CoRL2026-CSI/smolVLA_UR7e_Sort_50ep
Robotics • 0.5B • Updated • 4
Datasets:
observation.state list | action list | skill.type stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 29
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 61.7 | frame_index int64 0 617 | episode_index int64 0 120 | index int64 0 68.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | move_to_position | 0.20527 | [
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] | move_to_position | 0 | [
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[
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the sorting task | [
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[
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the sorting task | [
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[
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[
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the sorting task | [
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[
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[
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] | 0 | move to initial position to start the sorting task | [
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[
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the sorting task | [
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[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the sorting task | [
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[
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] | move_to_position | 0 | [
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] | 1 | 1.5 | 15 | 0 | 15 | 0 |
[
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] | move_to_position | 0.000012 | [
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[
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] | [
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-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.000014015627129992936,
-0.43999671936035156,
0.35299086570739746,
2.7965593338012695,
0.05959288775920868,
3.0702836513519287
] | 1 | 1.7 | 17 | 0 | 17 | 0 |
[
-1.900894045829773,
-1.956231713294983,
1.9283627271652222,
-1.8906484842300415,
-1.5375174283981323,
2.8811514377593994,
0
] | [
-1.900863766670227,
-1.9558827877044678,
1.9284672737121582,
-1.890940546989441,
-1.5375616550445557,
2.8811614513397217,
0
] | move_to_position | 0.000089 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.00003404813469387591,
-0.44005173444747925,
0.3530080020427704,
2.7964065074920654,
0.05968089401721954,
3.0702764987945557
] | 1 | 1.8 | 18 | 0 | 18 | 0 |
[
-1.9008749723434448,
-1.955525517463684,
1.9285305738449097,
-1.8915067911148071,
-1.5375617742538452,
2.8811442852020264,
0
] | [
-1.9007830619812012,
-1.9549006223678589,
1.9287748336791992,
-1.8922027349472046,
-1.5376050472259521,
2.881239175796509,
0
] | move_to_position | 0.000844 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.00015999535389710218,
-0.44034743309020996,
0.3526909053325653,
2.7965619564056396,
0.059700965881347656,
3.0702133178710938
] | 1 | 1.9 | 19 | 0 | 19 | 0 |
[
-1.9008234739303589,
-1.9541012048721313,
1.9289554357528687,
-1.8932381868362427,
-1.5376332998275757,
2.8812949657440186,
0
] | [
-1.900638222694397,
-1.9530876874923706,
1.9292850494384766,
-1.894534707069397,
-1.5376542806625366,
2.8813788890838623,
0
] | move_to_position | 0.002346 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0003609014383982867,
-0.44092488288879395,
0.3520961403846741,
2.796687602996826,
0.059701938182115555,
3.070131301879883
] | 1 | 2 | 20 | 0 | 20 | 0 |
[
-1.900619387626648,
-1.9519973993301392,
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-1.896039605140686,
-1.5376814603805542,
2.8814663887023926,
0
] | [
-1.9004467725753784,
-1.9505709409713745,
1.9299079179763794,
-1.8977041244506836,
-1.537710189819336,
2.881563901901245,
0
] | move_to_position | 0.004662 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.00056403165217489,
-0.4418388605117798,
0.3513076901435852,
2.796642780303955,
0.059684839099645615,
3.070204734802246
] | 1 | 2.1 | 21 | 0 | 21 | 0 |
[
-1.9003266096115112,
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1.9303349256515503,
-1.8999191522598267,
-1.5376862287521362,
2.8816721439361572,
0
] | [
-1.900190830230713,
-1.9470340013504028,
1.9306761026382446,
-1.9020500183105469,
-1.5377850532531738,
2.8818111419677734,
0
] | move_to_position | 0.008104 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0009083554614335299,
-0.4431385397911072,
0.350200891494751,
2.7966792583465576,
0.05963076278567314,
3.0702357292175293
] | 1 | 2.2 | 22 | 0 | 22 | 0 |
[
-1.9000505208969116,
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1.9311484098434448,
-1.90508234500885,
-1.5377939939498901,
2.8819477558135986,
0
] | [
-1.8998568058013916,
-1.9421789646148682,
1.9315968751907349,
-1.9078665971755981,
-1.5378891229629517,
2.882133960723877,
0
] | move_to_position | 0.01268 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0013768391218036413,
-0.4448397755622864,
0.3487991392612457,
2.7966930866241455,
0.059646327048540115,
3.0702590942382812
] | 1 | 2.3 | 23 | 0 | 23 | 0 |
[
-1.8996771574020386,
-1.9386488199234009,
1.9322422742843628,
-1.912049412727356,
-1.5379537343978882,
2.8823435306549072,
0
] | [
-1.8994590044021606,
-1.9361190795898438,
1.9325993061065674,
-1.9149549007415771,
-1.5380247831344604,
2.882518768310547,
0
] | move_to_position | 0.018926 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.001969585195183754,
-0.4469294548034668,
0.34709054231643677,
2.7966558933258057,
0.059626419097185135,
3.07020902633667
] | 1 | 2.4 | 24 | 0 | 24 | 0 |
[
-1.899161696434021,
-1.93160879611969,
1.9334086179733276,
-1.9202162027359009,
-1.5381335020065308,
2.882802963256836,
0
] | [
-1.89894437789917,
-1.9282903671264648,
1.9340386390686035,
-1.9241423606872559,
-1.5382094383239746,
2.88301682472229,
0
] | move_to_position | 0.026374 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0027208193205296993,
-0.4496822655200958,
0.34485551714897156,
2.796661376953125,
0.05961843952536583,
3.070244073867798
] | 1 | 2.5 | 25 | 0 | 25 | 0 |
[
-1.8985565900802612,
-1.9228330850601196,
1.9351719617843628,
-1.930623173713684,
-1.538347601890564,
2.8833701610565186,
0
] | [
-1.8983334302902222,
-1.9191542863845825,
1.9359359741210938,
-1.934982419013977,
-1.5384281873703003,
2.883607864379883,
0
] | move_to_position | 0.03563 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0036534045357257128,
-0.45321643352508545,
0.34168294072151184,
2.7968590259552,
0.05952814593911171,
3.070312261581421
] | 1 | 2.6 | 26 | 0 | 26 | 0 |
[
-1.8978160619735718,
-1.911974549293518,
1.9373787641525269,
-1.9434601068496704,
-1.5385831594467163,
2.884066343307495,
0
] | [
-1.8975775241851807,
-1.9075943231582642,
1.9381227493286133,
-1.9485398530960083,
-1.5386993885040283,
2.8843393325805664,
0
] | move_to_position | 0.047006 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.004692296031862497,
-0.45694637298583984,
0.33829957246780396,
2.797098398208618,
0.05952439457178116,
3.0703296661376953
] | 1 | 2.7 | 27 | 0 | 27 | 0 |
[
-1.8970831632614136,
-1.8999749422073364,
1.9392985105514526,
-1.957274079322815,
-1.538817286491394,
2.8848133087158203,
0
] | [
-1.8967739343643188,
-1.894713282585144,
1.939998745918274,
-1.9632656574249268,
-1.5389888286590576,
2.885117292404175,
0
] | move_to_position | 0.059514 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0060088676400482655,
-0.4617568552494049,
0.3341377079486847,
2.797161102294922,
0.05946273356676102,
3.0703072547912598
] | 1 | 2.8 | 28 | 0 | 28 | 0 |
[
-1.8962301015853882,
-1.8857966661453247,
1.9409297704696655,
-1.9732261896133423,
-1.5391892194747925,
2.8855910301208496,
0
] | [
-1.89590322971344,
-1.8798027038574219,
1.9412859678268433,
-1.9797219038009644,
-1.5393041372299194,
2.8859612941741943,
0
] | move_to_position | 0.07425 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.007478633429855108,
-0.4671545624732971,
0.3297358453273773,
2.7970244884490967,
0.059519682079553604,
3.070354461669922
] | 1 | 2.9 | 29 | 0 | 29 | 0 |
[
-1.8953088521957397,
-1.8690787553787231,
1.9414581060409546,
-1.9911266565322876,
-1.5395172834396362,
2.886502742767334,
0
] | [
-1.8949995040893555,
-1.8630969524383545,
1.9416393041610718,
-1.997462511062622,
-1.5396336317062378,
2.88683819770813,
0
] | move_to_position | 0.091592 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.009205065667629242,
-0.47329938411712646,
0.325361967086792,
2.796236038208008,
0.059738222509622574,
3.0703134536743164
] | 1 | 3 | 30 | 0 | 30 | 0 |
[
-1.8943394422531128,
-1.8510886430740356,
1.9414910078048706,
-2.0102269649505615,
-1.5398615598678589,
2.8874733448028564,
0
] | [
-1.8939685821533203,
-1.843533992767334,
1.9417390823364258,
-2.0181362628936768,
-1.5400103330612183,
2.8878395557403564,
0
] | move_to_position | 0.110246 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.011081010103225708,
-0.4800334870815277,
0.3204931914806366,
2.7952935695648193,
0.0599232092499733,
3.0701935291290283
] | 1 | 3.1 | 31 | 0 | 31 | 0 |
[
-1.8933147192001343,
-1.8305026292800903,
1.941749930381775,
-2.031756639480591,
-1.5402482748031616,
2.888477325439453,
0
] | [
-1.8929226398468018,
-1.8230787515640259,
1.941794514656067,
-2.039470911026001,
-1.5403937101364136,
2.8888559341430664,
0
] | move_to_position | 0.131268 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.013086188584566116,
-0.487169474363327,
0.3149433732032776,
2.794734239578247,
0.060136061161756516,
3.0701704025268555
] | 1 | 3.2 | 32 | 0 | 32 | 0 |
[
-1.8922733068466187,
-1.8098245859146118,
1.9417937994003296,
-2.052973985671997,
-1.5406006574630737,
2.8894693851470947,
0
] | [
-1.8917696475982666,
-1.7994158267974854,
1.9418230056762695,
-2.0634424686431885,
-1.540818452835083,
2.889977216720581,
0
] | move_to_position | 0.152156 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.015226666815578938,
-0.49494725465774536,
0.3086574077606201,
2.7942306995391846,
0.060217615216970444,
3.0701136589050293
] | 1 | 3.3 | 33 | 0 | 33 | 0 |
[
-1.8911012411117554,
-1.7855268716812134,
1.9417871236801147,
-2.077130079269409,
-1.5410746335983276,
2.890627145767212,
0
] | [
-1.8906044960021973,
-1.7738277912139893,
1.9418319463729858,
-2.0882396697998047,
-1.5412509441375732,
2.891110897064209,
0
] | move_to_position | 0.176258 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.017476821318268776,
-0.503180742263794,
0.3012852072715759,
2.7948052883148193,
0.06010354682803154,
3.0701823234558105
] | 1 | 3.4 | 34 | 0 | 34 | 0 |
[
-1.8899949789047241,
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1.9418061971664429,
-2.1015284061431885,
-1.5414546728134155,
2.8917076587677,
0
] | [
-1.8895907402038574,
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1.9417924880981445,
-2.1103971004486084,
-1.5416308641433716,
2.8920977115631104,
0
] | move_to_position | 0.201354 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
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0
] | [
0.09036237746477127,
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0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.01975439302623272,
-0.5115395188331604,
0.29293519258499146,
2.796557903289795,
0.05961564928293228,
3.0702414512634277
] | 1 | 3.5 | 35 | 0 | 35 | 0 |
[
-1.8888696432113647,
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-2.1266958713531494,
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2.8927996158599854,
0
] | [
-1.8884061574935913,
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1.9400140047073364,
-2.1371378898620605,
-1.5420783758163452,
2.8932526111602783,
0
] | move_to_position | 0.227952 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
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0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.022122081369161606,
-0.5202491879463196,
0.2843182384967804,
2.7983992099761963,
0.059151530265808105,
3.0704057216644287
] | 1 | 3.6 | 36 | 0 | 36 | 0 |
[
-1.88776433467865,
-1.7025572061538696,
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-2.1521880626678467,
-1.5423167943954468,
2.8938910961151123,
0
] | [
-1.88735830783844,
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1.9365063905715942,
-2.1613683700561523,
-1.5424766540527344,
2.894274950027466,
0
] | move_to_position | 0.255786 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
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0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.024814551696181297,
-0.5299072265625,
0.27591830492019653,
2.7987256050109863,
0.059106919914484024,
3.070361852645874
] | 1 | 3.7 | 37 | 0 | 37 | 0 |
[
-1.88656747341156,
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1.932916522026062,
-2.1794002056121826,
-1.5427788496017456,
2.8950183391571045,
0
] | [
-1.8861502408981323,
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1.9304763078689575,
-2.1897213459014893,
-1.5429389476776123,
2.895453691482544,
0
] | move_to_position | 0.286594 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.02772829309105873,
-0.5404666066169739,
0.267424076795578,
2.798161745071411,
0.05925840884447098,
3.070364475250244
] | 1 | 3.8 | 38 | 0 | 38 | 0 |
[
-1.8854740858078003,
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1.9260939359664917,
-2.2060301303863525,
-1.5431727170944214,
2.8961265087127686,
0
] | [
-1.884925127029419,
-1.622087836265564,
1.9223016500473022,
-2.218695878982544,
-1.5434120893478394,
2.89664888381958,
0
] | move_to_position | 0.317963 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.03069372847676277,
-0.5512231588363647,
0.25907179713249207,
2.7971673011779785,
0.059473127126693726,
3.070319652557373
] | 1 | 3.9 | 39 | 0 | 39 | 0 |
[
-1.8843368291854858,
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-2.2328779697418213,
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2.8971872329711914,
0
] | [
-1.8839417695999146,
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1.9142053127288818,
-2.2419323921203613,
-1.5437955856323242,
2.8976078033447266,
0
] | move_to_position | 0.351217 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.03363710641860962,
-0.5618523359298706,
0.25056472420692444,
2.796708345413208,
0.05960759520530701,
3.0702688694000244
] | 1 | 4 | 40 | 0 | 40 | 0 |
[
-1.8832744359970093,
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1.9077457189559937,
-2.2579963207244873,
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2.8982884883880615,
0
] | [
-1.8828688859939575,
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1.9035989046096802,
-2.2674458026885986,
-1.5442187786102295,
2.898653030395508,
0
] | move_to_position | 0.384298 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.03666192665696144,
-0.5728249549865723,
0.2416955977678299,
2.7965190410614014,
0.059607379138469696,
3.0702502727508545
] | 1 | 4.1 | 41 | 0 | 41 | 0 |
[
-1.8822945356369019,
-1.5343631505966187,
1.8969453573226929,
-2.281465768814087,
-1.5444434881210327,
2.899232864379883,
0
] | [
-1.8818769454956055,
-1.5195797681808472,
1.892021894454956,
-2.2913906574249268,
-1.544614553451538,
2.8996195793151855,
0
] | move_to_position | 0.416784 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.03992348909378052,
-0.5846399068832397,
0.23193563520908356,
2.7966201305389404,
0.0596155971288681,
3.070263147354126
] | 1 | 4.2 | 42 | 0 | 42 | 0 |
[
-1.8812917470932007,
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1.884024977684021,
-2.3060872554779053,
-1.5448631048202515,
2.9001975059509277,
0
] | [
-1.8808542490005493,
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1.878251552581787,
-2.316176414489746,
-1.545026421546936,
2.900615692138672,
0
] | move_to_position | 0.452231 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.04322732239961624,
-0.5965164303779602,
0.2220585197210312,
2.796496868133545,
0.059629205614328384,
3.0702478885650635
] | 1 | 4.3 | 43 | 0 | 43 | 0 |
[
-1.8803843259811401,
-1.4604079723358154,
1.8703263998031616,
-2.3289453983306885,
-1.5452088117599487,
2.901148557662964,
0
] | [
-1.8798913955688477,
-1.4431416988372803,
1.863465666770935,
-2.3393192291259766,
-1.5454174280166626,
2.901552438735962,
0
] | move_to_position | 0.48666 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.046384941786527634,
-0.6079269647598267,
0.21241450309753418,
2.7964930534362793,
0.05962326005101204,
3.0702097415924072
] | 1 | 4.4 | 44 | 0 | 44 | 0 |
[
-1.8793681859970093,
-1.4226974248886108,
1.8549546003341675,
-2.3512442111968994,
-1.545617938041687,
2.9020400047302246,
0
] | [
-1.8789609670639038,
-1.405125379562378,
1.8472883701324463,
-2.361179828643799,
-1.5457977056503296,
2.902456045150757,
0
] | move_to_position | 0.522246 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0495804026722908,
-0.6196366548538208,
0.20234006643295288,
2.796553611755371,
0.059609077870845795,
3.0702555179595947
] | 1 | 4.5 | 45 | 0 | 45 | 0 |
[
-1.8785251379013062,
-1.385331153869629,
1.838199496269226,
-2.371917486190796,
-1.5459612607955933,
2.902888059616089,
0
] | [
-1.8781707286834717,
-1.3716106414794922,
1.8316668272018433,
-2.3790910243988037,
-1.5461229085922241,
2.903221607208252,
0
] | move_to_position | 0.557647 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.05251771956682205,
-0.630350649356842,
0.1931828260421753,
2.7966315746307373,
0.05959726497530937,
3.0702738761901855
] | 1 | 4.6 | 46 | 0 | 46 | 0 |
[
-1.877677321434021,
-1.349001407623291,
1.8202966451644897,
-2.3903419971466064,
-1.546347975730896,
2.9036848545074463,
0
] | [
-1.8773646354675293,
-1.3351579904556274,
1.8129229545593262,
-2.396817684173584,
-1.5464590787887573,
2.9040005207061768,
0
] | move_to_position | 0.592272 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.05568747594952583,
-0.6417830586433411,
0.1836426556110382,
2.796536684036255,
0.05964028090238571,
3.0702292919158936
] | 1 | 4.7 | 47 | 0 | 47 | 0 |
[
-1.8769315481185913,
-1.313213586807251,
1.8008993864059448,
-2.4067327976226807,
-1.546632170677185,
2.9044203758239746,
0
] | [
-1.8765499591827393,
-1.296061635017395,
1.7911399602890015,
-2.414149045944214,
-1.5468029975891113,
2.904785633087158,
0
] | move_to_position | 0.626717 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.05877342447638512,
-0.6530494093894958,
0.17433366179466248,
2.796579360961914,
0.05962216854095459,
3.0702755451202393
] | 1 | 4.8 | 48 | 0 | 48 | 0 |
[
-1.8762377500534058,
-1.2780952453613281,
1.780657172203064,
-2.4216983318328857,
-1.5468939542770386,
2.9051005840301514,
0
] | [
-1.8759400844573975,
-1.2655640840530396,
1.7731657028198242,
-2.426685333251953,
-1.5470627546310425,
2.905371904373169,
0
] | move_to_position | 0.660765 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.06210727617144585,
-0.6650086045265198,
0.16443055868148804,
2.7965476512908936,
0.05967134237289429,
3.070253372192383
] | 1 | 4.9 | 49 | 0 | 49 | 0 |
[
-1.8755391836166382,
-1.2442378997802734,
1.7601741552352905,
-2.4349958896636963,
-1.5472429990768433,
2.9057552814483643,
0
] | [
-1.8752408027648926,
-1.22969651222229,
1.7511309385299683,
-2.44053316116333,
-1.5473620891571045,
2.90604305267334,
0
] | move_to_position | 0.693766 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.06498230248689651,
-0.6755465865135193,
0.15555164217948914,
2.796541213989258,
0.05962352082133293,
3.070274591445923
] | 1 | 5 | 50 | 0 | 50 | 0 |
[
-1.8749250173568726,
-1.2115581035614014,
1.7396453619003296,
-2.447235345840454,
-1.547484278678894,
2.9063639640808105,
0
] | [
-1.8746414184570312,
-1.1985862255096436,
1.7313328981399536,
-2.4518582820892334,
-1.5476188659667969,
2.9066169261932373,
0
] | move_to_position | 0.725796 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.06772811710834503,
-0.6854851841926575,
0.14702445268630981,
2.7964375019073486,
0.059644509106874466,
3.0702459812164307
] | 1 | 5.1 | 51 | 0 | 51 | 0 |
[
-1.8743771314620972,
-1.182585597038269,
1.7206310033798218,
-2.457117795944214,
-1.547749400138855,
2.9068799018859863,
0
] | [
-1.8740742206573486,
-1.1677948236465454,
1.7103393077850342,
-2.461668014526367,
-1.5478639602661133,
2.9071576595306396,
0
] | move_to_position | 0.754382 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
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0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0702151507139206,
-0.6945246458053589,
0.13924738764762878,
2.796481132507324,
0.05967390537261963,
3.070258140563965
] | 1 | 5.2 | 52 | 0 | 52 | 0 |
[
-1.8738521337509155,
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1.6989935636520386,
-2.466064214706421,
-1.5479897260665894,
2.9074108600616455,
0
] | [
-1.8736186027526855,
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1.6915030479431152,
-2.46881103515625,
-1.5480629205703735,
2.90759015083313,
0
] | move_to_position | 0.785154 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.07277821004390717,
-0.7037752270698547,
0.13145016133785248,
2.7966408729553223,
0.059624820947647095,
3.0702521800994873
] | 1 | 5.3 | 53 | 0 | 53 | 0 |
[
-1.8733123540878296,
-1.1242083311080933,
1.6782225370407104,
-2.4731709957122803,
-1.5481575727462769,
2.907839298248291,
0
] | [
-1.8731354475021362,
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1.6698530912399292,
-2.475740909576416,
-1.5482754707336426,
2.9080469608306885,
0
] | move_to_position | 0.813425 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.07517019659280777,
-0.712422251701355,
0.12439727783203125,
2.796560764312744,
0.059631336480379105,
3.0702321529388428
] | 1 | 5.4 | 54 | 0 | 54 | 0 |
[
-1.8729232549667358,
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1.6588190793991089,
-2.4789721965789795,
-1.548369288444519,
2.908259391784668,
0
] | [
-1.8727244138717651,
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1.6505446434020996,
-2.481250047683716,
-1.5484569072723389,
2.9084348678588867,
0
] | move_to_position | 0.839348 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.07739844173192978,
-0.7205572724342346,
0.11759870499372482,
2.796619415283203,
0.05960684269666672,
3.0702691078186035
] | 1 | 5.5 | 55 | 0 | 55 | 0 |
[
-1.8725312948226929,
-1.0759835243225098,
1.6407355070114136,
-2.4839861392974854,
-1.548545241355896,
2.9086503982543945,
0
] | [
-1.8723877668380737,
-1.068150281906128,
1.6346607208251953,
-2.485668420791626,
-1.5486053228378296,
2.908752202987671,
0
] | move_to_position | 0.863096 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.07950000464916229,
-0.7281482219696045,
0.11108005791902542,
2.796668291091919,
0.05961433798074722,
3.070279359817505
] | 1 | 5.6 | 56 | 0 | 56 | 0 |
[
-1.872226595878601,
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1.6245712041854858,
-2.488168478012085,
-1.5486620664596558,
2.908930778503418,
0
] | [
-1.872023582458496,
-1.0456714630126953,
1.6164493560791016,
-2.489943027496338,
-1.5487664937973022,
2.9090945720672607,
0
] | move_to_position | 0.884209 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08121718466281891,
-0.7343822121620178,
0.10581005364656448,
2.796485662460327,
0.05966667830944061,
3.070237159729004
] | 1 | 5.7 | 57 | 0 | 57 | 0 |
[
-1.8718589544296265,
-1.0361076593399048,
1.6084336042404175,
-2.4914371967315674,
-1.5487951040267944,
2.909191370010376,
0
] | [
-1.8717620372772217,
-1.0289169549942017,
1.6022499799728394,
-2.4925031661987305,
-1.5488829612731934,
2.90933895111084,
0
] | move_to_position | 0.904654 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08288155496120453,
-0.7404464483261108,
0.10060343146324158,
2.7966394424438477,
0.05959611013531685,
3.070256471633911
] | 1 | 5.8 | 58 | 0 | 58 | 0 |
[
-1.8716577291488647,
-1.0186747312545776,
1.5933336019515991,
-2.4938337802886963,
-1.5489133596420288,
2.9095022678375244,
0
] | [
-1.8715097904205322,
-1.0123145580291748,
1.5877424478530884,
-2.494603157043457,
-1.548995852470398,
2.909574031829834,
0
] | move_to_position | 0.92327 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08444815874099731,
-0.7460521459579468,
0.09609419852495193,
2.796534776687622,
0.059638869017362595,
3.070213556289673
] | 1 | 5.9 | 59 | 0 | 59 | 0 |
[
-1.8714011907577515,
-1.0036635398864746,
1.5800331830978394,
-2.4955556392669678,
-1.5490516424179077,
2.9096627235412598,
0
] | [
-1.8712990283966064,
-0.9982154965400696,
1.575203537940979,
-2.4961674213409424,
-1.5490905046463013,
2.9097697734832764,
0
] | move_to_position | 0.939438 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08571457117795944,
-0.7507409453392029,
0.0922304093837738,
2.7965362071990967,
0.05964701622724533,
3.0702810287475586
] | 1 | 6 | 60 | 0 | 60 | 0 |
[
-1.87120521068573,
-0.9909746050834656,
1.5687240362167358,
-2.4969823360443115,
-1.5491169691085815,
2.9098703861236572,
0
] | [
-1.8711222410202026,
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1.564762830734253,
-2.4975059032440186,
-1.5491697788238525,
2.9099342823028564,
0
] | move_to_position | 0.953138 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08678886294364929,
-0.7546464800834656,
0.08897403627634048,
2.7965219020843506,
0.059644024819135666,
3.0702860355377197
] | 1 | 6.1 | 61 | 0 | 61 | 0 |
[
-1.87104070186615,
-0.9802502989768982,
1.5593289136886597,
-2.4982478618621826,
-1.5492075681686401,
2.9100072383880615,
0
] | [
-1.8709759712219238,
-0.9767753481864929,
1.5562537908554077,
-2.498663902282715,
-1.549235224723816,
2.9100704193115234,
0
] | move_to_position | 0.964628 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08769400417804718,
-0.7578749656677246,
0.08607378602027893,
2.796614170074463,
0.05962659418582916,
3.070241928100586
] | 1 | 6.2 | 62 | 0 | 62 | 0 |
[
-1.870916724205017,
-0.9714227318763733,
1.5514525175094604,
-2.4991724491119385,
-1.5492643117904663,
2.9101221561431885,
0
] | [
-1.8708536624908447,
-0.9685342311859131,
1.5488280057907104,
-2.499481678009033,
-1.5492901802062988,
2.910183906555176,
0
] | move_to_position | 0.974155 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08836286514997482,
-0.7604223489761353,
0.0839114859700203,
2.796574354171753,
0.05960685759782791,
3.0702648162841797
] | 1 | 6.3 | 63 | 0 | 63 | 0 |
[
-1.8708280324935913,
-0.9646108150482178,
1.5452102422714233,
-2.4997756481170654,
-1.5493086576461792,
2.9102423191070557,
0
] | [
-1.8707528114318848,
-0.9616020917892456,
1.5424318313598633,
-2.5000195503234863,
-1.5493357181549072,
2.9102771282196045,
0
] | move_to_position | 0.981591 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08899977803230286,
-0.762606680393219,
0.08207080513238907,
2.79659104347229,
0.05964909493923187,
3.07025146484375
] | 1 | 6.4 | 64 | 0 | 64 | 0 |
[
-1.8707598447799683,
-0.9586881995201111,
1.5396956205368042,
-2.500201463699341,
-1.5493015050888062,
2.910294532775879,
0
] | [
-1.8706802129745483,
-0.9565016627311707,
1.5376207828521729,
-2.5003104209899902,
-1.5493686199188232,
2.910344123840332,
0
] | move_to_position | 0.988098 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08951495587825775,
-0.7644369006156921,
0.08052317053079605,
2.7966389656066895,
0.0596352256834507,
3.0702457427978516
] | 1 | 6.5 | 65 | 0 | 65 | 0 |
[
-1.8706754446029663,
-0.9541970491409302,
1.5354112386703491,
-2.5004141330718994,
-1.5493687391281128,
2.9103739261627197,
0
] | [
-1.8706271648406982,
-0.9527158737182617,
1.5339864492416382,
-2.500462770462036,
-1.5493927001953125,
2.9103927612304688,
0
] | move_to_position | 0.993088 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.08985379338264465,
-0.7657479643821716,
0.07949594408273697,
2.79659366607666,
0.05962631106376648,
3.070249080657959
] | 1 | 6.6 | 66 | 0 | 66 | 0 |
[
-1.8706358671188354,
-0.9509830474853516,
1.53233802318573,
-2.50050950050354,
-1.5493992567062378,
2.91040301322937,
0
] | [
-1.870591163635254,
-0.9501243829727173,
1.5314804315567017,
-2.500548839569092,
-1.549409031867981,
2.910425901412964,
0
] | move_to_position | 0.99666 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.0901188999414444,
-0.7667148113250732,
0.07869309186935425,
2.7966363430023193,
0.05959123373031616,
3.070253610610962
] | 1 | 6.7 | 67 | 0 | 67 | 0 |
[
-1.8705805540084839,
-0.9491845965385437,
1.530509352684021,
-2.5005719661712646,
-1.549423098564148,
2.9104466438293457,
0
] | [
-1.8705708980560303,
-0.9487068057060242,
1.5301408767700195,
-2.500627279281616,
-1.5494182109832764,
2.910444498062134,
0
] | move_to_position | 0.998719 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.09027601778507233,
-0.7672970294952393,
0.07830952852964401,
2.796544313430786,
0.05966291204094887,
3.070267677307129
] | 1 | 6.8 | 68 | 0 | 68 | 0 |
[
-1.8705724477767944,
-0.9483370780944824,
1.529861330986023,
-2.5006229877471924,
-1.549423098564148,
2.9104511737823486,
0
] | [
-1.87056303024292,
-0.9481553435325623,
1.5296260118484497,
-2.500663995742798,
-1.549421787261963,
2.910451889038086,
0
] | move_to_position | 0.999571 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.09034225344657898,
-0.7674919366836548,
0.07804795354604721,
2.796649694442749,
0.05962864309549332,
3.070260763168335
] | 1 | 6.9 | 69 | 0 | 69 | 0 |
[
-1.870540976524353,
-0.9482086300849915,
1.5296777486801147,
-2.500689744949341,
-1.5494502782821655,
2.910454750061035,
0
] | [
-1.870560646057129,
-0.9479880928993225,
1.5294699668884277,
-2.5006752014160156,
-1.5494228601455688,
2.910454273223877,
0
] | move_to_position | 0.99975 | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.07800000160932541,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: approach above red block | [
-0.09033968299627304,
-0.7675536274909973,
0.07806948572397232,
2.7965407371520996,
0.0596366822719574,
3.0702667236328125
] | 1 | 7 | 70 | 0 | 70 | 0 |
[
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09036651998758316,
-0.767570972442627,
0.07808742672204971,
2.796509265899658,
0.05965670943260193,
3.0702412128448486
] | 1 | 7.1 | 71 | 0 | 71 | 0 |
[
-1.8705724477767944,
-0.9480453729629517,
1.5294617414474487,
-2.500720739364624,
-1.5494078397750854,
2.91047739982605,
0.8980392217636108
] | [
-1.8705605268478394,
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1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09035488963127136,
-0.7676114439964294,
0.07803266495466232,
2.796539783477783,
0.05963365361094475,
3.0703094005584717
] | 0 | 7.2 | 72 | 0 | 72 | 0 |
[
-1.870548129081726,
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1.5294808149337769,
-2.5006792545318604,
-1.5494250059127808,
2.910407781600952,
0.7568627595901489
] | [
-1.8705605268478394,
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1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.0903531014919281,
-0.7676142454147339,
0.07798954099416733,
2.796586036682129,
0.05962393805384636,
3.070279121398926
] | 0 | 7.3 | 73 | 0 | 73 | 0 |
[
-1.8705915212631226,
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1.5295013189315796,
-2.500689744949341,
-1.5494283437728882,
2.91047739982605,
0.6313725709915161
] | [
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1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
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1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09037825465202332,
-0.7676176428794861,
0.07800433039665222,
2.7965588569641113,
0.05962993949651718,
3.0702550411224365
] | 0 | 7.4 | 74 | 0 | 74 | 0 |
[
-1.8705686330795288,
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1.5294655561447144,
-2.500701665878296,
-1.5494354963302612,
2.910454750061035,
0.5058823823928833
] | [
-1.8705605268478394,
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1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09033163636922836,
-0.767617404460907,
0.07799471169710159,
2.7965753078460693,
0.05961587652564049,
3.0703177452087402
] | 0 | 7.5 | 75 | 0 | 75 | 0 |
[
-1.8705953359603882,
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1.5295127630233765,
-2.5006935596466064,
-1.5494388341903687,
2.910454750061035,
0.3843137323856354
] | [
-1.8705605268478394,
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1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09038089215755463,
-0.7676146626472473,
0.07800226658582687,
2.7965657711029053,
0.059641554951667786,
3.0702288150787354
] | 1 | 7.6 | 76 | 0 | 76 | 0 |
[
-1.8705796003341675,
-0.947996199131012,
1.5294808149337769,
-2.5006706714630127,
-1.5494006872177124,
2.910454750061035,
0.26274511218070984
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09037335216999054,
-0.7676060199737549,
0.07798305153846741,
2.7966113090515137,
0.059663161635398865,
3.0702524185180664
] | 1 | 7.7 | 77 | 0 | 77 | 0 |
[
-1.87057626247406,
-0.9479805827140808,
1.5294655561447144,
-2.500643014907837,
-1.549420714378357,
2.9104583263397217,
0.13725490868091583
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09035083651542664,
-0.7676201462745667,
0.0780000314116478,
2.7965543270111084,
0.05962245166301727,
3.0702686309814453
] | 1 | 7.8 | 78 | 0 | 78 | 0 |
[
-1.8705600500106812,
-0.9479926228523254,
1.5294841527938843,
-2.500681161880493,
-1.549415946006775,
2.910454750061035,
0.0235294122248888
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09036029875278473,
-0.7676021456718445,
0.07798749208450317,
2.7965903282165527,
0.0596122145652771,
3.0702552795410156
] | 1 | 7.9 | 79 | 0 | 79 | 0 |
[
-1.8705562353134155,
-0.9479494094848633,
1.5294655561447144,
-2.500701665878296,
-1.5494235754013062,
2.910454750061035,
0.0117647061124444
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09037336707115173,
-0.7676102519035339,
0.0780203640460968,
2.7965595722198486,
0.05966419354081154,
3.0702619552612305
] | 1 | 8 | 80 | 0 | 80 | 0 |
[
-1.8705562353134155,
-0.9479686617851257,
1.529462218284607,
-2.5006706714630127,
-1.5494316816329956,
2.9104511737823486,
0.0117647061124444
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09037517011165619,
-0.767608106136322,
0.07798165827989578,
2.7965893745422363,
0.059618204832077026,
3.0702457427978516
] | 1 | 8.1 | 81 | 0 | 81 | 0 |
[
-1.8705724477767944,
-0.9479841589927673,
1.5294770002365112,
-2.5006935596466064,
-1.549416422843933,
2.910407781600952,
0.0117647061124444
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | gripper_open | 1 | [
-1.8705724477767944,
-0.9481727480888367,
1.5296062231063843,
-2.5006587505340576,
-1.549404501914978,
2.910426616668701,
0
] | [
0.0903681069612503,
0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | [
-0.0903681069612503,
-0.767579197883606,
0.07807450741529465,
2.7965164184570312,
0.0596492737531662,
3.0702359676361084
] | 0 | pick the red block and place it on the red dish: open gripper | [
-0.09035448729991913,
-0.7675939798355103,
0.07795414328575134,
2.7966511249542236,
0.05963559076189995,
3.0702736377716064
] | 1 | 8.2 | 82 | 0 | 82 | 0 |
[
-1.870540976524353,
-0.9479926228523254,
1.529462218284607,
-2.5006587505340576,
-1.5494040250778198,
2.910435676574707,
0
] | [
-1.8705605268478394,
-0.9479833245277405,
1.5294654369354248,
-2.5006754398345947,
-1.5494229793548584,
2.910454273223877,
0
] | move_to_position | 0 | [
-1.8705979585647583,
-0.8784614205360413,
1.5608705282211304,
-2.601534366607666,
-1.5495150089263916,
2.9104394912719727,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.02800000086426735,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.02800000086426735,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: descend to red block | [
-0.09037138521671295,
-0.7676107883453369,
0.07799467444419861,
2.7965922355651855,
0.05963104963302612,
3.0702781677246094
] | 1 | 8.3 | 83 | 0 | 83 | 0 |
[
-1.8705562353134155,
-0.9479494094848633,
1.5294979810714722,
-2.50067400932312,
-1.5494316816329956,
2.9104583263397217,
0
] | [
-1.8705695867538452,
-0.9478771686553955,
1.529592514038086,
-2.5008115768432617,
-1.5494569540023804,
2.910447597503662,
0
] | move_to_position | 0.000073 | [
-1.8705979585647583,
-0.8784614205360413,
1.5608705282211304,
-2.601534366607666,
-1.5495150089263916,
2.9104394912719727,
0
] | [
0.09036237746477127,
0.7676151394844055,
0.02800000086426735,
0,
0,
0
] | [
-0.09036237746477127,
-0.7676151394844055,
0.02800000086426735,
0,
0,
0
] | 0 | pick the red block and place it on the red dish: descend to red block | [
-0.09034106135368347,
-0.7676206231117249,
0.07800683379173279,
2.7965569496154785,
0.05961952358484268,
3.070314407348633
] | 1 | 8.4 | 84 | 0 | 84 | 0 |
[
-1.87057626247406,
-0.9471246004104614,
1.5299690961837769,
-2.5018680095672607,
-1.5494712591171265,
2.910454750061035,
0
] | [
-1.8705717325210571,
-0.9462507367134094,
1.5306928157806396,
-2.503488302230835,
-1.549461841583252,
2.910447597503662,
0
] | move_to_position | 0.012115 | [
-1.8705979585647583,
-0.8784614205360413,
1.5608705282211304,
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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] | move_to_position | 0.173141 | [
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] | move_to_position | 0.260863 | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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[
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] | move_to_position | 0.493537 | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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[
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] | move_to_position | 0.630326 | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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[
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] | move_to_position | 0.744791 | [
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] | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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[
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] | move_to_position | 0.838809 | [
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] | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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[
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] | move_to_position | 0.903269 | [
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[
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] | move_to_position | 0.953844 | [
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] | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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] | 1 | 9.6 | 96 | 0 | 96 | 0 |
[
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] | [
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] | move_to_position | 0.983817 | [
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] | [
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] | [
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0,
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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] | 1 | 9.7 | 97 | 0 | 97 | 0 |
[
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] | [
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] | move_to_position | 0.997593 | [
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] | [
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] | [
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] | 0 | pick the red block and place it on the red dish: descend to red block | [
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] | 1 | 9.8 | 98 | 0 | 98 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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] | [
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] | [
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] | 1 | pick the red block and place it on the red dish: grasp red block | [
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] | 1 | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 121,
"total_frames": 68120,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:121"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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"shape": [
7
],
"names": [
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"wrist_1.pos",
"wrist_2.pos",
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"gripper.pos"
]
},
"action": {
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"shape": [
7
],
"names": [
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"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"observation.images.realsense_topview": {
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"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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"video.codec": "h264",
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}
},
"observation.images.realsense_wrist": {
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480,
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3
],
"names": [
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],
"info": {
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}
},
"skill.type": {
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},
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"skill.goal_position.joint": {
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],
"names": [
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]
},
"skill.goal_position.world_xyzrpy": {
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],
"names": [
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]
},
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],
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},
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},
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Models trained or fine-tuned on CoRL2026-CSI/UR7e_CaP_sort_RGBblock_to_matchingplate_10fps