0.34344780445098877,
0.5118536949157715,
-0.007362767122685909,
0.6542428135871887
] | [
-0.8031404614448547,
-0.5592946410179138,
0.34207844734191895,
0.5108804106712341,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.044699 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 6.6 | 66 | 0 | 66 | 108 |
[
-52.54433822631836,
-30.565654754638672,
30.4814453125,
33.447540283203125,
-0.21022529900074005,
30
] | [
-52.96015548706055,
-30.47585105895996,
30.404237747192383,
33.37145233154297,
-0.21033915877342224,
30
] | [
0.23025156557559967,
0.19750428199768066,
0.20726323127746582,
2.9587361812591553,
1.2714908123016357,
-2.5318713188171387
] | 1 | [
-0.8008734583854675,
-0.5599365830421448,
0.34280234575271606,
0.511310338973999,
-0.007369800470769405,
0.6542428135871887
] | [
-0.8075390458106995,
-0.5583117604255676,
0.34149304032325745,
0.5099587440490723,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.075603 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 6.7 | 67 | 0 | 67 | 108 |
[
-52.760860443115234,
-30.519956588745117,
30.44405746459961,
33.40739440917969,
-0.2103581428527832,
30
] | [
-53.2769660949707,
-30.413127899169922,
30.364381790161133,
33.31154251098633,
-0.21033915877342224,
30
] | [
0.2296520471572876,
0.19825802743434906,
0.20734594762325287,
2.9583871364593506,
1.2720009088516235,
-2.528735399246216
] | 1 | [
-0.8043443560600281,
-0.5591097474098206,
0.34216830134391785,
0.5105972290039062,
-0.007373972795903683,
0.6542428135871887
] | [
-0.8126175999641418,
-0.5571768879890442,
0.3408171534538269,
0.5088945627212524,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.115566 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 6.8 | 68 | 0 | 68 | 108 |
[
-53.023014068603516,
-30.4663028717041,
30.405071258544922,
33.358421325683594,
-0.2103239744901657,
30
] | [
-53.628204345703125,
-30.34358787536621,
30.320192337036133,
33.24512481689453,
-0.21033915877342224,
30
] | [
0.22891919314861298,
0.1991649568080902,
0.20742449164390564,
2.9580276012420654,
1.27255117893219,
-2.524876356124878
] | 1 | [
-0.8085467219352722,
-0.5581389665603638,
0.3415071666240692,
0.5097272992134094,
-0.007372899912297726,
0.6542428135871887
] | [
-0.8182479739189148,
-0.5559186339378357,
0.3400677740573883,
0.5077147483825684,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.163818 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 6.9 | 69 | 0 | 69 | 108 |
[
-53.32495880126953,
-30.405414581298828,
30.363529205322266,
33.301753997802734,
-0.21028602123260498,
30
] | [
-54.005130767822266,
-30.268964767456055,
30.27277374267578,
33.173851013183594,
-0.21033915877342224,
30
] | [
0.22806818783283234,
0.2002045065164566,
0.2075035721063614,
2.9576354026794434,
1.2731496095657349,
-2.5204107761383057
] | 1 | [
-0.8133869171142578,
-0.5570372939109802,
0.34080269932746887,
0.5087206363677979,
-0.007371707819402218,
0.6542428135871887
] | [
-0.8242900967597961,
-0.5545684695243835,
0.3392636477947235,
0.5064486861228943,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.219318 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7 | 70 | 0 | 70 | 108 |
[
-53.659908294677734,
-30.338420867919922,
30.31928825378418,
33.23869323730469,
-0.21026325225830078,
30
] | [
-54.400394439697266,
-30.19070816040039,
30.223047256469727,
33.09910583496094,
-0.21033915877342224,
30
] | [
0.227116659283638,
0.20135252177715302,
0.20758534967899323,
2.9572079181671143,
1.2737959623336792,
-2.5154500007629395
] | 1 | [
-0.8187561631202698,
-0.5558251738548279,
0.34005245566368103,
0.5076004862785339,
-0.007370992563664913,
0.6542428135871887
] | [
-0.8306262493133545,
-0.5531525611877441,
0.33842039108276367,
0.5051209330558777,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.280828 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.1 | 71 | 0 | 71 | 108 |
[
-54.02051544189453,
-30.266582489013672,
30.272663116455078,
33.170658111572266,
-0.21022529900074005,
30
] | [
-54.80516815185547,
-30.110570907592773,
30.172122955322266,
33.02256393432617,
-0.21033915877342224,
30
] | [
0.22608406841754913,
0.2025829553604126,
0.20767010748386383,
2.9567532539367676,
1.2744826078414917,
-2.510103940963745
] | 1 | [
-0.8245367407798767,
-0.5545253753662109,
0.3392617702484131,
0.5063919425010681,
-0.007369800470769405,
0.6542428135871887
] | [
-0.8371148109436035,
-0.551702618598938,
0.3375568091869354,
0.5037612915039062,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.347 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.2 | 72 | 0 | 72 | 108 |
[
-54.399173736572266,
-30.191343307495117,
30.224281311035156,
33.0991325378418,
-0.21018734574317932,
30
] | [
-55.21163558959961,
-30.03009796142578,
30.120986938476562,
32.94570541381836,
-0.21033915877342224,
30
] | [
0.22499093413352966,
0.20386902987957,
0.20775726437568665,
2.9562766551971436,
1.2751989364624023,
-2.5044896602630615
] | 1 | [
-0.8306066989898682,
-0.5531640648841858,
0.33844131231307983,
0.5051214098930359,
-0.0073686083778738976,
0.6542428135871887
] | [
-0.8436304926872253,
-0.5502465963363647,
0.33668962121009827,
0.5023959875106812,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.416425 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.3 | 73 | 0 | 73 | 108 |
[
-54.78793716430664,
-30.114185333251953,
30.17493438720703,
33.02560806274414,
-0.21016836166381836,
30
] | [
-55.61176681518555,
-29.95088005065918,
30.070648193359375,
32.87004089355469,
-0.21033915877342224,
30
] | [
0.22385939955711365,
0.205183207988739,
0.20784564316272736,
2.955784320831299,
1.27593195438385,
-2.4987285137176514
] | 1 | [
-0.8368386030197144,
-0.5517680048942566,
0.33760446310043335,
0.5038153529167175,
-0.007368012331426144,
0.6542428135871887
] | [
-0.8500446677207947,
-0.5488132834434509,
0.3358359634876251,
0.5010519027709961,
-0.007373376749455929,
0.6542428135871887
] | Pick up black block | Is the gripper at the pick position for black block? | move | 0.487626 | [
-57.60202407836914,
-29.610910415649414,
30.12236976623535,
32.493690490722656,
-0.21033915877342224,
30
] | [
0.23048701882362366,
0.20141853392124176,
0.20619776844978333,
2.9549450874328613,
1.27714204788208,
-2.454422950744629
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.4 | 74 | 0 | 74 | 108 |
[
-55.178985595703125,
-30.036643981933594,
30.1254825592041,
32.95164108276367,
-0.21013040840625763,
30
] | [
-55.178985595703125,
-29.972740173339844,
29.82340431213379,
32.95164108276367,
-0.21013040840625763,
30
] | [
0.22271183133125305,
0.20649869740009308,
0.20793379843235016,
2.955289840698242,
1.276667594909668,
-2.4929327964782715
] | 1 | [
-0.8431071043014526,
-0.5503650307655334,
0.336765855550766,
0.5025014281272888,
-0.007366820238530636,
0.6542428135871887
] | [
-0.8431071043014526,
-0.5492088198661804,
0.33164316415786743,
0.5025014281272888,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.5 | 75 | 0 | 75 | 108 |
[
-55.183048248291016,
-29.993080139160156,
30.01150894165039,
32.94846725463867,
-0.2099899798631668,
30
] | [
-55.18753433227539,
-29.823511123657227,
29.844205856323242,
32.90888214111328,
-0.21013040840625763,
30
] | [
0.22277291119098663,
0.2065942883491516,
0.20829160511493683,
2.954500675201416,
1.2778466939926147,
-2.493621826171875
] | 1 | [
-0.8431722521781921,
-0.5495768189430237,
0.3348330855369568,
0.5024450421333313,
-0.007362409494817257,
0.6542428135871887
] | [
-0.843244194984436,
-0.5465087294578552,
0.3319959342479706,
0.501741886138916,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.000613 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.6 | 76 | 0 | 76 | 108 |
[
-55.18817138671875,
-29.872699737548828,
29.940401077270508,
32.90371322631836,
-0.20870710909366608,
30
] | [
-55.21034240722656,
-29.425418853759766,
29.899700164794922,
32.79481506347656,
-0.21013040840625763,
30
] | [
0.22293207049369812,
0.2068067044019699,
0.2082136571407318,
2.9547507762908936,
1.2776802778244019,
-2.49328875541687
] | 1 | [
-0.8432543873786926,
-0.5473987460136414,
0.33362722396850586,
0.5016500949859619,
-0.007322116754949093,
0.6542428135871887
] | [
-0.8436098098754883,
-0.5393059253692627,
0.33293700218200684,
0.499715656042099,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.003204 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.7 | 77 | 0 | 77 | 108 |
[
-55.2027473449707,
-29.60057830810547,
29.921873092651367,
32.81649398803711,
-0.20765195786952972,
30
] | [
-55.24700164794922,
-28.785579681396484,
29.988893508911133,
32.61148452758789,
-0.21013040840625763,
30
] | [
0.22324107587337494,
0.20725078880786896,
0.20732004940509796,
2.9568889141082764,
1.2746837139129639,
-2.490999460220337
] | 1 | [
-0.8434880375862122,
-0.542475163936615,
0.3333130180835724,
0.5001007318496704,
-0.007288976572453976,
0.6542428135871887
] | [
-0.8441974520683289,
-0.5277291536331177,
0.33444955945014954,
0.49645906686782837,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.009395 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.8 | 78 | 0 | 78 | 108 |
[
-55.22821044921875,
-29.439088821411133,
30.01649284362793,
32.73550033569336,
-0.2132047414779663,
30
] | [
-55.29719543457031,
-29.70700454711914,
30.11101531982422,
32.3604621887207,
-0.21013040840625763,
30
] | [
0.22335974872112274,
0.20755669474601746,
0.20636285841464996,
2.958341598510742,
1.2716209888458252,
-2.489253044128418
] | 1 | [
-0.843896210193634,
-0.5395532846450806,
0.3349176049232483,
0.4986620247364044,
-0.007463379763066769,
0.6542428135871887
] | [
-0.8450020551681519,
-0.5444007515907288,
0.3365205228328705,
0.492000013589859,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.013572 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 7.9 | 79 | 0 | 79 | 108 |
[
-55.2655029296875,
-29.382862091064453,
30.04237937927246,
32.507286071777344,
-0.20879440009593964,
30
] | [
-55.35861587524414,
-28.634960174560547,
30.26045799255371,
32.05329132080078,
-0.21013040840625763,
30
] | [
0.22343507409095764,
0.2078898549079895,
0.20659640431404114,
2.957095146179199,
1.2741960287094116,
-2.489806652069092
] | 1 | [
-0.8444939851760864,
-0.5385359525680542,
0.33535659313201904,
0.4946081340312958,
-0.007324858568608761,
0.6542428135871887
] | [
-0.8459866046905518,
-0.5250039100646973,
0.33905479311943054,
0.48654359579086304,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.016199 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8 | 80 | 0 | 80 | 108 |
[
-55.31423568725586,
-28.890483856201172,
30.12325668334961,
32.23719024658203,
-0.20597057044506073,
30
] | [
-55.43109130859375,
-27.369945526123047,
30.436800003051758,
31.69082260131836,
-0.21013040840625763,
30
] | [
0.22395052015781403,
0.20879732072353363,
0.20472010970115662,
2.9609057903289795,
1.268829345703125,
-2.485358715057373
] | 1 | [
-0.8452752232551575,
-0.5296272039413452,
0.33672812581062317,
0.4898102879524231,
-0.00723616685718298,
0.6542428135871887
] | [
-0.8471484184265137,
-0.5021156668663025,
0.34204521775245667,
0.48010489344596863,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.028405 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.1 | 81 | 0 | 81 | 108 |
[
-55.373966217041016,
-28.061616897583008,
30.253931045532227,
31.929407119750977,
-0.20504826307296753,
30
] | [
-55.513336181640625,
-25.934450149536133,
30.636905670166016,
31.279508590698242,
-0.21013040840625763,
30
] | [
0.22477136552333832,
0.21012742817401886,
0.20117434859275818,
2.9681508541107178,
1.2572903633117676,
-2.477487564086914
] | 1 | [
-0.8462327122688293,
-0.5146302580833435,
0.33894410729408264,
0.4843429923057556,
-0.00720719899982214,
0.6542428135871887
] | [
-0.8484668135643005,
-0.4761427938938141,
0.3454386591911316,
0.47279849648475647,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.048065 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.2 | 82 | 0 | 82 | 108 |
[
-55.44404983520508,
-26.965965270996094,
30.420379638671875,
31.5773983001709,
-0.20492680370807648,
30
] | [
-55.603782653808594,
-24.355846405029297,
30.856962203979492,
30.827190399169922,
-0.21013040840625763,
30
] | [
0.22579385340213776,
0.21176132559776306,
0.19633306562900543,
2.97733473777771,
1.2411555051803589,
-2.4676496982574463
] | 1 | [
-0.8473561406135559,
-0.49480628967285156,
0.3417667746543884,
0.4780900776386261,
-0.007203383836895227,
0.6542428135871887
] | [
-0.8499166965484619,
-0.44758063554763794,
0.34917041659355164,
0.4647637605667114,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.07371 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.3 | 83 | 0 | 83 | 108 |
[
-55.52355194091797,
-25.653833389282227,
30.614744186401367,
31.181396484375,
-0.20516592264175415,
30
] | [
-55.702239990234375,
-22.637359619140625,
31.09651756286621,
30.334789276123047,
-0.21013040840625763,
30
] | [
0.2269287258386612,
0.21359437704086304,
0.19043739140033722,
2.9873969554901123,
1.221435546875,
-2.4568891525268555
] | 1 | [
-0.8486305475234985,
-0.471065491437912,
0.34506285190582275,
0.47105568647384644,
-0.007210894487798214,
0.6542428135871887
] | [
-0.8514949679374695,
-0.41648751497268677,
0.35323283076286316,
0.45601698756217957,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.104257 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.4 | 84 | 0 | 84 | 108 |
[
-55.611568450927734,
-24.162120819091797,
30.83189582824707,
30.743860244750977,
-0.20548854768276215,
30
] | [
-55.80694580078125,
-20.80982208251953,
31.351274490356445,
29.81114387512207,
-0.21013040840625763,
30
] | [
0.22810068726539612,
0.21553722023963928,
0.1836531162261963,
2.9976534843444824,
1.1988227367401123,
-2.4458844661712646
] | 1 | [
-0.8500415086746216,
-0.44407549500465393,
0.34874531626701355,
0.463283509016037,
-0.00722102727741003,
0.6542428135871887
] | [
-0.8531733751296997,
-0.3834213316440582,
0.35755303502082825,
0.44671520590782166,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.138899 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.5 | 85 | 0 | 85 | 108 |
[
-55.70710754394531,
-22.517921447753906,
31.067279815673828,
30.268117904663086,
-0.20577700436115265,
30
] | [
-55.916873931884766,
-18.866498947143555,
31.61874008178711,
29.26137351989746,
-0.21013040840625763,
30
] | [
0.2292473167181015,
0.2175135612487793,
0.17610126733779907,
3.0076863765716553,
1.1738141775131226,
-2.4350550174713135
] | 1 | [
-0.8515729904174805,
-0.4143264889717102,
0.3527370095252991,
0.45483267307281494,
-0.00723008718341589,
0.6542428135871887
] | [
-0.8549355864524841,
-0.34826019406318665,
0.36208876967430115,
0.43694937229156494,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.177031 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.6 | 86 | 0 | 86 | 108 |
[
-55.80917739868164,
-20.736867904663086,
31.318429946899414,
29.759679794311523,
-0.2060350924730301,
30
] | [
-56.03142166137695,
-16.82864761352539,
31.897443771362305,
28.688507080078125,
-0.21013040840625763,
30
] | [
0.23031601309776306,
0.2194574475288391,
0.1678394079208374,
3.017308473587036,
1.1466313600540161,
-2.4245986938476562
] | 1 | [
-0.8532091975212097,
-0.3821013569831848,
0.3569960594177246,
0.4458010494709015,
-0.007238193415105343,
0.6542428135871887
] | [
-0.8567717671394348,
-0.3113887310028076,
0.36681506037712097,
0.4267732501029968,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.218286 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.7 | 87 | 0 | 87 | 108 |
[
-55.91667175292969,
-18.844322204589844,
31.583498001098633,
29.224462509155273,
-0.2063349336385727,
30
] | [
-56.14899826049805,
-14.736903190612793,
32.18351745605469,
28.10049057006836,
-0.21013040840625763,
30
] | [
0.231251522898674,
0.22129790484905243,
0.158972829580307,
3.026355266571045,
1.11765456199646,
-2.4146885871887207
] | 1 | [
-0.8549323081970215,
-0.3478589653968811,
0.3614911139011383,
0.43629369139671326,
-0.007247610948979855,
0.6542428135871887
] | [
-0.8586565256118774,
-0.2735421657562256,
0.3716663420200348,
0.4163280427455902,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.262087 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.8 | 88 | 0 | 88 | 108 |
[
-56.028568267822266,
-16.865039825439453,
31.859432220458984,
28.66753387451172,
-0.2066347748041153,
30
] | [
-56.26876449584961,
-12.606195449829102,
32.474918365478516,
27.501522064208984,
-0.21013040840625763,
30
] | [
0.23200838267803192,
0.22297455370426178,
0.14961880445480347,
3.0347402095794678,
1.0872912406921387,
-2.4054160118103027
] | 1 | [
-0.8567260503768921,
-0.31204718351364136,
0.3661704659461975,
0.42640069127082825,
-0.007257028482854366,
0.6542428135871887
] | [
-0.8605763912200928,
-0.23499062657356262,
0.3766079545021057,
0.40568825602531433,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.307875 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 8.9 | 89 | 0 | 89 | 108 |
[
-56.143798828125,
-14.821503639221191,
32.14354705810547,
28.09420394897461,
-0.20697256922721863,
30
] | [
-56.38962173461914,
-10.456088066101074,
32.76897430419922,
26.897098541259766,
-0.21013040840625763,
30
] | [
0.23255126178264618,
0.22443735599517822,
0.13988788425922394,
3.0424396991729736,
1.055898666381836,
-2.396813154220581
] | 1 | [
-0.8585731983184814,
-0.2750728726387024,
0.37098851799964905,
0.4162163734436035,
-0.007267638109624386,
0.6542428135871887
] | [
-0.8625137805938721,
-0.19608809053897858,
0.38159459829330444,
0.39495158195495605,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.355137 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9 | 90 | 0 | 90 | 108 |
[
-56.26129913330078,
-12.734766006469727,
32.43317413330078,
27.509782791137695,
-0.20731036365032196,
30
] | [
-56.51048278808594,
-8.305974960327148,
33.06303024291992,
26.292675018310547,
-0.21013040840625763,
30
] | [
0.23285506665706635,
0.22564709186553955,
0.1298891007900238,
3.0494699478149414,
1.0238091945648193,
-2.388871669769287
] | 1 | [
-0.8604567050933838,
-0.23731689155101776,
0.3759000599384308,
0.40583500266075134,
-0.007278247270733118,
0.6542428135871887
] | [
-0.8644511699676514,
-0.15718543529510498,
0.38658127188682556,
0.3842149078845978,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.403389 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.1 | 91 | 0 | 91 | 108 |
[
-56.37996292114258,
-10.625166893005371,
32.72574996948242,
26.919694900512695,
-0.20767094194889069,
30
] | [
-56.6302490234375,
-6.175216197967529,
33.35443115234375,
25.693706512451172,
-0.21013040840625763,
30
] | [
0.23290468752384186,
0.22657521069049835,
0.11973155289888382,
3.055863380432129,
0.991338849067688,
-2.381568670272827
] | 1 | [
-0.8623589277267456,
-0.1991472840309143,
0.3808616101741791,
0.39535295963287354,
-0.00728957261890173,
0.6542428135871887
] | [
-0.8663710355758667,
-0.118632972240448,
0.3915228843688965,
0.3735751211643219,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.452163 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.2 | 92 | 0 | 92 | 108 |
[
-56.498741149902344,
-8.51240348815918,
33.01864242553711,
26.329286575317383,
-0.20805807411670685,
30
] | [
-56.747825622558594,
-4.083306789398193,
33.6405029296875,
25.105690002441406,
-0.21013040840625763,
30
] | [
0.23269514739513397,
0.227204829454422,
0.10952463746070862,
3.0616612434387207,
0.9587948322296143,
-2.3748717308044434
] | 1 | [
-0.8642629384994507,
-0.1609204113483429,
0.38582852482795715,
0.38486525416374207,
-0.007301731966435909,
0.6542428135871887
] | [
-0.8682557940483093,
-0.0807834193110466,
0.3963741362094879,
0.3631299138069153,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.501004 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.3 | 93 | 0 | 93 | 108 |
[
-56.61655044555664,
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33.30938720703125,
25.744182586669922,
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30
] | [
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-2.0452916622161865,
33.91920852661133,
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30
] | [
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0.09937836974859238,
3.0669076442718506,
0.9264786243438721,
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] | 1 | [
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] | [
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0.4011004567146301,
0.35295379161834717,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.549454 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
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0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.4 | 94 | 0 | 94 | 108 |
[
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30
] | [
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34.18667221069336,
23.983055114746094,
-0.21013040840625763,
30
] | [
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0.22755689918994904,
0.0894012302160263,
3.071643114089966,
0.8946906328201294,
-2.363156318664551
] | 1 | [
-0.8680073618888855,
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0.39560723304748535,
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-0.007327481172978878,
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] | [
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0.40563616156578064,
0.34318798780441284,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.597074 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
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0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.5 | 95 | 0 | 95 | 108 |
[
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30
] | [
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1.7734650373458862,
34.441429138183594,
23.459407806396484,
-0.21013040840625763,
30
] | [
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0.22730304300785065,
0.07970158755779266,
3.0759050846099854,
0.8637327551841736,
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] | 1 | [
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0.4003283977508545,
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-0.007342024706304073,
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] | [
-0.8735325932502747,
0.025184927508234978,
0.4099563658237457,
0.33388617634773254,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.64341 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.6 | 96 | 0 | 96 | 108 |
[
-56.94523620605469,
-0.5593928694725037,
34.14467239379883,
24.13873291015625,
-0.212107852101326,
30
] | [
-57.12856674194336,
2.6907923221588135,
34.56687545776367,
23.201555252075195,
-0.21013040840625763,
30
] | [
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0.22675447165966034,
0.07091336697340012,
3.0794851779937744,
0.8352108597755432,
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] | 1 | [
-0.8714203238487244,
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0.4049239158630371,
0.3459533452987671,
-0.007428928278386593,
0.6542428135871887
] | [
-0.874359130859375,
0.04178240895271301,
0.4120837152004242,
0.3293057978153229,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.684719 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.7 | 97 | 0 | 97 | 108 |
[
-57.026458740234375,
0.8885140419006348,
34.35466384887695,
23.747337341308594,
-0.21354633569717407,
30
] | [
-57.181427001953125,
3.63128662109375,
34.695491790771484,
22.937191009521484,
-0.21013040840625763,
30
] | [
0.22853530943393707,
0.2261798083782196,
0.06389127671718597,
3.0822088718414307,
0.812480092048645,
-2.3505680561065674
] | 1 | [
-0.872722327709198,
0.009173240512609482,
0.4084849953651428,
0.33900079131126404,
-0.007474108599126339,
0.6542428135871887
] | [
-0.875206470489502,
0.05879905819892883,
0.4142647981643677,
0.32460978627204895,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.718132 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.8 | 98 | 0 | 98 | 108 |
[
-57.09666442871094,
2.1360137462615967,
34.52269744873047,
23.394197463989258,
-0.2133413851261139,
30
] | [
-57.235599517822266,
4.595078945159912,
34.827293395996094,
22.666276931762695,
-0.21013040840625763,
30
] | [
0.2276347577571869,
0.22562149167060852,
0.0579439252614975,
3.0844430923461914,
0.7933951616287231,
-2.3478307723999023
] | 1 | [
-0.8738477230072021,
0.03174463286995888,
0.4113345146179199,
0.3327278196811676,
-0.007467671297490597,
0.6542428135871887
] | [
-0.8760748505592346,
0.07623724639415741,
0.41649991273880005,
0.3197973966598511,
-0.007366820238530636,
0.6542428135871887
] | Pick up black block | Is the black block grasped? | move | 0.746959 | [
-57.60026168823242,
13.223882675170898,
35.96102523803711,
20.84255599975586,
-0.21013040840625763,
30
] | [
0.23043927550315857,
0.20134864747524261,
0.004980690777301788,
3.102011203765869,
0.6142092943191528,
-2.328265905380249
] | 30 | pick black block and place on lime dish | black block | [
0.23049362003803253,
0.20142656564712524,
0.02499999850988388
] | 9.9 | 99 | 0 | 99 | 108 |
End of preview. Expand in Data Studio
IsaacLab SO101 11-Task baseCaP Dataset (3300 Episodes, 10 FPS)
LeRobot v3.0 dataset derived from
CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi by keeping every third
episode-local source frame (frame_index % 3 == 0) and rebuilding each
episode's frame_index, timestamp, and global index for 10 FPS playback.
Dataset Summary
| Field | Value |
|---|---|
| Episodes | 3,300 |
| Frames | 1,175,352 |
| FPS | 10 |
| Source FPS | 30 |
| Source frames | 3,522,774 |
| Robot | so101_follower |
| Format | LeRobot v3.0 |
| Source dataset | CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi |
| Source revision | dba8cf9041a4ae3420987e53d9184f97a4d1cf86 |
Tasks
This dataset contains 11 IsaacLab SO101 task families, 300 episodes each:
| Index | Task family | Episodes |
|---|---|---|
| 0 | Pick and place cube | 300 |
| 1 | Sort cubes by color | 300 |
| 2 | Stack two cubes | 300 |
| 3 | Push button | 300 |
| 4 | Turn lever on | 300 |
| 5 | Turn lever off | 300 |
| 6 | Extract cube | 300 |
| 7 | Open box | 300 |
| 8 | Close box | 300 |
| 9 | Push cube | 300 |
| 10 | Pull cube | 300 |
Cameras
| Key | Shape | Codec | Description |
|---|---|---|---|
observation.images.top |
480 x 640 x 3 | h264 | Top-view RGB camera |
observation.images.left_wrist |
480 x 640 x 3 | h264 | Left wrist RGB camera |
Features
The dataset keeps the source schema, including:
- robot state/action fields in degree and URDF-radian forms
- end-effector pose and gripper state
- per-frame
skill.natural_language,skill.type, andskill.progress - per-skill goal joint, EE pose, and gripper fields
- per-frame
subtask.natural_language,subtask.object_name, andsubtask.target_position - SCRAPE sidecar metadata in
meta/scrape_episode_metadata.jsonl - multi-task campaign metadata in
meta/scrape_multitask_manifest.json
Verification
The local derivative passed the SCRAPE dataset audit:
FAIL=0,WARN=0,PASS=37- 3,300 episodes and 1,175,352 data rows
- both camera video packet counts match
meta/info.jsontotal frames - all per-episode video segment lengths match
meta/episodes - per-episode frame indices are contiguous from 0
- timestamps start at 0 and advance by 0.1 seconds
- sampled non-video columns match source rows selected by
frame_index % 3 == 0
Quick Start
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi_10fps")
sample = dataset[0]
print(sample.keys())
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