CoRL2026-CSI/SmolVLA-CaP-SortBlock-50epochs
Robotics • 0.5B • Updated • 14
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 27
values | skill.verification_question stringclasses 13
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 4
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 88.6 | frame_index int64 0 886 | episode_index int64 0 99 | index int64 0 87.2k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
3.930130958557129,
-97.72439575195312,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.3968254029750824
] | [
3.930130958557129,
-97.72439575195312,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.3968254029750824
] | [
0.18071876466274261,
-0.008895307779312134,
0.04133116826415062,
3.0854530334472656,
0.7561265230178833,
2.9969868659973145
] | 1 | [
0.06289321184158325,
-1.7456700801849365,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.0030679614283144474
] | [
0.06289321184158325,
-1.7456700801849365,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.0030679614283144474
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0 | 0 | 0 | 0 | 0 | |
[
3.930130958557129,
-97.72439575195312,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.39573580026626587
] | [
3.925570249557495,
-97.60248565673828,
98.57477569580078,
59.10894775390625,
-0.31719210743904114,
0.39573580026626587
] | [
0.18071876466274261,
-0.008895307779312134,
0.04133116826415062,
3.0854530334472656,
0.7561265230178833,
2.9969868659973145
] | 1 | [
0.06289321184158325,
-1.7456700801849365,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.0030932335648685694
] | [
0.06282912939786911,
-1.7434512376785278,
1.5773723125457764,
0.979350209236145,
-0.010729441419243813,
-0.0030932335648685694
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | |
[
3.930130958557129,
-97.72439575195312,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.39247822761535645
] | [
3.9119348526000977,
-97.23800659179688,
98.1102294921875,
59.22130584716797,
-0.3163902461528778,
0.39247822761535645
] | [
0.18071876466274261,
-0.008895307779312134,
0.04133116826415062,
3.0854530334472656,
0.7561265230178833,
2.9969868659973145
] | 1 | [
0.06289321184158325,
-1.7456700801849365,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.0031687889713793993
] | [
0.06263753026723862,
-1.736817479133606,
1.5695158243179321,
0.9813546538352966,
-0.01070425659418106,
-0.0031687889713793993
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.2 | 2 | 0 | 2 | 0 | |
[
3.930130958557129,
-97.72439575195312,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.38708972930908203
] | [
3.8893802165985107,
-96.63510131835938,
97.34181213378906,
59.40716552734375,
-0.31506386399269104,
0.38708972930908203
] | [
0.18071876466274261,
-0.008895307779312134,
0.04133116826415062,
3.0854530334472656,
0.7561265230178833,
2.9969868659973145
] | 1 | [
0.06289321184158325,
-1.7456700801849365,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.0032937685027718544
] | [
0.062320612370967865,
-1.725844144821167,
1.5565203428268433,
0.9846704602241516,
-0.010662596672773361,
-0.0032937685027718544
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000001 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.3 | 3 | 0 | 3 | 0 | |
[
3.930130958557129,
-97.72439575195312,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.37962672114372253
] | [
3.858142137527466,
-95.80008697509766,
96.27755737304688,
59.664581298828125,
-0.3132268190383911,
0.37962672114372253
] | [
0.18071876466274261,
-0.008895307779312134,
0.04133116826415062,
3.0854530334472656,
0.7561265230178833,
2.9969868659973145
] | 1 | [
0.06289321184158325,
-1.7456700801849365,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.0034668641164898872
] | [
0.06188167631626129,
-1.710646390914917,
1.5385215282440186,
0.9892628192901611,
-0.010604898445308208,
-0.0034668641164898872
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000001 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | |
[
3.930130958557129,
-97.30299377441406,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.3701741099357605
] | [
3.8185760974884033,
-94.74246215820312,
94.92957305908203,
59.99061965942383,
-0.3109000027179718,
0.3701741099357605
] | [
0.18013933300971985,
-0.0088588185608387,
0.04047619178891182,
3.0863075256347656,
0.7484821677207947,
2.997570753097534
] | 1 | [
0.06289321184158325,
-1.7380002737045288,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.0036861058324575424
] | [
0.06132572516798973,
-1.6913968324661255,
1.5157241821289062,
0.9950793981552124,
-0.010531817562878132,
-0.0036861058324575424
] | Move to initial position | Is the robot at initial position? | move_initial | 0.00348 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.5 | 5 | 0 | 5 | 0 | |
[
3.930130958557129,
-96.03877258300781,
98.73015594482422,
59.07136535644531,
-0.3174603283405304,
0.3588328957557678
] | [
3.7711048126220703,
-93.47352600097656,
93.31227111816406,
60.381797790527344,
-0.3081083297729492,
0.3588328957557678
] | [
0.17836199700832367,
-0.008746893145143986,
0.03793829679489136,
3.0887999534606934,
0.7255465984344482,
2.999246120452881
] | 1 | [
0.06289321184158325,
-1.7149906158447266,
1.5800001621246338,
0.9786797165870667,
-0.010737866163253784,
-0.003949151840060949
] | [
0.06065869331359863,
-1.6683013439178467,
1.4883722066879272,
1.0020580291748047,
-0.010444136336445808,
-0.003949151840060949
] | Move to initial position | Is the robot at initial position? | move_initial | 0.013786 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | |
[
3.930130958557129,
-94.85882568359375,
98.18594360351562,
59.24333572387695,
-0.3174603283405304,
0.34573614597320557
] | [
3.716285467147827,
-92.00816345214844,
91.44461822509766,
60.83353042602539,
-0.30488452315330505,
0.34573614597320557
] | [
0.1771627962589264,
-0.008671377785503864,
0.037385109812021255,
3.0904059410095215,
0.7102543115615845,
3.00030255317688
] | 1 | [
0.06289321184158325,
-1.6935147047042847,
1.5707963705062866,
0.9817476868629456,
-0.010737866163253784,
-0.004252914804965258
] | [
0.059888411313295364,
-1.64163076877594,
1.4567861557006836,
1.0101170539855957,
-0.010342882014811039,
-0.004252914804965258
] | Move to initial position | Is the robot at initial position? | move_initial | 0.029544 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.7 | 7 | 0 | 7 | 0 | |
[
3.930130958557129,
-93.67888641357422,
96.91609954833984,
59.8452262878418,
-0.3174603283405304,
0.33101707696914673
] | [
3.6546754837036133,
-90.36129760742188,
89.34561920166016,
61.341217041015625,
-0.30126136541366577,
0.33101707696914673
] | [
0.1762530654668808,
-0.00861409679055214,
0.038893796503543854,
3.0915050506591797,
0.6995491981506348,
3.0010147094726562
] | 1 | [
0.06289321184158325,
-1.6720390319824219,
1.5493205785751343,
0.992485523223877,
-0.010737866163253784,
-0.004594305995851755
] | [
0.05902271345257759,
-1.611656665802002,
1.4212875366210938,
1.019174337387085,
-0.010229084640741348,
-0.004594305995851755
] | Move to initial position | Is the robot at initial position? | move_initial | 0.054184 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.8 | 8 | 0 | 8 | 0 | |
[
3.930130958557129,
-92.24610137939453,
94.9206314086914,
60.447120666503906,
-0.3174603283405304,
0.3148416578769684
] | [
3.5869696140289307,
-88.55146789550781,
87.0389404296875,
61.899139404296875,
-0.2972797155380249,
0.3148416578769684
] | [
0.1761958748102188,
-0.008610504679381847,
0.042631469666957855,
3.09181547164917,
0.6964905261993408,
3.0012142658233643
] | 1 | [
0.06289321184158325,
-1.6459614038467407,
1.5155729055404663,
1.0032234191894531,
-0.010737866163253784,
-0.004969475325196981
] | [
0.05807135999202728,
-1.578716516494751,
1.3822766542434692,
1.0291277170181274,
-0.010104027576744556,
-0.004969475325196981
] | Move to initial position | Is the robot at initial position? | move_initial | 0.088656 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 0.9 | 9 | 0 | 9 | 0 | |
[
3.930130958557129,
-90.39190673828125,
92.83446502685547,
60.96302795410156,
-0.3174603283405304,
0.2973857820034027
] | [
3.513904094696045,
-86.598388671875,
84.5496597290039,
62.501224517822266,
-0.29298287630081177,
0.2973857820034027
] | [
0.17598995566368103,
-0.008597547188401222,
0.046007540076971054,
3.0925846099853516,
0.6888434290885925,
3.0017054080963135
] | 1 | [
0.06289321184158325,
-1.6122137308120728,
1.4802913665771484,
1.0124273300170898,
-0.010737866163253784,
-0.005374343134462833
] | [
0.05704469978809357,
-1.5431691408157349,
1.3401776552200317,
1.0398690700531006,
-0.009969071485102177,
-0.005374343134462833
] | Move to initial position | Is the robot at initial position? | move_initial | 0.127236 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1 | 10 | 0 | 10 | 0 | |
[
3.930130958557129,
-88.5377197265625,
90.56689453125,
61.564918518066406,
-0.3174603283405304,
0.27884358167648315
] | [
3.4362916946411133,
-84.52375030517578,
81.90546417236328,
63.14078140258789,
-0.28841865062713623,
0.27884358167648315
] | [
0.17601612210273743,
-0.008599204942584038,
0.049904998391866684,
3.0931928157806396,
0.6827256679534912,
3.0020906925201416
] | 1 | [
0.06289321184158325,
-1.5784662961959839,
1.4419419765472412,
1.023165225982666,
-0.010737866163253784,
-0.0058044069446623325
] | [
0.05595414713025093,
-1.5054093599319458,
1.2954586744308472,
1.0512789487838745,
-0.00982571765780449,
-0.0058044069446623325
] | Move to initial position | Is the robot at initial position? | move_initial | 0.167986 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.1 | 11 | 0 | 11 | 0 | |
[
3.930130958557129,
-86.51496124267578,
88.02721405029297,
62.08082580566406,
-0.3174603283405304,
0.2594171464443207
] | [
3.35497784614563,
-82.35018157958984,
79.13517761230469,
63.81083679199219,
-0.28363674879074097,
0.2594171464443207
] | [
0.17658300697803497,
-0.008634914644062519,
0.0545869804918766,
3.0934948921203613,
0.6796665787696838,
3.0022809505462646
] | 1 | [
0.06289321184158325,
-1.5416507720947266,
1.398990511894226,
1.0323690176010132,
-0.010737866163253784,
-0.006254979409277439
] | [
0.05481158196926117,
-1.4658489227294922,
1.2486071586608887,
1.0632327795028687,
-0.009675526060163975,
-0.006254979409277439
] | Move to initial position | Is the robot at initial position? | move_initial | 0.212795 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | |
[
3.930130958557129,
-84.49220275878906,
85.30612182617188,
62.76870346069336,
-0.3174603283405304,
0.23931540548801422
] | [
3.2708375453948975,
-80.10105895996094,
76.26858520507812,
64.50418090820312,
-0.2786886394023895,
0.23931540548801422
] | [
0.17721760272979736,
-0.00867488794028759,
0.05963360518217087,
3.0937952995300293,
0.6766075491905212,
3.002469301223755
] | 1 | [
0.06289321184158325,
-1.5048351287841797,
1.352971076965332,
1.0446408987045288,
-0.010737866163253784,
-0.006721215322613716
] | [
0.053629305213689804,
-1.4249132871627808,
1.2001270055770874,
1.0756021738052368,
-0.00952011439949274,
-0.006721215322613716
] | Move to initial position | Is the robot at initial position? | move_initial | 0.260004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | |
[
3.930130958557129,
-82.30088806152344,
82.58503723144531,
63.45657730102539,
-0.3174603283405304,
0.21875809133052826
] | [
3.1847903728485107,
-77.80095672607422,
73.33702850341797,
65.21324157714844,
-0.2736283838748932,
0.21875809133052826
] | [
0.17782996594905853,
-0.008713461458683014,
0.06429699808359146,
3.0943915843963623,
0.6704894304275513,
3.0028414726257324
] | 1 | [
0.06289321184158325,
-1.464951753616333,
1.306951642036438,
1.0569127798080444,
-0.010737866163253784,
-0.007198017090559006
] | [
0.0524202324450016,
-1.3830498456954956,
1.1505481004714966,
1.0882519483566284,
-0.00936118047684431,
-0.007198017090559006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.308528 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | |
[
3.820960760116577,
-80.10956573486328,
79.77323913574219,
64.0584716796875,
-0.3174603283405304,
0.1979871243238449
] | [
3.097848653793335,
-75.47695922851562,
70.37500762939453,
65.92967224121094,
-0.26851552724838257,
0.1979871243238449
] | [
0.17894241213798523,
-0.008567776530981064,
0.06936397403478622,
3.0946877002716064,
0.6674302816390991,
3.00455904006958
] | 1 | [
0.061359234154224396,
-1.4250681400299072,
1.2593982219696045,
1.0676506757736206,
-0.010737866163253784,
-0.007679774425923824
] | [
0.05119859427213669,
-1.3407515287399292,
1.1004539728164673,
1.1010332107543945,
-0.009200595319271088,
-0.007679774425923824
] | Move to initial position | Is the robot at initial position? | move_initial | 0.357864 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | |
[
3.7117903232574463,
-77.74968719482422,
76.78004455566406,
64.83232879638672,
-0.3174603283405304,
0.17722049355506897
] | [
3.01092529296875,
-73.1534423828125,
67.4135971069336,
66.64595031738281,
-0.2634037435054779,
0.17722049355506897
] | [
0.18000034987926483,
-0.008415441028773785,
0.0744243711233139,
3.095275640487671,
0.66131192445755,
3.006455421447754
] | 1 | [
0.05982524901628494,
-1.3821167945861816,
1.208776831626892,
1.0814564228057861,
-0.010737866163253784,
-0.008161431178450584
] | [
0.04997720941901207,
-1.2984619140625,
1.050370216369629,
1.1138118505477905,
-0.009040042757987976,
-0.008161431178450584
] | Move to initial position | Is the robot at initial position? | move_initial | 0.410917 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | |
[
3.7117903232574463,
-75.55836486816406,
73.87754821777344,
65.60619354248047,
-0.3174603283405304,
0.15668699145317078
] | [
2.9249777793884277,
-70.85600280761719,
64.48543548583984,
67.35419464111328,
-0.25834932923316956,
0.15668699145317078
] | [
0.1812041997909546,
-0.008487553335726261,
0.07941173017024994,
3.095712900161743,
0.656722903251648,
3.006723165512085
] | 1 | [
0.05982524901628494,
-1.3422331809997559,
1.1596894264221191,
1.0952622890472412,
-0.010737866163253784,
-0.008637681603431702
] | [
0.04876953735947609,
-1.256646990776062,
1.0008487701416016,
1.1264469623565674,
-0.008881292305886745,
-0.008637681603431702
] | Move to initial position | Is the robot at initial position? | move_initial | 0.46161 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | |
[
3.7117903232574463,
-73.11420440673828,
70.88435363769531,
66.2940673828125,
-0.3174603283405304,
0.1366109848022461
] | [
2.840945243835449,
-68.60975646972656,
61.62251663208008,
68.0466537475586,
-0.2534075379371643,
0.1366109848022461
] | [
0.18273136019706726,
-0.008579027839004993,
0.08424893021583557,
3.0962910652160645,
0.6506041884422302,
3.0070748329162598
] | 1 | [
0.05982524901628494,
-1.2977478504180908,
1.1090681552886963,
1.1075341701507568,
-0.010737866163253784,
-0.009103319607675076
] | [
0.0475887767970562,
-1.215763807296753,
0.9524306654930115,
1.1388006210327148,
-0.008726079016923904,
-0.009103319607675076
] | Move to initial position | Is the robot at initial position? | move_initial | 0.515007 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | |
[
3.7117903232574463,
-70.41719055175781,
67.80045318603516,
66.89595794677734,
-0.3174603283405304,
0.11721491068601608
] | [
2.759758472442627,
-66.43959045410156,
58.8565559387207,
68.71566009521484,
-0.24863313138484955,
0.11721491068601608
] | [
0.18464456498622894,
-0.00869362335652113,
0.08889808505773544,
3.097006320953369,
0.642955482006073,
3.0075058937072754
] | 1 | [
0.05982524901628494,
-1.2486603260040283,
1.0569127798080444,
1.1182719469070435,
-0.010737866163253784,
-0.00955318845808506
] | [
0.0464479997754097,
-1.1762652397155762,
0.9056523442268372,
1.150735855102539,
-0.008576123975217342,
-0.00955318845808506
] | Move to initial position | Is the robot at initial position? | move_initial | 0.571034 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | |
[
3.7117903232574463,
-68.39443969726562,
64.98866271972656,
67.58383178710938,
-0.3174603283405304,
0.09871228039264679
] | [
2.682311773300171,
-64.369384765625,
56.2180061340332,
69.35385131835938,
-0.2440786361694336,
0.09871228039264679
] | [
0.1864732801914215,
-0.008803158067166805,
0.09374361485242844,
3.0971481800079346,
0.6414258480072021,
3.0075910091400146
] | 1 | [
0.05982524901628494,
-1.2118449211120605,
1.009359359741211,
1.130543828010559,
-0.010737866163253784,
-0.009982334449887276
] | [
0.0453597754240036,
-1.138586163520813,
0.861028790473938,
1.162121295928955,
-0.008433074690401554,
-0.009982334449887276
] | Move to initial position | Is the robot at initial position? | move_initial | 0.619159 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | |
[
3.275109052658081,
-65.95027160644531,
62.3582763671875,
68.35769653320312,
-0.3174603283405304,
0.08131269365549088
] | [
2.6094818115234375,
-62.4225959777832,
53.73675537109375,
69.95399475097656,
-0.23979565501213074,
0.08131269365549088
] | [
0.1878654807806015,
-0.007969166152179241,
0.09680814296007156,
3.098412275314331,
0.6276574730873108,
3.0144762992858887
] | 1 | [
0.05368932709097862,
-1.1673593521118164,
0.9648739099502563,
1.1443496942520142,
-0.010737866163253784,
-0.010385897010564804
] | [
0.04433642327785492,
-1.1031532287597656,
0.8190655708312988,
1.172827959060669,
-0.00829855352640152,
-0.010385897010564804
] | Move to initial position | Is the robot at initial position? | move_initial | 0.668759 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | |
[
3.275109052658081,
-64.51748657226562,
59.81859588623047,
68.87360382080078,
-0.3174603283405304,
0.06515670567750931
] | [
2.5418572425842285,
-60.61494827270508,
51.43284606933594,
70.51124572753906,
-0.2358188033103943,
0.06515670567750931
] | [
0.1900881975889206,
-0.008088617585599422,
0.1020241230726242,
3.0977132320404053,
0.6353065371513367,
3.014063596725464
] | 1 | [
0.05368932709097862,
-1.1412817239761353,
0.921922504901886,
1.1535536050796509,
-0.010737866163253784,
-0.010760615579783916
] | [
0.04338620975613594,
-1.070252776145935,
0.7801015377044678,
1.1827694177627563,
-0.00817364826798439,
-0.010760615579783916
] | Move to initial position | Is the robot at initial position? | move_initial | 0.709107 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | |
[
3.275109052658081,
-62.326168060302734,
57.188209533691406,
69.56147766113281,
-0.3174603283405304,
0.05049674212932587
] | [
2.480494737625122,
-58.97468566894531,
49.3422737121582,
71.01689147949219,
-0.2322101891040802,
0.05049674212932587
] | [
0.19194893538951874,
-0.008188612759113312,
0.10556347668170929,
3.098412275314331,
0.6276575326919556,
3.0144762992858887
] | 1 | [
0.05368932709097862,
-1.101398229598999,
0.8774370551109314,
1.165825366973877,
-0.010737866163253784,
-0.01110063586384058
] | [
0.04252399131655693,
-1.0403989553451538,
0.7447454929351807,
1.191790223121643,
-0.008060307241976261,
-0.01110063586384058
] | Move to initial position | Is the robot at initial position? | move_initial | 0.756253 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | |
[
3.1659388542175293,
-60.55625915527344,
54.92063522338867,
69.99140167236328,
-0.3174603283405304,
0.03746229410171509
] | [
2.425936222076416,
-57.516300201416016,
47.4835090637207,
71.46647644042969,
-0.2290017157793045,
0.03746229410171509
] | [
0.19404375553131104,
-0.008062435314059258,
0.1090259850025177,
3.0985512733459473,
0.6261277198791504,
3.016091823577881
] | 1 | [
0.05215534567832947,
-1.06918466091156,
0.8390874862670898,
1.1734952926635742,
-0.010737866163253784,
-0.011402953416109085
] | [
0.04175737500190735,
-1.0138553380966187,
0.7133097648620605,
1.1998109817504883,
-0.007959535345435143,
-0.011402953416109085
] | Move to initial position | Is the robot at initial position? | move_initial | 0.795609 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | |
[
3.1659388542175293,
-58.95491027832031,
53.015872955322266,
70.59329223632812,
-0.3174603283405304,
0.026206716895103455
] | [
2.3788232803344727,
-56.2569465637207,
45.87841796875,
71.85470581054688,
-0.22623111307621002,
0.026206716895103455
] | [
0.19532178342342377,
-0.008129149675369263,
0.11126496642827988,
3.099241256713867,
0.6184782981872559,
3.016493797302246
] | 1 | [
0.05215534567832947,
-1.0400389432907104,
0.8068739175796509,
1.1842331886291504,
-0.010737866163253784,
-0.011664013378322124
] | [
0.04109537973999977,
-0.9909341931343079,
0.6861642599105835,
1.2067370414733887,
-0.007872515358030796,
-0.011664013378322124
] | Move to initial position | Is the robot at initial position? | move_initial | 0.829757 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | |
[
3.1659388542175293,
-57.437843322753906,
51.020408630371094,
70.7652587890625,
-0.3174603283405304,
0.016841139644384384
] | [
2.3396215438842773,
-55.20906066894531,
44.5428466796875,
72.17774200439453,
-0.22392573952674866,
0.016841139644384384
] | [
0.19774121046066284,
-0.008255444467067719,
0.11456375569105148,
3.098966121673584,
0.6215381622314453,
3.016334056854248
] | 1 | [
0.05215534567832947,
-1.0124273300170898,
0.7731263041496277,
1.1873010396957397,
-0.010737866163253784,
-0.011881236918270588
] | [
0.040544543415308,
-0.9718619585037231,
0.6635769009590149,
1.2125000953674316,
-0.007800107356160879,
-0.011881236918270588
] | Move to initial position | Is the robot at initial position? | move_initial | 0.863089 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | |
[
3.1659388542175293,
-56.00505828857422,
49.38775634765625,
71.0232162475586,
-0.3174603283405304,
0.00946539081633091
] | [
2.308748722076416,
-54.38380813598633,
43.49103546142578,
72.43214416503906,
-0.22211016714572906,
0.00946539081633091
] | [
0.19950751960277557,
-0.008347643539309502,
0.11659369617700577,
3.099241256713867,
0.6184782981872559,
3.016493797302246
] | 1 | [
0.05215534567832947,
-0.9863496422767639,
0.7455146908760071,
1.1919031143188477,
-0.010737866163253784,
-0.012052307836711407
] | [
0.040110740810632706,
-0.9568418264389038,
0.6457885503768921,
1.217038631439209,
-0.007743083406239748,
-0.012052307836711407
] | Move to initial position | Is the robot at initial position? | move_initial | 0.891177 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | |
[
3.1659388542175293,
-54.99367904663086,
48.11791229248047,
71.53912353515625,
-0.3174603283405304,
0.004168268293142319
] | [
2.286576509475708,
-53.79113006591797,
42.73564529418945,
72.61485290527344,
-0.22080625593662262,
0.004168268293142319
] | [
0.20022375881671906,
-0.008385032415390015,
0.11793752014636993,
3.099787712097168,
0.6123586297035217,
3.0168094635009766
] | 1 | [
0.05215534567832947,
-0.9679418802261353,
0.7240388989448547,
1.2011070251464844,
-0.010737866163253784,
-0.01217516791075468
] | [
0.039799194782972336,
-0.9460546970367432,
0.6330132484436035,
1.220298171043396,
-0.007702129893004894,
-0.01217516791075468
] | Move to initial position | Is the robot at initial position? | move_initial | 0.912778 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | |
[
3.1659388542175293,
-54.15086364746094,
47.02947998046875,
71.71109008789062,
-0.3174603283405304,
0.0010006333468481898
] | [
2.273317575454712,
-53.436710357666016,
42.2839241027832,
72.72410583496094,
-0.22002653777599335,
0.0010006333468481898
] | [
0.20144793391227722,
-0.008448934182524681,
0.11950370669364929,
3.099787712097168,
0.6123586297035217,
3.0168094635009766
] | 1 | [
0.05215534567832947,
-0.9526020884513855,
0.7056311964988708,
1.2041748762130737,
-0.010737866163253784,
-0.012248638086020947
] | [
0.03961288928985596,
-0.9396039843559265,
0.6253737211227417,
1.2222472429275513,
-0.007677640300244093,
-0.012248638086020947
] | Move to initial position | Is the robot at initial position? | move_initial | 0.929727 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.2059362828731537,
-0.0065940674394369125,
0.13327990472316742,
3.0976736545562744,
0.6613100171089172,
3.030618190765381
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | |
[
2.9475982189178467,
-53.9822998046875,
46.39455795288086,
72.0550308227539,
-0.3174603283405304,
0
] | [
2.9474730491638184,
-53.6926383972168,
46.160675048828125,
72.05493927001953,
-0.3174603283405304,
0
] | [
0.20163683593273163,
-0.007958052679896355,
0.12084776908159256,
3.099651575088501,
0.6138885021209717,
3.019798994064331
] | 1 | [
0.04908738657832146,
-0.9495340585708618,
0.6948933005332947,
1.2103108167648315,
-0.010737866163253784,
-0.012271846644580364
] | [
0.049085624516010284,
-0.9442620277404785,
0.6909378170967102,
1.2103092670440674,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
2.9475982189178467,
-53.9822998046875,
46.39455795288086,
72.0550308227539,
-0.3174603283405304,
0
] | [
2.607076644897461,
-53.69649887084961,
46.21614074707031,
71.8069076538086,
-0.3174603283405304,
0
] | [
0.20163683593273163,
-0.007958052679896355,
0.12084776908159256,
3.099651575088501,
0.6138885021209717,
3.019798994064331
] | 1 | [
0.04908738657832146,
-0.9495340585708618,
0.6948933005332947,
1.2103108167648315,
-0.010737866163253784,
-0.012271846644580364
] | [
0.04430262744426727,
-0.9443323016166687,
0.6918758749961853,
1.205884337425232,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
2.9475982189178467,
-53.9822998046875,
47.120182037353516,
72.0550308227539,
-0.3174603283405304,
0
] | [
1.6989187002182007,
-53.70679473876953,
46.3641242980957,
71.1451644897461,
-0.3174603283405304,
0
] | [
0.20059111714363098,
-0.00790667999535799,
0.11830363422632217,
3.1007328033447266,
0.6016488075256348,
3.020416498184204
] | 1 | [
0.04908738657832146,
-0.9495340585708618,
0.7071651816368103,
1.2103108167648315,
-0.010737866163253784,
-0.012271846644580364
] | [
0.031541857868433,
-0.9445196986198425,
0.6943786144256592,
1.1940786838531494,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
2.9475982189178467,
-53.9822998046875,
47.21088409423828,
72.0550308227539,
-0.3174603283405304,
0
] | [
0.24057337641716003,
-53.723331451416016,
46.60176467895508,
70.08252716064453,
-0.3174603283405304,
0
] | [
0.20045821368694305,
-0.007900150492787361,
0.1179865300655365,
3.1008667945861816,
0.6001188158988953,
3.0204923152923584
] | 1 | [
0.04908738657832146,
-0.9495340585708618,
0.708699107170105,
1.2103108167648315,
-0.010737866163253784,
-0.012271846644580364
] | [
0.011050264351069927,
-0.9448207020759583,
0.6983976364135742,
1.1751209497451782,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.000045 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
1.7467248439788818,
-53.9822998046875,
47.21088409423828,
72.0550308227539,
-0.3174603283405304,
0
] | [
-1.756901502609253,
-53.7459831237793,
46.927249908447266,
68.62704467773438,
-0.3174603283405304,
0
] | [
0.20056849718093872,
-0.005171964410692453,
0.1179865375161171,
3.1008667945861816,
0.60011887550354,
3.0373661518096924
] | 1 | [
0.032213594764471054,
-0.9495340585708618,
0.708699107170105,
1.2103108167648315,
-0.010737866163253784,
-0.012271846644580364
] | [
-0.017016783356666565,
-0.9452329874038696,
0.7039022445678711,
1.1491549015045166,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.007582 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
0.32751092314720154,
-53.9822998046875,
47.21088409423828,
71.28116607666016,
-0.3174603283405304,
0
] | [
-4.206210136413574,
-53.77375411987305,
47.32636642456055,
66.84232330322266,
-0.3174603283405304,
0
] | [
0.20234568417072296,
-0.0019668382592499256,
0.11905986070632935,
3.099651575088501,
0.613888680934906,
3.056614637374878
] | 1 | [
0.012271846644580364,
-0.9495340585708618,
0.708699107170105,
1.1965049505233765,
-0.010737866163253784,
-0.012271846644580364
] | [
-0.051432665437459946,
-0.9457384347915649,
0.7106521725654602,
1.1173151731491089,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.020033 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-1.6375545263290405,
-53.9822998046875,
47.93650817871094,
69.9054183959961,
-0.3174603283405304,
0
] | [
-7.088765621185303,
-53.80644226074219,
47.796077728271484,
64.7419204711914,
-0.3174603283405304,
0
] | [
0.20428861677646637,
0.002578073414042592,
0.11843837797641754,
3.0985512733459473,
0.6261278390884399,
3.0835869312286377
] | 1 | [
-0.01533980667591095,
-0.9495340585708618,
0.7209709882736206,
1.1719613075256348,
-0.010737866163253784,
-0.012271846644580364
] | [
-0.09193621575832367,
-0.9463333487510681,
0.7185959815979004,
1.079843521118164,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.039373 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-4.148471832275391,
-53.9822998046875,
48.662132263183594,
68.01375579833984,
-0.3174603283405304,
0
] | [
-10.363938331604004,
-53.84357833862305,
48.329769134521484,
62.35542678833008,
-0.3174603283405304,
0
] | [
0.20712140202522278,
0.008566074073314667,
0.1185859963297844,
3.0965781211853027,
0.6475450396537781,
3.117694854736328
] | 1 | [
-0.05062136799097061,
-0.9495340585708618,
0.7332428097724915,
1.1382137537002563,
-0.010737866163253784,
-0.012271846644580364
] | [
-0.13795652985572815,
-0.947009265422821,
0.727621853351593,
1.037268042564392,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.064458 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-7.096069812774658,
-53.9822998046875,
49.29705047607422,
65.86414337158203,
-0.3174603283405304,
0
] | [
-13.9631986618042,
-53.88439178466797,
48.91626739501953,
59.732784271240234,
-0.3174603283405304,
0
] | [
0.2102554887533188,
0.015862075611948967,
0.11951041221618652,
3.093944787979126,
0.6750785112380981,
-3.125690221786499
] | 1 | [
-0.0920388475060463,
-0.9495340585708618,
0.7439806461334229,
1.0998642444610596,
-0.010737866163253784,
-0.012271846644580364
] | [
-0.18853068351745605,
-0.9477521181106567,
0.7375407814979553,
0.9904795289039612,
-0.010737866163253784,
-0.012271846644580364
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.093306 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-10.262008666992188,
-53.9822998046875,
49.29705047607422,
63.62854766845703,
-0.3174603283405304,
0.014514242298901081
] | [
-17.879051208496094,
-53.928794860839844,
49.55435562133789,
56.879451751708984,
-0.3174603283405304,
0.014514242298901081
] | [
0.21397416293621063,
0.024100663140416145,
0.1230330616235733,
3.08992862701416,
0.714842677116394,
-3.08377742767334
] | 1 | [
-0.1365242898464203,
-0.9495340585708618,
0.7439806461334229,
1.0599807500839233,
-0.010737866163253784,
-0.01193520613014698
] | [
-0.24355337023735046,
-0.9485602378845215,
0.7483322620391846,
0.9395755529403687,
-0.010737866163253784,
-0.01193520613014698
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.123269 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-13.537117958068848,
-53.9822998046875,
50.113380432128906,
60.96302795410156,
-0.3174603283405304,
1.4451448917388916
] | [
-22.047563552856445,
-53.97605895996094,
50.23361587524414,
53.842018127441406,
-0.3174603283405304,
1.4451448917388916
] | [
0.21685849130153656,
0.032903458923101425,
0.1243446096777916,
3.0863075256347656,
0.7484825849533081,
-3.040177583694458
] | 1 | [
-0.18254370987415314,
-0.9495340585708618,
0.7577865123748779,
1.0124273300170898,
-0.010737866163253784,
0.021246539428830147
] | [
-0.3021262288093567,
-0.9494205117225647,
0.7598199844360352,
0.885387122631073,
-0.010737866163253784,
0.021246539428830147
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.15978 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-17.576419830322266,
-53.9822998046875,
51.020408630371094,
57.95356750488281,
-0.3174603283405304,
2.8764703273773193
] | [
-26.424352645874023,
-54.02568817138672,
50.94681167602539,
50.6528205871582,
-0.3174603283405304,
2.8764703273773193
] | [
0.21922986209392548,
0.04405307397246361,
0.1260276436805725,
3.0819075107574463,
0.7867014408111572,
-2.986476421356201
] | 1 | [
-0.23930101096630096,
-0.9495340585708618,
0.7731263041496277,
0.9587379693984985,
-0.010737866163253784,
0.05444440245628357
] | [
-0.3636256456375122,
-0.950323760509491,
0.771881639957428,
0.8284912109375,
-0.010737866163253784,
0.05444440245628357
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.202689 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-21.506549835205078,
-53.9822998046875,
51.655330657958984,
55.1160774230957,
-0.3174603283405304,
4.307206630706787
] | [
-30.984277725219727,
-54.077396392822266,
51.68985366821289,
47.330177307128906,
-0.3174603283405304,
4.307206630706787
] | [
0.2208445966243744,
0.05525369942188263,
0.12862849235534668,
3.076958417892456,
0.8264378905296326,
-2.934826612472534
] | 1 | [
-0.29452431201934814,
-0.9495340585708618,
0.7838642001152039,
0.9081165790557861,
-0.010737866163253784,
0.08762859553098679
] | [
-0.42769837379455566,
-0.9512649178504944,
0.7844480872154236,
0.7692146301269531,
-0.010737866163253784,
0.08762859553098679
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.243876 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-25.982532501220703,
-53.9822998046875,
52.56235885620117,
52.10662078857422,
-0.3174603283405304,
5.737748622894287
] | [
-35.66342544555664,
-54.13045120239258,
52.45232009887695,
43.9206657409668,
-0.3174603283405304,
5.737748622894287
] | [
0.22104226052761078,
0.06808923929929733,
0.13061721622943878,
3.071779727935791,
0.8646335005760193,
-2.875809669494629
] | 1 | [
-0.3574175238609314,
-0.9495340585708618,
0.7992039918899536,
0.8544272780418396,
-0.010737866163253784,
0.12080828845500946
] | [
-0.4934462904930115,
-0.9522305727005005,
0.7973430156707764,
0.7083882689476013,
-0.010737866163253784,
0.12080828845500946
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.289479 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-30.567686080932617,
-53.9822998046875,
53.10657501220703,
48.75322341918945,
-0.3174603283405304,
7.168450832366943
] | [
-40.42887878417969,
-54.18449020385742,
53.226646423339844,
40.44826126098633,
-0.3174603283405304,
7.168450832366943
] | [
0.22096213698387146,
0.08178003877401352,
0.13492505252361298,
3.064185857772827,
0.9150290489196777,
-2.81728458404541
] | 1 | [
-0.4218447208404541,
-0.9495340585708618,
0.8084078431129456,
0.7946020364761353,
-0.010737866163253784,
0.15399169921875
] | [
-0.5604069232940674,
-0.9532141089439392,
0.8104385137557983,
0.6464398503303528,
-0.010737866163253784,
0.15399169921875
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.337016 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-34.93449783325195,
-53.9822998046875,
53.92290115356445,
45.48581314086914,
-0.3174603283405304,
8.599129676818848
] | [
-45.237545013427734,
-54.239013671875,
53.999488830566406,
36.94437026977539,
-0.3174603283405304,
8.599129676818848
] | [
0.21949557960033417,
0.09483588486909866,
0.13814759254455566,
3.0566418170928955,
0.959290087223053,
-2.7620065212249756
] | 1 | [
-0.4832039475440979,
-0.9495340585708618,
0.8222137093544006,
0.7363107800483704,
-0.010737866163253784,
0.18717455863952637
] | [
-0.627974808216095,
-0.9542064666748047,
0.8235089182853699,
0.5839297771453857,
-0.010737866163253784,
0.18717455863952637
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.383042 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-39.84716033935547,
-53.9822998046875,
54.739227294921875,
41.960445404052734,
-0.3174603283405304,
10.030073165893555
] | [
-50.045860290527344,
-54.29353713989258,
54.77227020263672,
33.440738677978516,
-0.3174603283405304,
10.030073165893555
] | [
0.2163756787776947,
0.109444260597229,
0.142093226313591,
3.0471277236938477,
1.008094310760498,
-2.7009007930755615
] | 1 | [
-0.5522330403327942,
-0.9495340585708618,
0.8360195159912109,
0.6734175086021423,
-0.010737866163253784,
0.2203635573387146
] | [
-0.6955376863479614,
-0.9551988244056702,
0.8365783095359802,
0.5214242935180664,
-0.010737866163253784,
0.2203635573387146
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.433619 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-44.432315826416016,
-53.9822998046875,
55.374149322509766,
38.435081481933594,
-0.3174603283405304,
11.459842681884766
] | [
-54.80665588378906,
-54.34751892089844,
55.537418365478516,
29.971729278564453,
-0.3174603283405304,
11.459842681884766
] | [
0.2125411182641983,
0.12318559736013412,
0.14702612161636353,
3.035259485244751,
1.0598962306976318,
-2.6466760635375977
] | 1 | [
-0.6166602969169617,
-0.9495340585708618,
0.8467574119567871,
0.6105243563652039,
-0.010737866163253784,
0.25352534651756287
] | [
-0.762432873249054,
-0.9561813473701477,
0.8495185971260071,
0.45953649282455444,
-0.010737866163253784,
0.25352534651756287
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.482004 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-49.45414733886719,
-53.9822998046875,
56.28117752075195,
34.90971755981445,
-0.3174603283405304,
12.88964557647705
] | [
-59.47850799560547,
-54.40049362182617,
56.28826904296875,
26.56753158569336,
-0.3174603283405304,
12.88964557647705
] | [
0.20635336637496948,
0.13753044605255127,
0.15096154808998108,
3.0223522186279297,
1.107064962387085,
-2.5875210762023926
] | 1 | [
-0.6872233748435974,
-0.9495340585708618,
0.8620972037315369,
0.5476311445236206,
-0.010737866163253784,
0.2866878807544708
] | [
-0.8280783295631409,
-0.9571455121040344,
0.862217128276825,
0.3988049328327179,
-0.010737866163253784,
0.2866878807544708
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.533286 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-53.93013000488281,
-53.9822998046875,
56.916099548339844,
31.470335006713867,
-0.3174603283405304,
14.320289611816406
] | [
-64.0308837890625,
-54.45211410522461,
57.019920349121094,
23.250391006469727,
-0.3174603283405304,
14.320289611816406
] | [
0.20001034438610077,
0.15024009346961975,
0.15607237815856934,
3.0056371688842773,
1.1571877002716064,
-2.5397653579711914
] | 1 | [
-0.7501165866851807,
-0.9495340585708618,
0.8728350400924683,
0.4862719178199768,
-0.010737866163253784,
0.3198699355125427
] | [
-0.8920449614524841,
-0.9580850005149841,
0.8745908737182617,
0.3396264910697937,
-0.010737866163253784,
0.3198699355125427
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.58057 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-58.73362350463867,
-53.9822998046875,
57.82312774658203,
28.116939544677734,
-0.3174603283405304,
15.751418113708496
] | [
-68.40254211425781,
-54.501686096191406,
57.72252655029297,
20.064929962158203,
-0.3174603283405304,
15.751418113708496
] | [
0.19153088331222534,
0.1629231870174408,
0.15990613400936127,
2.987450361251831,
1.2011299133300781,
-2.489084005355835
] | 1 | [
-0.8176117539405823,
-0.9495340585708618,
0.888174831867218,
0.42644667625427246,
-0.010737866163253784,
0.3530632257461548
] | [
-0.9534722566604614,
-0.958987295627594,
0.8864734768867493,
0.282797247171402,
-0.010737866163253784,
0.3530632257461548
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.629649 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-63.31877899169922,
-53.9822998046875,
58.367347717285156,
24.76354217529297,
-0.3174603283405304,
17.182079315185547
] | [
-72.50532531738281,
-54.5482063293457,
58.381919860839844,
17.075387954711914,
-0.3174603283405304,
17.182079315185547
] | [
0.18257048726081848,
0.17465826869010925,
0.16551466286182404,
2.960996389389038,
1.2509597539901733,
-2.4495623111724854
] | 1 | [
-0.882038950920105,
-0.9495340585708618,
0.8973788022994995,
0.3666214048862457,
-0.010737866163253784,
0.3862456977367401
] | [
-1.0111215114593506,
-0.9598339796066284,
0.897625207901001,
0.22946321964263916,
-0.010737866163253784,
0.3862456977367401
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.677069 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-67.79476165771484,
-53.9822998046875,
59.274375915527344,
21.668100357055664,
-0.3174603283405304,
18.612634658813477
] | [
-74.55720520019531,
-54.571475982666016,
58.711692810058594,
15.580265045166016,
-0.3174603283405304,
18.612634658813477
] | [
0.17255094647407532,
0.1850656121969223,
0.1689382940530777,
2.9338152408599854,
1.2900278568267822,
-2.4126389026641846
] | 1 | [
-0.9449321627616882,
-0.9495340585708618,
0.9127185344696045,
0.31139811873435974,
-0.010737866163253784,
0.41942569613456726
] | [
-1.0399531126022339,
-0.9602574706077576,
0.9032024145126343,
0.20278993248939514,
-0.010737866163253784,
0.41942569613456726
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.722842 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-71.83406066894531,
-53.9822998046875,
59.45578384399414,
18.830610275268555,
-0.3174603283405304,
20.04256820678711
] | [
-76.66011047363281,
-54.59531784057617,
59.04966735839844,
14.047959327697754,
-0.3174603283405304,
20.04256820678711
] | [
0.16295073926448822,
0.1940932273864746,
0.17516297101974487,
2.8899648189544678,
1.3362607955932617,
-2.398296594619751
] | 1 | [
-1.0016894340515137,
-0.9495340585708618,
0.9157865643501282,
0.26077672839164734,
-0.010737866163253784,
0.45259127020835876
] | [
-1.069501519203186,
-0.9606914520263672,
0.9089182615280151,
0.1754532903432846,
-0.010737866163253784,
0.45259127020835876
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.764219 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-73.90829467773438,
-53.9822998046875,
59.45578384399414,
17.110919952392578,
-0.3174603283405304,
21.47381019592285
] | [
-78.81757354736328,
-54.619781494140625,
59.39641189575195,
12.475895881652832,
-0.3174603283405304,
21.47381019592285
] | [
0.1578303873538971,
0.1986096203327179,
0.17949369549751282,
2.851454019546509,
1.3657747507095337,
-2.4067397117614746
] | 1 | [
-1.0308350324630737,
-0.9495340585708618,
0.9157865643501282,
0.23009711503982544,
-0.010737866163253784,
0.48578718304634094
] | [
-1.0998166799545288,
-0.9611366987228394,
0.9147824645042419,
0.1474073827266693,
-0.010737866163253784,
0.48578718304634094
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.788489 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-76.20087432861328,
-53.9822998046875,
60,
15.391229629516602,
-0.3174603283405304,
22.904897689819336
] | [
-81.029296875,
-54.64486312866211,
59.75187683105469,
10.864298820495605,
-0.3174603283405304,
22.904897689819336
] | [
0.15176372230052948,
0.20304355025291443,
0.18130546808242798,
2.8173203468322754,
1.38621187210083,
-2.4080162048339844
] | 1 | [
-1.0630487203598022,
-0.9495340585708618,
0.9249904155731201,
0.19941750168800354,
-0.010737866163253784,
0.518979549407959
] | [
-1.1308941841125488,
-0.9615932106971741,
0.9207941293716431,
0.11865616589784622,
-0.010737866163253784,
0.518979549407959
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.814426 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-78.27510833740234,
-53.89801788330078,
60.90702819824219,
13.929492950439453,
-0.3174603283405304,
24.335533142089844
] | [
-83.30018615722656,
-56.0012321472168,
60.11684799194336,
9.209589958190918,
-0.3174603283405304,
24.335533142089844
] | [
0.14605173468589783,
0.2067357748746872,
0.18045860528945923,
2.800302743911743,
1.3948957920074463,
-2.3956124782562256
] | 1 | [
-1.0921943187713623,
-0.9480000734329224,
0.9403302073478699,
0.1733398288488388,
-0.010737866163253784,
0.5521613955497742
] | [
-1.162803053855896,
-0.9862800240516663,
0.9269665479660034,
0.08913583308458328,
-0.010737866163253784,
0.5521613955497742
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.837858 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-80.6768569946289,
-53.9822998046875,
60.99773406982422,
12.209802627563477,
-0.3174603283405304,
25.76919174194336
] | [
-85.65170288085938,
-56.02789306640625,
60.494781494140625,
7.4961323738098145,
-0.3174603283405304,
25.76919174194336
] | [
0.13933426141738892,
0.2109050452709198,
0.18473605811595917,
2.729370594024658,
1.4233906269073486,
-2.431880235671997
] | 1 | [
-1.1259418725967407,
-0.9495340585708618,
0.9418642520904541,
0.1426602154970169,
-0.010737866163253784,
0.5854133367538452
] | [
-1.1958447694778442,
-0.9867652654647827,
0.9333582520484924,
0.05856741592288017,
-0.010737866163253784,
0.5854133367538452
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.863931 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-82.86026000976562,
-53.9822998046875,
60.99773406982422,
10.662080764770508,
-0.3174603283405304,
27.203142166137695
] | [
-88.10311126708984,
-56.05569076538086,
60.88876724243164,
5.709881782531738,
-0.3174603283405304,
27.203142166137695
] | [
0.13308866322040558,
0.2145054191350937,
0.18871091306209564,
2.6380090713500977,
1.4481394290924072,
-2.4917385578155518
] | 1 | [
-1.1566214561462402,
-0.9495340585708618,
0.9418642520904541,
0.11504855751991272,
-0.010737866163253784,
0.6186721324920654
] | [
-1.230290174484253,
-0.9872711896896362,
0.9400213956832886,
0.026700355112552643,
-0.010737866163253784,
0.6186721324920654
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.887468 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-85.04367065429688,
-53.9822998046875,
60.99773406982422,
8.856406211853027,
-0.3174603283405304,
28.63282012939453
] | [
-90.63880157470703,
-56.084442138671875,
61.29629898071289,
3.862222194671631,
-0.3174603283405304,
28.63282012939453
] | [
0.12670648097991943,
0.2178957462310791,
0.19336961209774017,
2.4737942218780518,
1.4750258922576904,
-2.624314308166504
] | 1 | [
-1.1873011589050293,
-0.9495340585708618,
0.9418642520904541,
0.08283496648073196,
-0.010737866163253784,
0.6518317461013794
] | [
-1.265919804573059,
-0.9877945184707642,
0.9469135999679565,
-0.0062622553668916225,
-0.010737866163253784,
0.6518317461013794
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.911783 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-87.66375732421875,
-53.9822998046875,
61.45124816894531,
7.0507307052612305,
-0.3174603283405304,
30
] | [
-93.2362060546875,
-56.113895416259766,
61.713748931884766,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1187749132514,
0.2213924080133438,
0.19589722156524658,
2.2770185470581055,
1.4927650690078735,
-2.7835445404052734
] | 1 | [
-1.2241166830062866,
-0.9495340585708618,
0.9495341181755066,
0.05062136426568031,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3024166822433472,
-0.988330602645874,
0.9539735913276672,
-0.040027134120464325,
-0.010737866163253784,
0.6835418343544006
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.938083 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
-90.17467498779297,
-53.9822998046875,
62.5396842956543,
5.159071445465088,
-0.3174603283405304,
30
] | [
-93.2362060546875,
-56.113895416259766,
61.713748931884766,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.11099949479103088,
0.22433476150035858,
0.1956440657377243,
2.1069273948669434,
1.5017091035842896,
-2.917897939682007
] | 1 | [
-1.2593982219696045,
-0.9495340585708618,
0.9679418802261353,
0.016873789951205254,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3024166822433472,
-0.988330602645874,
0.9539735913276672,
-0.040027134120464325,
-0.010737866163253784,
0.6835418343544006
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.962945 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
-92.13973999023438,
-53.9822998046875,
62.63038635253906,
4.127256870269775,
-0.3174603283405304,
30
] | [
-93.2362060546875,
-56.113895416259766,
61.713748931884766,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.10483034700155258,
0.22641929984092712,
0.1978941410779953,
1.8712388277053833,
1.508598804473877,
-3.1254734992980957
] | 1 | [
-1.2870099544525146,
-0.9495340585708618,
0.9694758653640747,
-0.0015339847886934876,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3024166822433472,
-0.988330602645874,
0.9539735913276672,
-0.040027134120464325,
-0.010737866163253784,
0.6835418343544006
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.97802 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | |
[
-92.03057098388672,
-53.9822998046875,
62.63038635253906,
3.8693034648895264,
-0.3174603283405304,
30
] | [
-93.2362060546875,
-56.113895416259766,
61.713748931884766,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.10518946498632431,
0.2263582944869995,
0.19856475293636322,
1.7990530729293823,
1.509799838066101,
3.0841288566589355
] | 1 | [
-1.2854759693145752,
-0.9495340585708618,
0.9694758653640747,
-0.006135924253612757,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3024166822433472,
-0.988330602645874,
0.9539735913276672,
-0.040027134120464325,
-0.010737866163253784,
0.6835418343544006
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.979237 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | |
[
-92.24890899658203,
-53.9822998046875,
62.63038635253906,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-93.2362060546875,
-56.113895416259766,
61.713748931884766,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.10449843108654022,
0.2265736609697342,
0.1987883299589157,
1.7744042873382568,
1.5101279020309448,
3.062593698501587
] | 1 | [
-1.2885438203811646,
-0.9495340585708618,
0.9694758653640747,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3024166822433472,
-0.988330602645874,
0.9539735913276672,
-0.040027134120464325,
-0.010737866163253784,
0.6835418343544006
] | Approach blue block and open gripper | Is the gripper above the blue block and open? | move_and_open | 0.980535 | [
-93.2362060546875,
-55.11341857910156,
62.1314582824707,
1.9695929288864136,
-0.3174603283405304,
30
] | [
0.1009041890501976,
0.2258453071117401,
0.21009454131126404,
0.8792879581451416,
1.4937208890914917,
2.1831746101379395
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | |
[
-92.35807800292969,
-53.9822998046875,
62.63038635253906,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.24890899658203,
-53.692630767822266,
62.203853607177734,
3.7833173274993896,
-0.3174603283405304,
30
] | [
0.10415079444646835,
0.22667410969734192,
0.1987883299589157,
1.7744042873382568,
1.5101279020309448,
3.0641276836395264
] | 1 | [
-1.290077805519104,
-0.9495340585708618,
0.9694758653640747,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2885438203811646,
-0.944261908531189,
0.9622622728347778,
-0.00766993360593915,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.000039 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-92.46724700927734,
-53.9822998046875,
62.63038635253906,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.25239562988281,
-53.51035690307617,
62.219276428222656,
3.7190120220184326,
-0.3174603283405304,
30
] | [
0.10380300879478455,
0.22677403688430786,
0.1987883299589157,
1.7744042873382568,
1.5101280212402344,
3.065661668777466
] | 1 | [
-1.2916117906570435,
-0.9495340585708618,
0.9694758653640747,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.28859281539917,
-0.9409444332122803,
0.9625231027603149,
-0.008817153051495552,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.000067 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-92.46724700927734,
-53.89801788330078,
62.63038635253906,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.26171875,
-53.02377700805664,
62.26044464111328,
3.547349452972412,
-0.3174603283405304,
30
] | [
0.10383768379688263,
0.22689500451087952,
0.1984730064868927,
1.7990531921386719,
1.509799838066101,
3.0902650356292725
] | 1 | [
-1.2916117906570435,
-0.9480000734329224,
0.9694758653640747,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2887238264083862,
-0.932088315486908,
0.9632193446159363,
-0.01187964715063572,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.001473 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-92.46724700927734,
-53.56089401245117,
62.63038635253906,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.27666473388672,
-54.01713180541992,
62.32651138305664,
3.2718889713287354,
-0.3174603283405304,
30
] | [
0.10397505015134811,
0.22737419605255127,
0.19720979034900665,
1.8946411609649658,
1.5081285238265991,
-3.0975146293640137
] | 1 | [
-1.2916117906570435,
-0.9418641924858093,
0.9694758653640747,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2889338731765747,
-0.9501680731773376,
0.9643366932868958,
-0.01679391600191593,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.007092 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-92.46724700927734,
-53.2237663269043,
62.63038635253906,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.29715728759766,
-52.94683837890625,
62.41707229614258,
2.8942973613739014,
-0.3174603283405304,
30
] | [
0.10411027818918228,
0.2278459221124649,
0.19594353437423706,
1.9845027923583984,
1.505918264389038,
-3.007835626602173
] | 1 | [
-1.2916117906570435,
-0.9357282519340515,
0.9694758653640747,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2892217636108398,
-0.9306879639625549,
0.9658682942390442,
-0.023530224338173866,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.012707 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-92.46724700927734,
-53.2237663269043,
62.63038635253906,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.32221984863281,
-51.6380615234375,
62.527809143066406,
2.432569980621338,
-0.3174603283405304,
30
] | [
0.10411027818918228,
0.2278459221124649,
0.19594353437423706,
1.9845027923583984,
1.505918264389038,
-3.007835626602173
] | 1 | [
-1.2916117906570435,
-0.9357282519340515,
0.9694758653640747,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2895740270614624,
-0.9068673253059387,
0.967741072177887,
-0.03176753222942352,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.012707 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-92.46724700927734,
-52.71807861328125,
62.90249252319336,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.35179138183594,
-50.09339904785156,
62.65850830078125,
1.8876241445541382,
-0.3174603283405304,
30
] | [
0.1042923554778099,
0.22848108410835266,
0.19274777173995972,
2.162335157394409,
1.499253273010254,
-2.830413341522217
] | 1 | [
-1.2916117906570435,
-0.9265244007110596,
0.9740777611732483,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2899894714355469,
-0.8787534236907959,
0.9699514508247375,
-0.04148947447538376,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.021495 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-92.46724700927734,
-51.201011657714844,
63.35601043701172,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.38534545898438,
-48.34096145629883,
62.806785583496094,
1.269376277923584,
-0.3174603283405304,
30
] | [
0.10480199754238129,
0.23025895655155182,
0.1848495900630951,
2.4737956523895264,
1.4750261306762695,
-2.5200023651123047
] | 1 | [
-1.2916117906570435,
-0.8989127278327942,
0.9817477464675903,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2904609441757202,
-0.8468579053878784,
0.9724591374397278,
-0.05251913517713547,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.047279 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-92.46724700927734,
-49.59966278076172,
63.35601043701172,
3.7833189964294434,
-0.3174603283405304,
30
] | [
-92.42227172851562,
-46.401851654052734,
62.969970703125,
0.5889854431152344,
-0.3174603283405304,
30
] | [
0.1053255945444107,
0.2320854663848877,
0.1787264347076416,
2.625570297241211,
1.4508129358291626,
-2.369095802307129
] | 1 | [
-1.2916117906570435,
-0.8697671294212341,
0.9817477464675903,
-0.0076699042692780495,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2909798622131348,
-0.8115647435188293,
0.9752189517021179,
-0.06465744227170944,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.073796 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-92.46724700927734,
-47.829750061035156,
63.35601043701172,
3.4393808841705322,
-0.3174603283405304,
30
] | [
-92.46244049072266,
-44.20782470703125,
63.14748001098633,
-0.15114009380340576,
-0.3174603283405304,
30
] | [
0.10589106380939484,
0.23405806720256805,
0.17277899384498596,
2.7163350582122803,
1.4275879859924316,
-2.2791085243225098
] | 1 | [
-1.2916117906570435,
-0.8375535011291504,
0.9817477464675903,
-0.013805827125906944,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2915443181991577,
-0.7716319561004639,
0.97822105884552,
-0.07786142826080322,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.105135 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-92.46724700927734,
-45.722713470458984,
63.35601043701172,
2.235597610473633,
-0.3174603283405304,
30
] | [
-92.50517272949219,
-41.8737678527832,
63.3363151550293,
-0.9385019540786743,
-0.3174603283405304,
30
] | [
0.10661711543798447,
0.23659081757068634,
0.16763855516910553,
2.760772228240967,
1.4120899438858032,
-2.235175132751465
] | 1 | [
-1.2916117906570435,
-0.7992039918899536,
0.9817477464675903,
-0.03528155758976936,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2921446561813354,
-0.7291505336761475,
0.9814146161079407,
-0.09190811961889267,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.147328 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-92.46724700927734,
-43.69995880126953,
63.80952453613281,
1.375752329826355,
-0.3174603283405304,
30
] | [
-92.54999542236328,
-39.425899505615234,
63.53436279296875,
-1.7642561197280884,
-0.3174603283405304,
30
] | [
0.10711155831813812,
0.2383156716823578,
0.15973764657974243,
2.8200058937072754,
1.3847601413726807,
-2.1768133640289307
] | 1 | [
-1.2916117906570435,
-0.7623884677886963,
0.9894176125526428,
-0.05062136799097061,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2927745580673218,
-0.6845976710319519,
0.984764039516449,
-0.10663973540067673,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.186598 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-92.46724700927734,
-41.171512603759766,
64.2630386352539,
0.5159071087837219,
-0.3174603283405304,
30
] | [
-92.59674072265625,
-36.87258529663086,
63.74094009399414,
-2.625582218170166,
-0.3174603283405304,
30
] | [
0.10760850459337234,
0.24004924297332764,
0.1497606337070465,
2.8757686614990234,
1.3481041193008423,
-2.122201442718506
] | 1 | [
-1.2916117906570435,
-0.7163690328598022,
0.9970875382423401,
-0.06596117466688156,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2934314012527466,
-0.6381255984306335,
0.9882577061653137,
-0.12200596183538437,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.234206 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-92.46724700927734,
-38.72734832763672,
64.2630386352539,
-0.42992261052131653,
-0.3174603283405304,
30
] | [
-92.64470672607422,
-34.252681732177734,
63.952903747558594,
-3.5093696117401123,
-0.3174603283405304,
30
] | [
0.10815412551164627,
0.24195261299610138,
0.14233055710792542,
2.905848503112793,
1.32140052318573,
-2.0929527282714844
] | 1 | [
-1.2916117906570435,
-0.6718835830688477,
0.9970875382423401,
-0.08283495903015137,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2941052913665771,
-0.5904415845870972,
0.9918424487113953,
-0.13777290284633636,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.280399 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-92.46724700927734,
-36.1146240234375,
64.2630386352539,
-1.289767861366272,
-0.3174603283405304,
30
] | [
-92.69355010986328,
-31.635025024414062,
64.16874694824219,
-4.409316062927246,
-0.3174603283405304,
30
] | [
0.10862164944410324,
0.2435835301876068,
0.1339021474123001,
2.9338178634643555,
1.29002845287323,
-2.0659570693969727
] | 1 | [
-1.2916117906570435,
-0.6243302226066589,
0.9970875382423401,
-0.09817477315664291,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2947916984558105,
-0.5427984595298767,
0.9954928159713745,
-0.15382812917232513,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.328843 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-92.46724700927734,
-33.4176139831543,
64.62584686279297,
-1.633705973625183,
-0.3174603283405304,
30
] | [
-92.74283599853516,
-29.02701759338379,
64.38655090332031,
-5.317461013793945,
-0.3174603283405304,
30
] | [
0.10869555920362473,
0.24384137988090515,
0.12217270582914352,
2.966381311416626,
1.2419177293777466,
-2.0348854064941406
] | 1 | [
-1.2916117906570435,
-0.5752427577972412,
1.0032234191894531,
-0.10431069135665894,
-0.010737866163253784,
0.6835418343544006
] | [
-1.295484185218811,
-0.49533092975616455,
0.9991763830184937,
-0.17002961039543152,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.375899 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-92.46724700927734,
-30.804887771606445,
65.35147094726562,
-2.923473834991455,
-0.3174603283405304,
30
] | [
-92.79208374023438,
-26.42112922668457,
64.60417938232422,
-6.224868297576904,
-0.3174603283405304,
30
] | [
0.1086764931678772,
0.2437749207019806,
0.11149361729621887,
2.985334873199463,
1.2056694030761719,
-2.0170583724975586
] | 1 | [
-1.2916117906570435,
-0.5276893973350525,
1.0154951810836792,
-0.12732040882110596,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2961761951446533,
-0.44790199398994446,
1.002856969833374,
-0.18621793389320374,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.427844 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-92.46724700927734,
-28.192161560058594,
65.35147094726562,
-3.9552879333496094,
-0.3174603283405304,
30
] | [
-92.84092712402344,
-23.836776733398438,
64.82001495361328,
-7.1247758865356445,
-0.3174603283405304,
30
] | [
0.10885927826166153,
0.24441255629062653,
0.10331558436155319,
2.9979631900787354,
1.17690110206604,
-2.0053274631500244
] | 1 | [
-1.2916117906570435,
-0.480135977268219,
1.0154951810836792,
-0.14572817087173462,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2968624830245972,
-0.40086501836776733,
1.006507158279419,
-0.2022724598646164,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.477386 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-92.46724700927734,
-25.495153427124023,
65.35147094726562,
-4.90111780166626,
-0.3174603283405304,
30
] | [
-92.88886260986328,
-21.300376892089844,
65.0318374633789,
-8.007986068725586,
-0.3174603283405304,
30
] | [
0.10891706496477127,
0.24461416900157928,
0.0945366844534874,
3.0100300312042236,
1.145047903060913,
-1.9942584037780762
] | 1 | [
-1.2916117906570435,
-0.43104860186576843,
1.0154951810836792,
-0.16260196268558502,
-0.010737866163253784,
0.6835418343544006
] | [
-1.297536015510559,
-0.35470080375671387,
1.0100895166397095,
-0.21802909672260284,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.527762 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-92.46724700927734,
-22.882427215576172,
65.35147094726562,
-5.760962963104248,
-0.3174603283405304,
30
] | [
-92.9355239868164,
-18.805551528930664,
65.238037109375,
-8.867749214172363,
-0.3174603283405304,
30
] | [
0.10885873436927795,
0.2444107085466385,
0.08586744219064713,
3.0205113887786865,
1.1131470203399658,
-1.9847817420959473
] | 1 | [
-1.2916117906570435,
-0.38349518179893494,
1.0154951810836792,
-0.17794176936149597,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2981916666030884,
-0.309293270111084,
1.013576865196228,
-0.2333674430847168,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.576176 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-92.46724700927734,
-20.26970100402832,
65.35147094726562,
-6.7927775382995605,
-0.3174603283405304,
30
] | [
-92.98028564453125,
-16.391111373901367,
65.43586730957031,
-9.69259262084961,
-0.3174603283405304,
30
] | [
0.10876668244600296,
0.24408960342407227,
0.07756809890270233,
3.0288877487182617,
1.0842511653900146,
-1.977320671081543
] | 1 | [
-1.2916117906570435,
-0.33594179153442383,
1.0154951810836792,
-0.19634954631328583,
-0.010737866163253784,
0.6835418343544006
] | [
-1.2988206148147583,
-0.2653488218784332,
1.0169225931167603,
-0.24808281660079956,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.625641 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-92.46724700927734,
-17.741256713867188,
65.71428680419922,
-7.652622699737549,
-0.3174603283405304,
30
] | [
-93.02233123779297,
-14.123340606689453,
65.6216812133789,
-10.467329025268555,
-0.3174603283405304,
30
] | [
0.1082616075873375,
0.2423277199268341,
0.06781883537769318,
3.038245439529419,
1.0477144718170166,
-1.9691288471221924
] | 1 | [
-1.2916117906570435,
-0.2899223864078522,
1.0216312408447266,
-0.21168935298919678,
-0.010737866163253784,
0.6835418343544006
] | [
-1.299411416053772,
-0.2240738421678543,
1.0200650691986084,
-0.2619042694568634,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.673109 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-92.46724700927734,
-15.381373405456543,
66.34920501708984,
-8.426483154296875,
-0.3174603283405304,
30
] | [
-93.04337310791016,
-12.988777160644531,
65.71463775634766,
-10.854928970336914,
-0.3174603283405304,
30
] | [
0.10742880403995514,
0.23942260444164276,
0.057643987238407135,
3.0471303462982178,
1.008095622062683,
-1.9615198373794556
] | 1 | [
-1.2916117906570435,
-0.24697090685367584,
1.0323690176010132,
-0.22549517452716827,
-0.010737866163253784,
0.6835418343544006
] | [
-1.299707055091858,
-0.20342402160167694,
1.021637201309204,
-0.268819123506546,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.717459 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-92.46724700927734,
-13.358617782592773,
66.34920501708984,
-8.5984525680542,
-0.3174603283405304,
30
] | [
-93.06493377685547,
-11.82564640045166,
65.8099365234375,
-11.252288818359375,
-0.3174603283405304,
30
] | [
0.10686390101909637,
0.23745201528072357,
0.04999462142586708,
3.053818941116333,
0.974547266960144,
-1.9559223651885986
] | 1 | [
-1.2916117906570435,
-0.21015536785125732,
1.0323690176010132,
-0.22856314480304718,
-0.010737866163253784,
0.6835418343544006
] | [
-1.300010085105896,
-0.18225423991680145,
1.0232489109039307,
-0.27590811252593994,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.751446 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-92.46724700927734,
-12.17867660522461,
66.43991088867188,
-9.20034408569336,
-0.3174603283405304,
30
] | [
-93.08704376220703,
-10.633493423461914,
65.9076156616211,
-11.659563064575195,
-0.3174603283405304,
30
] | [
0.10664106905460358,
0.2366747260093689,
0.046279072761535645,
3.056089401245117,
0.9623429775238037,
-1.9540516138076782
] | 1 | [
-1.2916117906570435,
-0.18867963552474976,
1.0339031219482422,
-0.23930101096630096,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3003207445144653,
-0.16055624186992645,
1.0249007940292358,
-0.28317394852638245,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.774836 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-92.46724700927734,
-11.167298316955566,
66.34920501708984,
-9.630266189575195,
-0.3174603283405304,
30
] | [
-93.10968017578125,
-9.412361145019531,
66.00767517089844,
-12.076737403869629,
-0.3174603283405304,
30
] | [
0.10654514282941818,
0.23634010553359985,
0.043515805155038834,
3.0577404499053955,
0.9531883001327515,
-1.9527010917663574
] | 1 | [
-1.2916117906570435,
-0.1702718585729599,
1.0323690176010132,
-0.24697090685367584,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3006387948989868,
-0.13833080232143402,
1.0265930891036987,
-0.2906164228916168,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.794096 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-92.46724700927734,
-9.65023136138916,
66.43991088867188,
-9.630266189575195,
-0.3174603283405304,
30
] | [
-93.13471221923828,
-8.062406539916992,
66.11827850341797,
-12.537921905517578,
-0.3174603283405304,
30
] | [
0.10588424652814865,
0.23403464257717133,
0.0372864231467247,
3.0627005100250244,
0.9241902232170105,
-1.948698878288269
] | 1 | [
-1.2916117906570435,
-0.1426602005958557,
1.0339031219482422,
-0.24697090685367584,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3009905815124512,
-0.11376070976257324,
1.02846360206604,
-0.29884403944015503,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.818213 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-92.46724700927734,
-8.217446327209473,
66.34920501708984,
-10.576096534729004,
-0.3174603283405304,
30
] | [
-93.1606216430664,
-6.665071964263916,
66.2365493774414,
-13.01528549194336,
-0.3174603283405304,
30
] | [
0.10581989586353302,
0.2338101714849472,
0.033932410180568695,
3.0639429092407227,
0.9165573716163635,
-1.9477102756500244
] | 1 | [
-1.2916117906570435,
-0.11658254265785217,
1.0323690176010132,
-0.26384469866752625,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3013545274734497,
-0.0883282721042633,
1.0304638147354126,
-0.30736032128334045,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.848073 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-92.46724700927734,
-7.374631404876709,
66.34920501708984,
-11.09200382232666,
-0.3174603283405304,
30
] | [
-93.1856689453125,
-5.313836574554443,
66.3541488647461,
-13.4768705368042,
-0.3174603283405304,
30
] | [
0.10570479184389114,
0.23340864479541779,
0.0316973514854908,
3.0649189949035645,
0.9104505181312561,
-1.9469375610351562
] | 1 | [
-1.2916117906570435,
-0.10124273598194122,
1.0323690176010132,
-0.2730485796928406,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3017065525054932,
-0.06373486667871475,
1.0324527025222778,
-0.3155950903892517,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.865313 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-92.46724700927734,
-5.604719638824463,
66.71202087402344,
-11.69389533996582,
-0.3174603283405304,
30
] | [
-93.21187591552734,
-3.9004669189453125,
66.4771499633789,
-13.959681510925293,
-0.3174603283405304,
30
] | [
0.10486230999231339,
0.23046976327896118,
0.024902384728193283,
3.06912899017334,
0.8829640746116638,
-1.9436479806900024
] | 1 | [
-1.2916117906570435,
-0.06902913004159927,
1.0385050773620605,
-0.28378644585609436,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3020747900009155,
-0.03801057115197182,
1.034532904624939,
-0.324208527803421,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.898198 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-92.46724700927734,
-4.171934127807617,
66.71202087402344,
-11.69389533996582,
-0.3174603283405304,
30
] | [
-93.23481750488281,
-2.6629528999328613,
66.58484649658203,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10418381541967392,
0.2281029224395752,
0.019475020468235016,
3.0728540420532227,
0.8569972515106201,
-1.9408005475997925
] | 1 | [
-1.2916117906570435,
-0.04295146092772484,
1.0385050773620605,
-0.28378644585609436,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3023971319198608,
-0.015486972406506538,
1.0363543033599854,
-0.3317502439022064,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.919324 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-92.46724700927734,
-3.076274871826172,
66.98412322998047,
-12.123817443847656,
-0.3174603283405304,
30
] | [
-93.23481750488281,
-2.6629528999328613,
66.58484649658203,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10358322411775589,
0.2260078340768814,
0.01534207258373499,
3.0751473903656006,
0.8401917815208435,
-1.9390796422958374
] | 1 | [
-1.2916117906570435,
-0.023009713739156723,
1.0431069135665894,
-0.29145634174346924,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3023971319198608,
-0.015486972406506538,
1.0363543033599854,
-0.3317502439022064,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.938971 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
-92.576416015625,
-2.233459711074829,
67.0748291015625,
-12.639724731445312,
-0.3174603283405304,
30
] | [
-93.23481750488281,
-2.6629528999328613,
66.58484649658203,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.1029738187789917,
0.2251853495836258,
0.01289245206862688,
3.0761616230010986,
0.8325520157814026,
-1.9367929697036743
] | 1 | [
-1.293145775794983,
-0.007669903337955475,
1.0446408987045288,
-0.30066022276878357,
-0.010737866163253784,
0.6835418343544006
] | [
-1.3023971319198608,
-0.015486972406506538,
1.0363543033599854,
-0.3317502439022064,
-0.010737866163253784,
0.6835418343544006
] | Pick up blue block | move | 0.955985 | [
-93.23481750488281,
-0.5801122188568115,
67.06565856933594,
-14.38241958618164,
-0.3174603283405304,
30
] | [
0.10090640932321548,
0.2258366495370865,
0.010006611235439777,
3.076010227203369,
0.8337005376815796,
-1.9276535511016846
] | 30 | sort blue block to blue plate | [
0,
0,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
-92.576416015625,
-2.233459711074829,
67.0748291015625,
-12.639724731445312,
-0.3174603283405304,
29.999971389770508
] | [
-92.576416015625,
-2.233459711074829,
67.0748291015625,
-12.639724731445312,
-0.3174603283405304,
29.999971389770508
] | [
0.1029738187789917,
0.2251853495836258,
0.01289245206862688,
3.0761616230010986,
0.8325520157814026,
-1.9367929697036743
] | 0 | [
-1.293145775794983,
-0.007669903337955475,
1.0446408987045288,
-0.30066022276878357,
-0.010737866163253784,
0.6835411787033081
] | [
-1.293145775794983,
-0.007669903337955475,
1.0446408987045288,
-0.30066022276878357,
-0.010737866163253784,
0.6835411787033081
] | grasp blue block | gripper_close | 0 | [
-92.576416015625,
-2.233459711074829,
67.0748291015625,
-12.639724731445312,
-0.3174603283405304,
0
] | [
0.1029738187789917,
0.2251853495836258,
0.01289245206862688,
3.0761616230010986,
0.8325520157814026,
-1.9367929697036743
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
-92.576416015625,
-2.233459711074829,
67.0748291015625,
-12.639724731445312,
-0.3174603283405304,
27.998336791992188
] | [
-92.576416015625,
-2.233459711074829,
67.0748291015625,
-12.639724731445312,
-0.3174603283405304,
27.998336791992188
] | [
0.1029738187789917,
0.2251853495836258,
0.01289245206862688,
3.0761616230010986,
0.8325520157814026,
-1.9367929697036743
] | 0 | [
-1.293145775794983,
-0.007669903337955475,
1.0446408987045288,
-0.30066022276878357,
-0.010737866163253784,
0.6371156573295593
] | [
-1.293145775794983,
-0.007669903337955475,
1.0446408987045288,
-0.30066022276878357,
-0.010737866163253784,
0.6371156573295593
] | grasp blue block | gripper_close | 0.050819 | [
-92.576416015625,
-2.233459711074829,
67.0748291015625,
-12.639724731445312,
-0.3174603283405304,
0
] | [
0.1029738187789917,
0.2251853495836258,
0.01289245206862688,
3.0761616230010986,
0.8325520157814026,
-1.9367929697036743
] | 0 | sort blue block to blue plate | [
0,
0,
0
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
SO101 CAP Sort RGB Blocks to Matching Plates
This dataset contains 100 LeRobot v3.0 demonstration episodes for an SO101 follower robot. The task is: Sort red, green, and blue blocks onto plates of the matching color. The dataset was collected at 10 Hz and includes paired top-view and wrist-view RGB videos, robot state/action trajectories, and CAP skill annotations.
Dataset Details
| Field | Value |
|---|---|
| Repository | CoRL2026-CSI/SO101-cap_sort_RGBblock_to_matchingplate_10fps |
| LeRobot codebase version | v3.0 |
| Robot type | so101_follower |
| FPS | 10 |
| Episodes | 100 |
| Frames | 87223 |
| Tasks | 1 |
| Split | 0:100 train |
| Objects | red, green, and blue blocks; matching color plates |
| Parquet files | 3 |
| Video files | 12 |
Task And Annotations
Task: Sort red, green, and blue blocks onto plates of the matching color.
Task indices: 0
Observed subtask annotations:
- sort blue block to blue plate
- sort green block to green plate
- sort red block to red plate
Representative skill types:
- move_initial
- move_and_open
- move
- gripper_close
- gripper_open
- move_and_close
- move_free
Representative skill-language annotations:
- Move to initial position
- Approach blue block and open gripper
- Pick up blue block
- grasp blue block
- Lift blue block
- Move blue block above blue plate
- Place blue block on blue plate
- release object on blue plate
- Retreat from blue plate and close gripper
- Move to initial position for re-detection
- Approach green block and open gripper
- Pick up green block
Observation And Action Space
| Feature | Shape | Names / Notes |
|---|---|---|
observation.state |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
action |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.images.top |
480x640x3 |
RGB video, 10 fps |
observation.images.left_wrist |
480x640x3 |
RGB video, 10 fps |
Raw camera keys are observation.images.top and observation.images.left_wrist. The local SmolVLA training scripts map them to observation.images.camera2 and observation.images.camera1, respectively.
Files
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-*/file-*.parquet
data/chunk-*/file-*.parquet
videos/{observation.images.top,observation.images.left_wrist}/chunk-*/file-*.mp4
The dataset uses the LeRobot v3.0 format. Episode metadata and frame-level trajectories are stored in parquet files; image observations are stored as H.264 MP4 videos referenced by the frame records.
Annotation Columns
| Column | Shape |
|---|---|
skill.natural_language |
1 |
skill.verification_question |
1 |
skill.type |
1 |
skill.progress |
1 |
skill.goal_position.joint |
6 |
skill.goal_position.robot_xyzrpy |
6 |
skill.goal_position.gripper |
1 |
subtask.natural_language |
1 |
subtask.object_name |
1 |
subtask.target_position |
3 |
Loading
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CoRL2026-CSI/SO101-cap_sort_RGBblock_to_matchingplate_10fps")
sample = dataset[0]
Intended Uses
This dataset is intended for robot imitation learning, action-chunking policy training, skill-conditioned behavior analysis, and reproducible LeRobot/SmolVLA experiments on the specified tabletop task.
Limitations
The dataset is task-specific and collected in a fixed workspace. It does not include an official validation or test split, nor does it include benchmark success-rate results. Downstream users should verify camera calibration, action normalization, and task-language assumptions before transferring policies to a different robot, workspace, or object set.
- Downloads last month
- 94
Models trained or fine-tuned on CoRL2026-CSI/SO101-cap_sort_RGBblock_to_matchingplate_10fps