CoRL2026-CSI/smolVLA_Ours_Sim2RealO_PlaceSpoon_100epi_50ep
Robotics • 0.5B • Updated • 56
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 12
values | skill.verification_question stringclasses 8
values | skill.type stringclasses 6
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 35 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 37 | frame_index int64 0 370 | episode_index int64 0 99 | index int64 0 35.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.00001 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.002723 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.005317 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
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[
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] | [
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3.085448741912842,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.020127 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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] | 0.7 | 7 | 0 | 7 | 0 | ||
[
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3.085448741912842,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.044927 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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] | 0.494001 | [
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0
] | 0.8 | 8 | 0 | 8 | 0 | ||
[
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] | [
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3.085448741912842,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.073846 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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] | [
0.21081578731536865,
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0
] | 0.9 | 9 | 0 | 9 | 0 | ||
[
-5.747973442077637,
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] | [
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3.085448741912842,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.10511 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
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] | [
0.21081578731536865,
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] | 0.494001 | [
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] | 1 | 10 | 0 | 10 | 0 | ||
[
-5.747973442077637,
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3.085448741912842,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.141109 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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] | 0.494001 | [
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0,
0
] | 1.1 | 11 | 0 | 11 | 0 | ||
[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.176794 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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] | 0.494001 | [
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0,
0
] | 1.2 | 12 | 0 | 12 | 0 | ||
[
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3.085448741912842,
0.6236867904663086,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.214467 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
-5.305821895599365,
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] | [
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] | [
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3.085629463195801,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.253275 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
-5.2321295738220215,
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] | [
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] | [
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3.0852675437927246,
0.6252135634422302,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.293902 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
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] | 0.494001 | [
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0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
-5.08474588394165,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.33495 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
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] | 0.494001 | [
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0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
-4.78997802734375,
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.372453 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
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] | 0.494001 | [
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0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
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61.553260803222656,
80.7091064453125,
-0.9035409092903137,
0.46107202768325806
] | [
0.15889643132686615,
0.00034935158328153193,
0.09455994516611099,
3.085629463195801,
0.6221597790718079,
3.0473105907440186
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.410992 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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3.090510129928589,
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3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
-4.78997802734375,
-78.3509521484375,
66.81818389892578,
79.49845886230469,
-0.9035409092903137,
0.46574556827545166
] | [
-4.142390251159668,
-74.1603012084961,
58.83509826660156,
81.73778533935547,
-0.9035409092903137,
0.46574556827545166
] | [
0.15887050330638885,
0.0003492973919492215,
0.09993197023868561,
3.085629463195801,
0.6221597194671631,
3.0473105907440186
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.445752 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-4.716285705566406,
-76.74418640136719,
64,
80.64232635498047,
-0.9035409092903137,
0.4702039659023285
] | [
-4.036087512969971,
-72.66226959228516,
56.2420654296875,
82.71910858154297,
-0.9035409092903137,
0.4702039659023285
] | [
0.15870928764343262,
0.00016514965682290494,
0.10512515902519226,
3.0858099460601807,
0.6206327080726624,
3.045881748199463
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.478241 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
-4.421517848968506,
-75.0528564453125,
61.272727966308594,
81.6102066040039,
-0.9035409092903137,
0.4743962287902832
] | [
-3.936131000518799,
-71.253662109375,
53.80382537841797,
83.64185333251953,
-0.9035409092903137,
0.4743962287902832
] | [
0.15888150036334991,
-0.0005714626749977469,
0.11006488651037216,
3.0859899520874023,
0.6191058158874512,
3.0398504734039307
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.509615 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
-4.421517848968506,
-73.53065490722656,
58.54545593261719,
82.66607666015625,
-0.9035409092903137,
0.47827908396720886
] | [
-3.8435511589050293,
-69.94900512695312,
51.5455322265625,
84.49649810791016,
-0.9035409092903137,
0.47827908396720886
] | [
0.15894383192062378,
-0.000571858137845993,
0.11509811878204346,
3.0859899520874023,
0.6191058158874512,
3.0398504734039307
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.536323 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
-4.421517848968506,
-72.1775894165039,
56.181819915771484,
83.54597473144531,
-0.9035409092903137,
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] | [
-3.759359359741211,
-68.76256561279297,
49.49184799194336,
85.2737045288086,
-0.9035409092903137,
0.48181015253067017
] | [
0.1591077744960785,
-0.0005728745018132031,
0.11940353363752365,
3.0859899520874023,
0.6191057562828064,
3.0398504734039307
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.557677 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
-4.274134159088135,
-70.82452392578125,
53.90909194946289,
84.16190338134766,
-0.9035409092903137,
0.4849530756473541
] | [
-3.6844217777252197,
-67.70652770996094,
47.66389846801758,
85.96548461914062,
-0.9035409092903137,
0.4849530756473541
] | [
0.1597943753004074,
-0.0009482099558226764,
0.12373114377260208,
3.085629463195801,
0.6221596598625183,
3.0365729331970215
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.578034 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
-3.9793663024902344,
-69.64059448242188,
51.818180084228516,
85.04179382324219,
-0.9035409092903137,
0.4876689910888672
] | [
-3.6196651458740234,
-66.7939682006836,
46.084293365478516,
86.56328582763672,
-0.9035409092903137,
0.4876689910888672
] | [
0.15977495908737183,
-0.001690219040028751,
0.1273362934589386,
3.0858099460601807,
0.6206328272819519,
3.0305418968200684
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.591412 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
-3.9793663024902344,
-68.62579345703125,
50.09090805053711,
85.74571228027344,
-0.9035409092903137,
0.4899298846721649
] | [
-3.565758228302002,
-66.0343017578125,
44.769344329833984,
87.06092071533203,
-0.9035409092903137,
0.4899298846721649
] | [
0.1598426103591919,
-0.0016912641003727913,
0.13025516271591187,
3.0859899520874023,
0.6191057562828064,
3.030646562576294
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.601213 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
-3.9793663024902344,
-67.61099243164062,
48.45454406738281,
86.36163330078125,
-0.9035409092903137,
0.4917100965976715
] | [
-3.5233123302459717,
-65.43614959716797,
43.733970642089844,
87.4527587890625,
-0.9035409092903137,
0.4917100965976715
] | [
0.16005071997642517,
-0.0016944626113399863,
0.13297636806964874,
3.086169481277466,
0.6175788640975952,
3.0307507514953613
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.609738 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
-3.9793663024902344,
-66.93446350097656,
47.181819915771484,
86.80158233642578,
-0.9035409092903137,
0.49298983812332153
] | [
-3.4927990436553955,
-65.00614929199219,
42.98965835571289,
87.73443603515625,
-0.9035409092903137,
0.49298983812332153
] | [
0.1602746844291687,
-0.0016979032661765814,
0.13531436026096344,
3.0859899520874023,
0.6191058158874512,
3.030646562576294
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.614403 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
-3.9793663024902344,
-66.34249114990234,
46.181819915771484,
86.88957214355469,
-0.9035409092903137,
0.49375665187835693
] | [
-3.474515676498413,
-64.74849700927734,
42.543670654296875,
87.9032211303711,
-0.9035409092903137,
0.49375665187835693
] | [
0.16102652251720428,
-0.0017094381619244814,
0.13739809393882751,
3.085448741912842,
0.6236865520477295,
3.0303313732147217
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.620393 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
-3.9793663024902344,
-65.83509826660156,
45.3636360168457,
87.32952117919922,
-0.9035409092903137,
0.4940014183521271
] | [
-3.979306221008301,
-65.33009338378906,
45.133907318115234,
87.24151611328125,
-0.9035409092903137,
0.4940014183521271
] | [
0.16087135672569275,
-0.0017070615431293845,
0.13854584097862244,
3.0858099460601807,
0.6206327676773071,
3.0305418968200684
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.001013 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-3.9793663024902344,
-65.83509826660156,
45.3636360168457,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
-3.8237557411193848,
-65.32513427734375,
45.13072204589844,
87.2005844116211,
-0.9035409092903137,
0.4940014183521271
] | [
0.1604953557252884,
-0.0017012952594086528,
0.13830238580703735,
3.086169481277466,
0.6175788044929504,
3.0307507514953613
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.00038 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-3.9793663024902344,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
-3.408926248550415,
-65.31189727783203,
45.12223434448242,
87.09142303466797,
-0.9035409092903137,
0.4940014183521271
] | [
0.16042982041835785,
-0.001700289431028068,
0.1380143165588379,
3.08634877204895,
0.6160518527030945,
3.0308542251586914
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.000353 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-3.9793663024902344,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
-2.7426068782806396,
-65.29063415527344,
45.10860061645508,
86.91607666015625,
-0.9035409092903137,
0.4940014183521271
] | [
0.16042982041835785,
-0.001700289431028068,
0.1380143165588379,
3.08634877204895,
0.6160518527030945,
3.0308542251586914
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.000353 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-3.463522434234619,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
-1.829777479171753,
-65.26151275634766,
45.08992004394531,
86.67587280273438,
-0.9035409092903137,
0.4940014183521271
] | [
0.16040456295013428,
-0.003005832200869918,
0.1380143016576767,
3.08634877204895,
0.6160517930984497,
3.0201165676116943
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.007279 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-2.726602792739868,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
-0.7126880288124084,
-65.22586822509766,
45.06706237792969,
86.38191223144531,
-0.9035409092903137,
0.4940014183521271
] | [
0.16034415364265442,
-0.004870254546403885,
0.1380143016576767,
3.08634877204895,
0.6160517930984497,
3.0047767162323
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.017114 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-1.768607258796692,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
0.6046102046966553,
-65.183837890625,
45.040103912353516,
86.03526306152344,
-0.9035409092903137,
0.4940014183521271
] | [
0.1602228879928589,
-0.007292224559932947,
0.1380143016576767,
3.08634877204895,
0.6160517334938049,
2.984834909439087
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.029793 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-0.7369197010993958,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
2.0992419719696045,
-65.13614654541016,
45.009521484375,
85.64195251464844,
-0.9035409092903137,
0.4940014183521271
] | [
0.1600383073091507,
-0.009897230193018913,
0.1380142867565155,
3.08634877204895,
0.6160516738891602,
2.9633591175079346
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.043305 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
0.6632277369499207,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.4940014183521271
] | [
3.7434518337249756,
-65.08368682861328,
44.97587585449219,
85.20928192138672,
-0.9035409092903137,
0.4940014183521271
] | [
0.15969841182231903,
-0.013425065204501152,
0.1380142718553543,
3.08634877204895,
0.6160516142845154,
2.934213638305664
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.061399 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
2.1370670795440674,
-65.83509826660156,
45.45454406738281,
87.50550079345703,
-0.9035409092903137,
0.5137004852294922
] | [
5.531068801879883,
-65.02664947509766,
44.93929672241211,
84.7388687133789,
-0.9035409092903137,
0.5137004852294922
] | [
0.15922972559928894,
-0.01712619885802269,
0.1380142718553543,
3.0863490104675293,
0.6160514950752258,
2.903533935546875
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.08035 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
3.7582902908325195,
-65.83509826660156,
45.45454406738281,
86.80158233642578,
-0.9035409092903137,
2.159102201461792
] | [
7.434048652648926,
-64.96592712402344,
44.90035629272461,
84.23810577392578,
-0.9035409092903137,
2.159102201461792
] | [
0.16006118059158325,
-0.02144213207066059,
0.13899266719818115,
3.0849039554595947,
0.6282670497894287,
2.8689441680908203
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.122435 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
5.600589752197266,
-65.83509826660156,
45.45454406738281,
86.18566131591797,
-0.9035409092903137,
3.803446054458618
] | [
9.429679870605469,
-64.90225219726562,
44.85951614379883,
83.71295928955078,
-0.9035409092903137,
3.803446054458618
] | [
0.16042356193065643,
-0.02635197713971138,
0.13986381888389587,
3.083618640899658,
0.6389546394348145,
2.829833745956421
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.166948 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
7.369196891784668,
-65.83509826660156,
45.45454406738281,
85.48174285888672,
-0.9035409092903137,
5.447946548461914
] | [
11.509825706481934,
-64.83588409423828,
44.816951751708984,
83.16556549072266,
-0.9035409092903137,
5.447946548461914
] | [
0.1608029454946518,
-0.03117741458117962,
0.14087648689746857,
3.0821242332458496,
0.651168167591095,
2.7921197414398193
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.210863 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
9.432571411132812,
-65.83509826660156,
45.45454406738281,
84.95380401611328,
-0.9035409092903137,
7.092490196228027
] | [
13.644647598266602,
-64.76776885986328,
44.77326583862305,
82.60379028320312,
-0.9035409092903137,
7.092490196228027
] | [
0.16040484607219696,
-0.036705177277326584,
0.14164786040782928,
3.0809853076934814,
0.6603276133537292,
2.748473644256592
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.25782 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
11.569639205932617,
-65.75052642822266,
45.45454406738281,
84.33788299560547,
-0.9035409092903137,
8.73763370513916
] | [
15.819404602050781,
-64.69837951660156,
44.728763580322266,
82.03150939941406,
-0.9035409092903137,
8.73763370513916
] | [
0.1598919779062271,
-0.042512305080890656,
0.14241036772727966,
3.0798299312591553,
0.6694861650466919,
2.703275203704834
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.306076 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
13.633013725280762,
-65.66596221923828,
45.45454406738281,
83.80994415283203,
-0.9035409092903137,
10.381969451904297
] | [
18.012840270996094,
-64.62838745117188,
44.68387985229492,
81.45430755615234,
-0.9035409092903137,
10.381969451904297
] | [
0.15900051593780518,
-0.048091042786836624,
0.14304998517036438,
3.0788540840148926,
0.6771180629730225,
2.659715414047241
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.353039 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
15.770081520080566,
-65.66596221923828,
45.45454406738281,
83.10602569580078,
-0.9035409092903137,
12.02746868133545
] | [
20.20730209350586,
-64.5583724975586,
44.638973236083984,
80.87683868408203,
-0.9035409092903137,
12.02746868133545
] | [
0.1580525040626526,
-0.05398224666714668,
0.14411859214305878,
3.07726788520813,
0.6893280148506165,
2.6142284870147705
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.401527 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
17.9808406829834,
-65.66596221923828,
45.45454406738281,
82.49010467529297,
-0.9035409092903137,
13.67259693145752
] | [
22.381378173828125,
-64.48900604248047,
44.594486236572266,
80.30473327636719,
-0.9035409092903137,
13.67259693145752
] | [
0.1565539389848709,
-0.05997725948691368,
0.14506801962852478,
3.0758535861968994,
0.7000105381011963,
2.5673036575317383
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.450526 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
20.191598892211914,
-65.66596221923828,
45.45454406738281,
82.05015563964844,
-0.9035409092903137,
15.32192325592041
] | [
24.52020835876465,
-64.42076110839844,
44.55072021484375,
79.74189758300781,
-0.9035409092903137,
15.32192325592041
] | [
0.1544388085603714,
-0.06576772779226303,
0.1457543671131134,
3.0748274326324463,
0.7076404094696045,
2.520620346069336
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.498817 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
22.254974365234375,
-65.66596221923828,
45.45454406738281,
81.34623718261719,
-0.9035409092903137,
16.966463088989258
] | [
26.596975326538086,
-64.3544921875,
44.50822067260742,
79.19540405273438,
-0.9035409092903137,
16.966463088989258
] | [
0.15269745886325836,
-0.07141883671283722,
0.1468665897846222,
3.073157787322998,
0.7198471426963806,
2.4765756130218506
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.5462 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
24.39204216003418,
-65.66596221923828,
45.45454406738281,
81.34623718261719,
-0.9035409092903137,
18.611492156982422
] | [
28.59128189086914,
-64.29086303710938,
44.467411041259766,
78.67060089111328,
-0.9035409092903137,
18.611492156982422
] | [
0.14940877258777618,
-0.07641172409057617,
0.146866574883461,
3.073157787322998,
0.7198470234870911,
2.4320902824401855
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.591544 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
26.602800369262695,
-65.66596221923828,
45.45454406738281,
80.81829833984375,
-0.9035409092903137,
20.256799697875977
] | [
30.46388053894043,
-64.23111724853516,
44.42909240722656,
78.1778335571289,
-0.9035409092903137,
20.256799697875977
] | [
0.1466069221496582,
-0.0820513665676117,
0.14771200716495514,
3.0718820095062256,
0.7290011048316956,
2.385225296020508
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.639661 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
28.51879119873047,
-65.66596221923828,
45.45454406738281,
79.93840789794922,
-0.9035409092903137,
21.902202606201172
] | [
31.400522232055664,
-64.20122528076172,
44.40992736816406,
77.93135833740234,
-0.9035409092903137,
21.902202606201172
] | [
0.14457692205905914,
-0.08738284558057785,
0.1491423100233078,
3.0697083473205566,
0.7442560791969299,
2.343881368637085
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.685745 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
30.287399291992188,
-65.66596221923828,
45.45454406738281,
79.49845886230469,
-0.9035409092903137,
23.54652976989746
] | [
32.36024856567383,
-64.17060852050781,
44.390289306640625,
77.67880249023438,
-0.9035409092903137,
23.54652976989746
] | [
0.14192576706409454,
-0.09178401529788971,
0.14986734092235565,
3.068598508834839,
0.7518826723098755,
2.3063108921051025
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.72817 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
31.3190860748291,
-65.66596221923828,
45.45454406738281,
79.32247924804688,
-0.9035409092903137,
25.191699981689453
] | [
33.344482421875,
-64.23670196533203,
44.370147705078125,
77.4197998046875,
-0.9035409092903137,
25.191699981689453
] | [
0.14017966389656067,
-0.09420830756425858,
0.15015918016433716,
3.068150281906128,
0.7549331188201904,
2.2845284938812256
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.761249 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
32.350772857666016,
-65.66596221923828,
45.45454406738281,
79.32247924804688,
-0.9035409092903137,
26.8360652923584
] | [
34.35306930541992,
-64.20452117919922,
44.349510192871094,
77.1543960571289,
-0.9035409092903137,
26.8360652923584
] | [
0.13813327252864838,
-0.09636285901069641,
0.15015916526317596,
3.068150281906128,
0.7549330592155457,
2.2630529403686523
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.793047 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
33.30876922607422,
-65.66596221923828,
45.45454406738281,
79.32247924804688,
-0.9035409092903137,
28.48111343383789
] | [
35.38933181762695,
-64.17145538330078,
44.328304290771484,
76.88170623779297,
-0.9035409092903137,
28.48111343383789
] | [
0.13619200885295868,
-0.0983237475156784,
0.15015916526317596,
3.068150281906128,
0.7549330592155457,
2.2431111335754395
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.823192 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
34.26676559448242,
-65.66596221923828,
45.45454406738281,
79.32247924804688,
-0.9035409092903137,
30.12661361694336
] | [
36.460296630859375,
-64.13728332519531,
44.30638885498047,
76.59988403320312,
-0.9035409092903137,
30.12661361694336
] | [
0.13421204686164856,
-0.10024553537368774,
0.15015916526317596,
3.068150520324707,
0.7549329996109009,
2.2231693267822266
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.851973 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
35.29845428466797,
-65.66596221923828,
45.45454406738281,
78.79454803466797,
-0.9035409092903137,
31.772050857543945
] | [
37.57683181762695,
-64.1016616821289,
44.28354263305664,
76.30606842041016,
-0.9035409092903137,
31.772050857543945
] | [
0.13271959125995636,
-0.10302092880010605,
0.1510409116744995,
3.0667898654937744,
0.764083743095398,
2.200756788253784
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.883881 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
36.403831481933594,
-65.66596221923828,
45.45454406738281,
78.09062957763672,
-0.9035409092903137,
33.41677474975586
] | [
38.73429489135742,
-64.06472778320312,
44.259857177734375,
76.00148010253906,
-0.9035409092903137,
33.41677474975586
] | [
0.13120251893997192,
-0.106165312230587,
0.15223103761672974,
3.0649378299713135,
0.7762833833694458,
2.176457643508911
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.915685 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
37.509212493896484,
-65.66596221923828,
45.45454406738281,
77.56269073486328,
-0.9035409092903137,
35
] | [
39.927268981933594,
-64.02666473388672,
44.235443115234375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12937019765377045,
-0.10902859270572662,
0.15313437581062317,
3.0635194778442383,
0.785431981086731,
2.152449369430542
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.939698 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
38.68828201293945,
-65.66596221923828,
45.45454406738281,
77.21073150634766,
-0.9035409092903137,
35
] | [
39.927268981933594,
-64.02666473388672,
44.235443115234375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12707488238811493,
-0.11173499375581741,
0.15374167263507843,
3.0625596046447754,
0.791530430316925,
2.127224922180176
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.955859 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
39.2778205871582,
-65.66596221923828,
45.45454406738281,
77.21073150634766,
-0.9035409092903137,
35
] | [
39.927268981933594,
-64.02666473388672,
44.235443115234375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.1256970763206482,
-0.11280941963195801,
0.15374167263507843,
3.0625596046447754,
0.791530430316925,
2.11495304107666
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.959909 | [
39.927268981933594,
-64.43416595458984,
44.461517333984375,
75.68755340576172,
-0.9035409092903137,
35
] | [
0.12663698196411133,
-0.11728432774543762,
0.1573733538389206,
3.059187412261963,
0.812365710735321,
2.0990102291107178
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | |
[
39.49889373779297,
-65.0739974975586,
45.45454406738281,
77.21073150634766,
-0.9035409092903137,
35
] | [
39.27782440185547,
-65.0763931274414,
45.224449157714844,
77.21073150634766,
-0.9035409092903137,
35
] | [
0.12541460990905762,
-0.11352020502090454,
0.15253716707229614,
3.064232110977173,
0.7808578014373779,
2.111534833908081
] | 1 | Pick up the spoon | move | 0.000007 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
39.49889373779297,
-65.0739974975586,
45.54545593261719,
77.21073150634766,
-0.9035409092903137,
35
] | [
39.37910079956055,
-64.99536895751953,
45.27815246582031,
77.12913513183594,
-0.9035409092903137,
35
] | [
0.12538689374923706,
-0.11348377913236618,
0.1522180736064911,
3.0644681453704834,
0.7793329954147339,
2.1117007732391357
] | 1 | Pick up the spoon | move | 0.000328 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
39.49889373779297,
-65.0739974975586,
46,
77.21073150634766,
-0.9035409092903137,
35
] | [
39.64757537841797,
-64.77496337890625,
45.42450714111328,
76.90435028076172,
-0.9035409092903137,
35
] | [
0.1252438873052597,
-0.11329582333564758,
0.15062376856803894,
3.0656375885009766,
0.7717086672782898,
2.1125195026397705
] | 1 | Pick up the spoon | move | 0.001923 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
39.49889373779297,
-65.0739974975586,
46,
77.21073150634766,
-0.9035409092903137,
35
] | [
40.07414245605469,
-64.40870666503906,
45.6684684753418,
76.5229263305664,
-0.9035409092903137,
35
] | [
0.1252438873052597,
-0.11329582333564758,
0.15062376856803894,
3.0656375885009766,
0.7717086672782898,
2.1125195026397705
] | 1 | Pick up the spoon | move | 0.001923 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
39.49889373779297,
-65.0739974975586,
46,
77.21073150634766,
-0.9035409092903137,
35
] | [
40.64724349975586,
-63.880165100097656,
46.022178649902344,
75.95537567138672,
-0.9035409092903137,
35
] | [
0.1252438873052597,
-0.11329582333564758,
0.15062376856803894,
3.0656375885009766,
0.7717086672782898,
2.1125195026397705
] | 1 | Pick up the spoon | move | 0.001923 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
39.86735534667969,
-65.15856170654297,
46.727272033691406,
77.21073150634766,
-0.9035409092903137,
35
] | [
41.33269500732422,
-63.325401306152344,
46.482643127441406,
75.19709777832031,
-0.9035409092903137,
35
] | [
0.12410163134336472,
-0.11359365284442902,
0.14824804663658142,
3.067246198654175,
0.7610334753990173,
2.1059651374816895
] | 1 | Pick up the spoon | move | 0.004481 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
40.530582427978516,
-65.0739974975586,
47.09090805053711,
77.12274169921875,
-0.9035409092903137,
35
] | [
42.1171989440918,
-62.46106719970703,
47.06698989868164,
74.20745849609375,
-0.9035409092903137,
35
] | [
0.12252817302942276,
-0.11476389318704605,
0.14695122838020325,
3.068150758743286,
0.7549328804016113,
2.0927813053131104
] | 1 | Pick up the spoon | move | 0.007577 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
41.1201171875,
-64.22833251953125,
47.3636360168457,
76.0668716430664,
-0.9035409092903137,
35
] | [
42.976226806640625,
-61.40425109863281,
47.78534698486328,
72.95707702636719,
-0.9035409092903137,
35
] | [
0.12246013432741165,
-0.11768186837434769,
0.14601638913154602,
3.0683753490448,
0.7534075975418091,
2.0806632041931152
] | 1 | Pick up the spoon | move | 0.020935 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
41.930728912353516,
-63.04439926147461,
48.3636360168457,
74.92301177978516,
-0.9035409092903137,
35
] | [
43.885040283203125,
-60.15620040893555,
48.63779067993164,
71.43785858154297,
-0.9035409092903137,
35
] | [
0.12166319042444229,
-0.12083180248737335,
0.1418962925672531,
3.0710206031799316,
0.7351028323173523,
2.0655815601348877
] | 1 | Pick up the spoon | move | 0.039327 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
42.815032958984375,
-61.945030212402344,
49.181819915771484,
73.60316467285156,
-0.9035409092903137,
35
] | [
44.82594680786133,
-58.714256286621094,
49.64750671386719,
69.59487915039062,
-0.9035409092903137,
35
] | [
0.12076234817504883,
-0.12437092512845993,
0.13878770172595978,
3.072523593902588,
0.7244235277175903,
2.048175811767578
] | 1 | Pick up the spoon | move | 0.057966 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
43.84672164916992,
-60.42283248901367,
50,
72.10734558105469,
-0.9035409092903137,
35
] | [
45.77587890625,
-57.088356018066406,
51.32791519165039,
67.43026733398438,
-0.9035409092903137,
35
] | [
0.1195710226893425,
-0.12849187850952148,
0.13493864238262177,
3.0746219158172607,
0.7091655135154724,
2.02807879447937
] | 1 | Pick up the spoon | move | 0.080064 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
44.804718017578125,
-59.154335021972656,
51.09090805053711,
70.08358764648438,
-0.9035409092903137,
35
] | [
46.71818542480469,
-55.25712585449219,
52.64218521118164,
64.94088745117188,
-0.9035409092903137,
35
] | [
0.11872982978820801,
-0.1329742670059204,
0.13137148320674896,
3.075446128845215,
0.7030617594718933,
2.008671522140503
] | 1 | Pick up the spoon | move | 0.105491 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
45.76271057128906,
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53,
67.97183990478516,
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35
] | [
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35
] | [
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3.07924747467041,
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] | 1 | Pick up the spoon | move | 0.137186 | [
53.769195556640625,
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85.3002700805664,
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35
] | [
0.09520629793405533,
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3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
46.64701461791992,
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35
] | [
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35
] | [
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0.11821199208498001,
3.0811779499053955,
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1.9739314317703247
] | 1 | Pick up the spoon | move | 0.16813 | [
53.769195556640625,
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85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
47.605010986328125,
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35
] | [
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35
] | [
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3.080986976623535,
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] | 1 | Pick up the spoon | move | 0.202321 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
48.41562271118164,
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35
] | [
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35
] | [
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3.0852696895599365,
0.6252113580703735,
1.9395663738250732
] | 1 | Pick up the spoon | move | 0.245866 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
49.07884979248047,
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35
] | [
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35
] | [
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3.0865297317504883,
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] | 1 | Pick up the spoon | move | 0.291642 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
49.889461517333984,
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35
] | [
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35
] | [
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3.088820457458496,
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1.9109210968017578
] | 1 | Pick up the spoon | move | 0.339369 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
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35
] | [
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35
] | [
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3.091219663619995,
0.5732877850532532,
1.8969041109085083
] | 1 | Pick up the spoon | move | 0.389537 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
51.289608001708984,
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35
] | [
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35
] | [
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0.06570461392402649,
3.0935535430908203,
0.5519029498100281,
1.8843432664871216
] | 1 | Pick up the spoon | move | 0.445856 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
51.80545425415039,
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35
] | [
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35
] | [
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0.05463067814707756,
3.0956661701202393,
0.5320435166358948,
1.8746951818466187
] | 1 | Pick up the spoon | move | 0.502599 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
52.173912048339844,
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35
] | [
53.047061920166016,
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35
] | [
0.10630599409341812,
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0.04286786541342735,
3.098043441772461,
0.5091263055801392,
1.8682078123092651
] | 1 | Pick up the spoon | move | 0.560869 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
52.54237365722656,
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72.09091186523438,
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35
] | [
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-0.9035409092903137,
35
] | [
0.10445915907621384,
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0.03166217729449272,
3.100054979324341,
0.4892629384994507,
1.861500859260559
] | 1 | Pick up the spoon | move | 0.619443 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
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] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
52.68975830078125,
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74.18181610107422,
25.912891387939453,
-0.9035409092903137,
35
] | [
53.29873275756836,
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74.76944732666016,
19.39756202697754,
-0.9035409092903137,
35
] | [
0.1032537892460823,
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0.02208239771425724,
3.1014225482940674,
0.47551044821739197,
1.859067440032959
] | 1 | Pick up the spoon | move | 0.67338 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
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-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
52.910831451416016,
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75.18181610107422,
22.745269775390625,
-0.9035409092903137,
35
] | [
53.407859802246094,
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76.09193420410156,
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-0.9035409092903137,
35
] | [
0.10307513922452927,
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0.01923125796020031,
3.0999016761779785,
0.4907910227775574,
1.8537589311599731
] | 1 | Pick up the spoon | move | 0.706502 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
52.98452377319336,
-22.706130981445312,
75.90908813476562,
19.929609298706055,
-0.9035409092903137,
35
] | [
53.504390716552734,
-20.22595977783203,
78.01803588867188,
13.977612495422363,
-0.9035409092903137,
35
] | [
0.10317100584506989,
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0.015962813049554825,
3.0991320610046387,
0.49843093752861023,
1.8518595695495605
] | 1 | Pick up the spoon | move | 0.737569 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
52.98452377319336,
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77.2727279663086,
17.28992462158203,
-0.9035409092903137,
35
] | [
53.58765411376953,
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79.46772766113281,
11.06535816192627,
-0.9035409092903137,
35
] | [
0.1022869423031807,
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0.01009625568985939,
3.100207805633545,
0.48773494362831116,
1.8523688316345215
] | 1 | Pick up the spoon | move | 0.770436 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
52.98452377319336,
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79.54545593261719,
14.56225299835205,
-0.9035409092903137,
35
] | [
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-16.240564346313477,
80.43712615966797,
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-0.9035409092903137,
35
] | [
0.10003474354743958,
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0.001890468643978238,
3.102771043777466,
0.461757093667984,
1.8535406589508057
] | 1 | Pick up the spoon | move | 0.806889 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
52.98452377319336,
-17.378435134887695,
80.2727279663086,
11.570611953735352,
-0.8547008633613586,
35
] | [
53.71319580078125,
-14.067854881286621,
82.51325225830078,
4.7172369956970215,
-0.9035409092903137,
35
] | [
0.10035169124603271,
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3.1023597717285156,
0.4740430414676666,
1.8547232151031494
] | 1 | Pick up the spoon | move | 0.839041 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
53.35298538208008,
-16.194503784179688,
80.90908813476562,
8.31500244140625,
-0.8547008633613586,
35
] | [
53.75087356567383,
-11.767454147338867,
84.16165924072266,
1.2423503398895264,
-0.9035409092903137,
35
] | [
0.10000578314065933,
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-0.001808742294088006,
3.099966287612915,
0.4984954297542572,
1.845934510231018
] | 1 | Pick up the spoon | move | 0.871321 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
53.35298538208008,
-14.926004409790039,
82,
4.795424461364746,
-0.8547008633613586,
35
] | [
53.769195556640625,
-9.340934753417969,
85.9012680053711,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.10033784061670303,
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-0.0038545485585927963,
3.0979740619659424,
0.5183610916137695,
1.8449647426605225
] | 1 | Pick up the spoon | move | 0.906569 | [
53.769195556640625,
-8.996438026428223,
85.3002700805664,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.09520629793405533,
-0.1523563265800476,
-0.01828106865286827,
3.100860357284546,
0.48118871450424194,
1.8363388776779175
] | 35 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
53.35298538208008,
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83.09091186523438,
1.0118786096572876,
-0.8547008633613586,
35
] | [
53.769195556640625,
-9.340934753417969,
85.9012680053711,
-2.4316797256469727,
-0.9035409092903137,
35
] | [
0.10048769414424896,
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3.096252918243408,
0.5351690649986267,
1.8440994024276733
] | 1 | Pick up the spoon | move | 0.944392 | [
53.769195556640625,
-8.996438026428223,
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 35546,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
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},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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]
},
"action": {
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"wrist_roll.pos",
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]
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
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},
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},
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},
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},
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"timestamp": {
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},
"frame_index": {
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"episode_index": {
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},
"index": {
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},
"task_index": {
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"names": null
}
}
}
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