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 large_stringclasses 12
values | skill.verification_question large_stringclasses 10
values | skill.type large_stringclasses 6
values | skill.progress float32 0 0.98 ⌀ | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 35 ⌀ | subtask.natural_language large_stringclasses 4
values | subtask.object_name large_stringclasses 3
values | subtask.target_position list | timestamp float32 0 32.6 ⌀ | frame_index int64 0 326 ⌀ | episode_index int64 0 79 ⌀ | index int64 0 25.1k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.004214 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.008066 | [
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] | 0.1 | 1 | 0 | 1 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.011483 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.018256 | [
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[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.030213 | [
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] | 0.4 | 4 | 0 | 4 | 0 | ||
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.047261 | [
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] | 0.5 | 5 | 0 | 5 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.069235 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.095909 | [
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] | [
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] | 0.7 | 7 | 0 | 7 | 0 | ||
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.126997 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.162164 | [
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] | 0.9 | 9 | 0 | 9 | 0 | ||
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.201027 | [
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] | [
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] | 1 | 10 | 0 | 10 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.243164 | [
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] | 1.1 | 11 | 0 | 11 | 0 | ||
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.288115 | [
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] | 1.2 | 12 | 0 | 12 | 0 | ||
[
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] | 1 | [
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1.1997370719909668,
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1.2897462844848633,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.335384 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
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] | [
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] | 0 | [
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0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.384457 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
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] | [
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] | 0 | [
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] | 1.4 | 14 | 0 | 14 | 0 | ||
[
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] | [
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] | [
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3.1009955406188965,
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.434795 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
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] | [
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] | 0 | [
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0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
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] | [
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] | [
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3.100268602371216,
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] | 1 | [
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1.321510910987854,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.485848 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
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] | [
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] | 0 | [
0,
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0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
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] | [
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] | [
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3.0995283126831055,
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] | 1 | [
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1.331836223602295,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.537057 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
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] | [
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] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.3418400287628174,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.587859 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
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] | [
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] | 0 | [
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0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
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] | [
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] | [
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3.0980401039123535,
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] | 1 | [
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] | [
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1.3514124155044556,
-4.3688533679642205e-8,
-0.0012939722510054708
] | Move to initial position | Is the robot at initial position? | move_initial | 0.637699 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
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] | [
0.1892220824956894,
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3.0922768115997314,
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3.0180580615997314
] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-1.021433711051941,
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] | [
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] | [
0.1810961365699768,
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0.11348655819892883,
3.097308874130249,
0.7375548481941223,
3.0507638454437256
] | 1 | [
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] | [
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0.7677583694458008,
1.3604488372802734,
-4.3688533679642205e-8,
-0.0013351710513234138
] | Move to initial position | Is the robot at initial position? | move_initial | 0.686031 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
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3.0922768115997314,
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] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
-0.752677321434021,
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58.5418701171875,
80.64342498779297,
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] | [
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53.199493408203125,
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0.024418633431196213,
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] | [
0.18220530450344086,
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0.11910626292228699,
3.09659743309021,
0.7454805970191956,
3.0459747314453125
] | 1 | [
0.029351988807320595,
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] | [
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0.7280585765838623,
1.3688499927520752,
-4.3688533679642205e-8,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.732324 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
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] | [
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3.0922768115997314,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
-0.4986981153488159,
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] | [
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] | [
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0.12436870485544205,
3.0959160327911377,
0.7529699206352234,
3.0414390563964844
] | 1 | [
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1.358561635017395,
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] | [
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0.6917951703071594,
1.3765239715576172,
-4.3688533679642205e-8,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.776073 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
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3.0922768115997314,
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] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
-0.2622791528701782,
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81.60945892333984,
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] | [
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] | [
0.18431147933006287,
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0.12922313809394836,
3.09527325630188,
0.7599416375160217,
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] | 1 | [
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] | [
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0.6593653559684753,
1.3833866119384766,
-4.3688533679642205e-8,
-0.0014397504273802042
] | Move to initial position | Is the robot at initial position? | move_initial | 0.816798 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
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3.0922768115997314,
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] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
-0.0460093691945076,
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51.65053176879883,
82.03550720214844,
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] | [
0.3814748525619507,
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47.48342514038086,
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0.024418633431196213,
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] | [
0.1852729767560959,
-0.005970667116343975,
0.13362471759319305,
3.0946779251098633,
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3.033329725265503
] | 1 | [
0.040679946541786194,
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1.3744025230407715,
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] | [
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0.6311246156692505,
1.3893626928329468,
-4.3688533679642205e-8,
-0.0014669975498691201
] | Move to initial position | Is the robot at initial position? | move_initial | 0.854051 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
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3.0922768115997314,
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3.0180580615997314
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
0.14773891866207123,
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49.7610969543457,
82.41718292236328,
0.024521110579371452,
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] | [
0.5250527262687683,
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46.083370208740234,
83.16053771972656,
0.024418633431196213,
0.0020163662265986204
] | [
0.18615084886550903,
-0.00646475562825799,
0.1375352442264557,
3.0941381454467773,
0.7720292806625366,
3.029848575592041
] | 1 | [
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-1.2533116340637207,
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1.3811824321746826,
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] | [
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0.6073822379112244,
1.3943870067596436,
-4.3688533679642205e-8,
-0.001489904592745006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.887426 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
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3.0922768115997314,
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3.0180580615997314
] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
0.3168460726737976,
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0.024521110579371452,
0.001700070919468999
] | [
0.6398545503616333,
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44.96391296386719,
83.3866958618164,
0.024418633431196213,
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] | [
0.18692953884601593,
-0.006901151966303587,
0.1409223973751068,
3.0936622619628906,
0.777014970779419,
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] | 1 | [
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-1.2362600564956665,
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1.3870996236801147,
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] | [
0.05167441442608833,
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0.588398277759552,
1.3984043598175049,
-4.3688533679642205e-8,
-0.0015082205645740032
] | Move to initial position | Is the robot at initial position? | move_initial | 0.916556 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
-0.008178707212209702,
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3.0922768115997314,
0.7912188768386841,
3.0180580615997314
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
0.4594559371471405,
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46.72124481201172,
83.03123474121094,
0.024521110579371452,
0.0009480674634687603
] | [
0.7246220707893372,
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0.024418633431196213,
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] | [
0.1875949651002884,
-0.0072729638777673244,
0.14375938475131989,
3.093257188796997,
0.7812188863754272,
3.0242342948913574
] | 1 | [
0.048782605677843094,
-1.2218800783157349,
0.6181994080543518,
1.3920902013778687,
0.000003174940047756536,
-0.0015132568078115582
] | [
0.053033243864774704,
-1.1951016187667847,
0.5743809342384338,
1.4013707637786865,
-4.3688533679642205e-8,
-0.0015217447653412819
] | Move to initial position | Is the robot at initial position? | move_initial | 0.941121 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
-0.008178707212209702,
0.1504729986190796,
3.0922768115997314,
0.7912188768386841,
3.0180580615997314
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
0.574009895324707,
-66.51224517822266,
45.60411834716797,
83.25691986083984,
0.024521110579371452,
0.0004157929215580225
] | [
0.7784268856048584,
-65.37075805664062,
43.612667083740234,
83.65967559814453,
0.024418633431196213,
0.00016706023598089814
] | [
0.18813519179821014,
-0.007574181538075209,
0.14602507650852203,
3.0929296016693115,
0.7845953702926636,
3.0221667289733887
] | 1 | [
0.050618916749954224,
-1.2103291749954224,
0.5992550253868103,
1.3960990905761719,
0.000003174940047756536,
-0.0015248918207362294
] | [
0.0538957417011261,
-1.1896759271621704,
0.5654836893081665,
1.403253436088562,
-4.3688533679642205e-8,
-0.0015303289983421564
] | Move to initial position | Is the robot at initial position? | move_initial | 0.960854 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
-0.008178707212209702,
0.1504729986190796,
3.0922768115997314,
0.7912188768386841,
3.0180580615997314
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
0.6592497229576111,
-66.03719329833984,
44.7728385925293,
83.42483520507812,
0.024521110579371452,
0.00011398125207051635
] | [
0.8006792068481445,
-65.24673461914062,
43.39567947387695,
83.7035140991211,
0.024418633431196213,
0.0000046465038394671865
] | [
0.1885404884815216,
-0.007799814455211163,
0.1477033644914627,
3.092684030532837,
0.787108302116394,
3.0206267833709717
] | 1 | [
0.05198531970381737,
-1.2017338275909424,
0.5851580500602722,
1.3990819454193115,
0.000003174940047756536,
-0.0015314891934394836
] | [
0.05425244942307472,
-1.1874319314956665,
0.561803936958313,
1.4040322303771973,
-4.3688533679642205e-8,
-0.0015338791999965906
] | Move to initial position | Is the robot at initial position? | move_initial | 0.975538 | [
0.8013158440589905,
-65.2431869506836,
43.38947296142578,
83.70476531982422,
0.024418633431196213,
0
] | [
0.1892220824956894,
-0.008178707212209702,
0.1504729986190796,
3.0922768115997314,
0.7912188768386841,
3.0180580615997314
] | 0 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
0.6884903907775879,
-65.71453094482422,
44.44166564941406,
83.4595947265625,
0.024513520300388336,
0.000021796106011606753
] | [
0.7238638401031494,
-65.22493743896484,
44.24016189575195,
83.30351257324219,
0.024521110579371452,
0
] | [
0.18884681165218353,
-0.007886257953941822,
0.14814236760139465,
3.0927658081054688,
0.7862709164619446,
3.0202157497406006
] | 1 | [
0.05245405063033104,
-1.1958959102630615,
0.5795419216156006,
1.399699330329895,
0.0000029365426144067897,
-0.0015335043426603079
] | [
0.05302109196782112,
-1.187037467956543,
0.5761248469352722,
1.396926760673523,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.001307 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3 | 30 | 0 | 30 | 0 |
[
0.7225218415260315,
-65.4375991821289,
44.334197998046875,
83.30921936035156,
0.024494541808962822,
0.000001591140971868299
] | [
0.8581176400184631,
-64.65917205810547,
44.04698944091797,
82.71099853515625,
0.024521110579371452,
0
] | [
0.18938061594963074,
-0.007996630854904652,
0.1482178121805191,
3.092815637588501,
0.7857551574707031,
3.019705057144165
] | 1 | [
0.052999578416347504,
-1.190885305404663,
0.577719509601593,
1.3970282077789307,
0.0000023404613784805406,
-0.0015339460223913193
] | [
0.05517319217324257,
-1.1768009662628174,
0.5728489756584167,
1.386401653289795,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.004096 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.1 | 31 | 0 | 31 | 0 |
[
0.8138866424560547,
-64.97173309326172,
44.167598724365234,
82.9057388305664,
0.024475565180182457,
3.283306568846456e-7
] | [
1.0959877967834473,
-63.656742095947266,
43.7047233581543,
81.66118621826172,
0.024521110579371452,
0
] | [
0.19058287143707275,
-0.008283289149403572,
0.14857403934001923,
3.0926625728607178,
0.787314772605896,
3.0181314945220947
] | 1 | [
0.05446416512131691,
-1.182456135749817,
0.5748943090438843,
1.3898608684539795,
0.0000017444384639020427,
-0.0015339736128225923
] | [
0.058986272662878036,
-1.1586636304855347,
0.5670447945594788,
1.367753267288208,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.009723 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.2 | 32 | 0 | 32 | 0 |
[
0.9775446653366089,
-64.64739990234375,
43.91086196899414,
82.18376922607422,
0.024475565180182457,
9.597357575330534e-7
] | [
1.4191726446151733,
-63.904781341552734,
43.23970031738281,
80.23484802246094,
0.024521110579371452,
0
] | [
0.19241034984588623,
-0.008787067607045174,
0.15018059313297272,
3.0915448665618896,
0.7985977530479431,
3.014711856842041
] | 1 | [
0.05708761885762215,
-1.1765879392623901,
0.5705404877662659,
1.377036213874817,
0.0000017444384639020427,
-0.0015339597593992949
] | [
0.06416696310043335,
-1.163151502609253,
0.5591588616371155,
1.342416524887085,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.016747 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.3 | 33 | 0 | 33 | 0 |
[
1.2189122438430786,
-64.07152557373047,
43.55092239379883,
81.1180648803711,
0.024437610059976578,
9.597357575330534e-7
] | [
1.8260449171066284,
-62.190147399902344,
42.654258728027344,
78.43917083740234,
0.024521110579371452,
0
] | [
0.19513681530952454,
-0.009549730457365513,
0.15228228271007538,
3.0900604724884033,
0.8131766319274902,
3.0097708702087402
] | 1 | [
0.060956764966249466,
-1.166168451309204,
0.5644366145133972,
1.3581055402755737,
5.523343133972958e-7,
-0.0015339597593992949
] | [
0.07068916410207748,
-1.132128119468689,
0.5492308139801025,
1.3105190992355347,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.027624 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.4 | 34 | 0 | 34 | 0 |
[
1.538569688796997,
-62.991912841796875,
43.08320236206055,
79.70709228515625,
0.02438826858997345,
0.000001591140971868299
] | [
2.310028314590454,
-60.150550842285156,
41.95786666870117,
76.30316925048828,
0.024521110579371452,
0
] | [
0.19893014430999756,
-0.010604888200759888,
0.15430976450443268,
3.088651418685913,
0.8266040086746216,
3.003615617752075
] | 1 | [
0.06608090549707413,
-1.1466346979141235,
0.5565049052238464,
1.333041787147522,
-9.97395204649365e-7,
-0.0015339460223913193
] | [
0.07844746112823486,
-1.0952250957489014,
0.5374212861061096,
1.2725762128829956,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.043831 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.5 | 35 | 0 | 35 | 0 |
[
1.9343417882919312,
-61.49458312988281,
42.285423278808594,
77.96025085449219,
0.024335132911801338,
0.00006978289457038045
] | [
2.8585517406463623,
-57.898231506347656,
41.168609619140625,
73.88232421875,
0.024521110579371452,
0
] | [
0.2038586139678955,
-0.011982999742031097,
0.15723446011543274,
3.086761236190796,
0.8440250754356384,
2.995868444442749
] | 1 | [
0.07242517173290253,
-1.1195430755615234,
0.5429760813713074,
1.3020117282867432,
-0.0000026662942218536045,
-0.0015324554406106472
] | [
0.08724034577608109,
-1.0544731616973877,
0.5240369439125061,
1.2295734882354736,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.065221 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.6 | 36 | 0 | 36 | 0 |
[
2.4015204906463623,
-59.66091537475586,
41.49513244628906,
75.89840698242188,
0.02428579144179821,
0.00005020933531341143
] | [
3.4705796241760254,
-55.41133117675781,
40.2879753112793,
71.18121337890625,
0.024521110579371452,
0
] | [
0.2096409648656845,
-0.013689090497791767,
0.15988825261592865,
3.0848660469055176,
0.8608291745185852,
2.9869515895843506
] | 1 | [
0.07991409301757812,
-1.0863659381866455,
0.5295741558074951,
1.2653862237930298,
-0.000004216023626213428,
-0.0015328832669183612
] | [
0.0970512181520462,
-1.009476900100708,
0.509103000164032,
1.181592345237732,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.090496 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.7 | 37 | 0 | 37 | 0 |
[
2.934622287750244,
-57.52478790283203,
40.43490982055664,
73.54611206054688,
0.024293381720781326,
0.000012325028365012258
] | [
4.134908676147461,
-52.71190643310547,
39.3258171081543,
68.24927520751953,
0.024521110579371452,
0
] | [
0.21636804938316345,
-0.015755752101540565,
0.1633179783821106,
3.0823864936828613,
0.8818835616111755,
2.976508617401123
] | 1 | [
0.08845976740121841,
-1.0477163791656494,
0.5115947723388672,
1.223601222038269,
-0.000003977626420237357,
-0.0015337113291025162
] | [
0.10770047456026077,
-0.9606354236602783,
0.49278658628463745,
1.1295108795166016,
0.000003174940047756536,
-0.0015339808305725455
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.119798 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.8 | 38 | 0 | 38 | 0 |
[
3.5272953510284424,
-55.14048385620117,
39.37461471557617,
70.92996215820312,
0.02429717779159546,
0.44940608739852905
] | [
4.842999458312988,
-49.83466339111328,
38.29307174682617,
65.12420654296875,
0.024521110579371452,
1.1428574323654175
] | [
0.22378957271575928,
-0.01818649284541607,
0.16651158034801483,
3.07975172996521,
0.9031320214271545,
2.964956283569336
] | 1 | [
0.09796037524938583,
-1.0045764446258545,
0.4936141073703766,
1.1771292686462402,
-0.000003858398486045189,
0.008289688266813755
] | [
0.1190512403845787,
-0.9085766077041626,
0.47527313232421875,
1.0739986896514893,
0.000003174940047756536,
0.023447997868061066
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.153395 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 3.9 | 39 | 0 | 39 | 0 |
[
4.1728434562683105,
-52.53191375732422,
38.314517974853516,
68.0810317993164,
0.024422427639365196,
1.7246910333633423
] | [
5.592719554901123,
-46.78826141357422,
37.19961166381836,
61.815406799316406,
0.024521110579371452,
2.571427583694458
] | [
0.2318163365125656,
-0.020993737503886223,
0.16939444839954376,
3.0769660472869873,
0.9244508147239685,
2.952404499053955
] | 1 | [
0.1083085760474205,
-0.9573787450790405,
0.4756368100643158,
1.1265223026275635,
7.548092639808601e-8,
0.03616642951965332
] | [
0.1310693323612213,
-0.8534570932388306,
0.45673006772994995,
1.0152229070663452,
0.000003174940047756536,
0.05467543751001358
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.192123 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4 | 40 | 0 | 40 | 0 |
[
4.864401340484619,
-49.70814895629883,
37.234004974365234,
65.0291519165039,
0.024448996409773827,
3.1322574615478516
] | [
6.371623516082764,
-43.484962463378906,
36.06358337402344,
58.3778076171875,
0.024521110579371452,
4.000000953674316
] | [
0.2403813600540161,
-0.024188540875911713,
0.1719343513250351,
3.0740060806274414,
0.9458230137825012,
2.938937187194824
] | 1 | [
0.11939431726932526,
-0.9062875509262085,
0.45731329917907715,
1.072310209274292,
9.099596809392096e-7,
0.0669347420334816
] | [
0.14355523884296417,
-0.7936895489692688,
0.437465101480484,
0.9541590809822083,
0.000003174940047756536,
0.08590294420719147
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.233794 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.1 | 41 | 0 | 41 | 0 |
[
5.5947370529174805,
-46.687068939208984,
36.153236389160156,
61.80572509765625,
0.024395860731601715,
4.558041095733643
] | [
7.174066543579102,
-40.074928283691406,
32.287384033203125,
54.83632278442383,
0.024521110579371452,
5.4285712242126465
] | [
0.24937757849693298,
-0.027771716937422752,
0.17395193874835968,
3.070939779281616,
0.9666740298271179,
2.9247236251831055
] | 1 | [
0.13110166788101196,
-0.8516262173652649,
0.4389854669570923,
1.0150508880615234,
-7.589393362650299e-7,
0.09810127317905426
] | [
0.15641847252845764,
-0.7319907546043396,
0.37342771887779236,
0.8912498950958252,
0.000003174940047756536,
0.11713038384914398
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.277741 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.2 | 42 | 0 | 42 | 0 |
[
6.356605529785156,
-43.491355895996094,
35.079830169677734,
58.44348907470703,
0.0243996549397707,
5.986203670501709
] | [
7.993464946746826,
-36.59284210205078,
31.092294692993164,
51.22000503540039,
0.024521110579371452,
6.857144355773926
] | [
0.2586914002895355,
-0.031736068427562714,
0.17533035576343536,
3.0678164958953857,
0.98670494556427,
2.9099223613739014
] | 1 | [
0.14331449568271637,
-0.7938051819801331,
0.4207824766635895,
0.9553257822990417,
-6.397698371074512e-7,
0.12931980192661285
] | [
0.16955351829528809,
-0.6689882874488831,
0.3531612157821655,
0.8270114660263062,
0.000003174940047756536,
0.14835788309574127
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.323565 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.3 | 43 | 0 | 43 | 0 |
[
7.142763614654541,
-40.164554595947266,
33.723514556884766,
54.97429275512695,
0.024365495890378952,
7.414647579193115
] | [
8.821171760559082,
-33.07902526855469,
32.49093246459961,
47.56702423095703,
0.024521110579371452,
8.285714149475098
] | [
0.2683931589126587,
-0.036094728857278824,
0.17733164131641388,
3.0637545585632324,
1.0110386610031128,
2.8939037322998047
] | 1 | [
0.15591669082641602,
-0.7336123585700989,
0.3977818489074707,
0.8937007784843445,
-0.0000017126460534200305,
0.1605444848537445
] | [
0.18282173573970795,
-0.6054117679595947,
0.3768795430660248,
0.7621217370033264,
0.000003174940047756536,
0.1795853227376938
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.371316 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.4 | 44 | 0 | 44 | 0 |
[
7.9457573890686035,
-36.801002502441406,
32.60538101196289,
51.43011474609375,
0.02429717779159546,
8.843303680419922
] | [
9.65060043334961,
-29.664426803588867,
28.675373077392578,
43.90644073486328,
0.024521110579371452,
9.714284896850586
] | [
0.27793624997138977,
-0.04075511172413826,
0.1779322475194931,
3.0599894523620605,
1.0320074558258057,
2.877819061279297
] | 1 | [
0.16878876090049744,
-0.6727546453475952,
0.37882035970687866,
0.8307437300682068,
-0.000003858398486045189,
0.19177380204200745
] | [
0.19611756503582,
-0.5436303615570068,
0.3121746778488159,
0.6970970034599304,
0.000003174940047756536,
0.2108127772808075
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.419312 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.5 | 45 | 0 | 45 | 0 |
[
8.758397102355957,
-33.39931869506836,
31.27482032775879,
47.84407043457031,
0.024316154420375824,
10.271781921386719
] | [
10.473809242248535,
-26.27543067932129,
30.080570220947266,
40.27330780029297,
0.024521110579371452,
11.142858505249023
] | [
0.28755447268486023,
-0.04573580622673035,
0.17900213599205017,
3.0552244186401367,
1.0566080808639526,
2.8606724739074707
] | 1 | [
0.18181546032428741,
-0.6112069487571716,
0.35625651478767395,
0.7670430541038513,
-0.000003262375685153529,
0.2229992300271988
] | [
0.20931367576122284,
-0.48231226205825806,
0.33600422739982605,
0.6325598359107971,
0.000003174940047756536,
0.24204029142856598
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.468131 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.6 | 46 | 0 | 46 | 0 |
[
9.573186874389648,
-30.017866134643555,
30.154085159301758,
44.24816131591797,
0.024308564141392708,
11.700346946716309
] | [
11.284551620483398,
-22.93775749206543,
28.898107528686523,
36.69519805908203,
0.024521110579371452,
12.571428298950195
] | [
0.296785444021225,
-0.05092441663146019,
0.17881163954734802,
3.0506839752197266,
1.0781971216201782,
2.8436338901519775
] | 1 | [
0.19487661123275757,
-0.5500252842903137,
0.3372509181499481,
0.7031671404838562,
-0.0000035007731185032753,
0.25422653555870056
] | [
0.22230996191501617,
-0.4219227135181427,
0.3159518539905548,
0.5690001249313354,
0.000003174940047756536,
0.2732677161693573
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.516503 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.7 | 47 | 0 | 47 | 0 |
[
10.382864952087402,
-26.6678466796875,
29.034164428710938,
40.67483901977539,
0.024281995370984077,
13.128911972045898
] | [
12.073503494262695,
-19.680572509765625,
27.747425079345703,
33.21324920654297,
0.024521110579371452,
14.000001907348633
] | [
0.3056977093219757,
-0.056291546672582626,
0.17826467752456665,
3.0457255840301514,
1.099929690361023,
2.8262598514556885
] | 1 | [
0.20785583555698395,
-0.4894123673439026,
0.3182591199874878,
0.6396924257278442,
-0.000004335252015152946,
0.2854538857936859
] | [
0.23495693504810333,
-0.36298948526382446,
0.29643839597702026,
0.5071485042572021,
0.000003174940047756536,
0.3044952154159546
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.564512 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.8 | 48 | 0 | 48 | 0 |
[
11.180085182189941,
-23.361719131469727,
27.908374786376953,
37.15647506713867,
0.024244040250778198,
14.557486534118652
] | [
12.834752082824707,
-16.486249923706055,
26.637149810791016,
29.853572845458984,
0.024521110579371452,
15.428571701049805
] | [
0.3142240643501282,
-0.06177573278546333,
0.1773838847875595,
3.0403454303741455,
1.121569275856018,
2.8086588382720947
] | 1 | [
0.22063535451889038,
-0.42959359288215637,
0.29916781187057495,
0.5771939754486084,
-0.00000552735582459718,
0.3166814148426056
] | [
0.24715982377529144,
-0.30519363284111023,
0.2776101529598236,
0.44746890664100647,
0.000003174940047756536,
0.3357226550579071
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.611887 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 4.9 | 49 | 0 | 49 | 0 |
[
11.95726203918457,
-20.124177932739258,
26.7976131439209,
33.7265739440918,
0.0242212675511837,
15.986054420471191
] | [
13.562331199645996,
-13.433210372924805,
25.57604217529297,
26.64249038696289,
0.024521110579371452,
16.857141494750977
] | [
0.32227209210395813,
-0.06730008870363235,
0.1761244684457779,
3.0346262454986572,
1.1426151990890503,
2.791022300720215
] | 1 | [
0.23309357464313507,
-0.3710157573223114,
0.2803313136100769,
0.516266942024231,
-0.000006242606559681008,
0.34790879487991333
] | [
0.2588230073451996,
-0.24995405972003937,
0.2596157491207123,
0.3904288411140442,
0.000003174940047756536,
0.3669500946998596
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.658233 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5 | 50 | 0 | 50 | 0 |
[
12.671318054199219,
-17.151552200317383,
26.17803192138672,
30.575057983398438,
0.02420988120138645,
17.41468048095703
] | [
13.984278678894043,
-11.66264820098877,
24.960683822631836,
24.780275344848633,
0.024521110579371452,
18.285715103149414
] | [
0.32900190353393555,
-0.0724160447716713,
0.1727479100227356,
3.0309369564056396,
1.1552294492721558,
2.776209831237793
] | 1 | [
0.24453996121883392,
-0.317231148481369,
0.26982438564300537,
0.4602850079536438,
-0.000006600232154596597,
0.37913745641708374
] | [
0.26558685302734375,
-0.2179187387228012,
0.2491803914308548,
0.3573493957519531,
0.000003174940047756536,
0.3981775939464569
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.700529 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.1 | 51 | 0 | 51 | 0 |
[
13.248734474182129,
-14.734210014343262,
25.611225128173828,
28.026935577392578,
0.024187108501791954,
18.843242645263672
] | [
14.343286514282227,
-10.156192779541016,
24.437114715576172,
23.195838928222656,
0.024521110579371452,
19.714284896850586
] | [
0.33428841829299927,
-0.07664700597524643,
0.17000712454319,
3.0275237560272217,
1.1662838459014893,
2.7638230323791504
] | 1 | [
0.2537960112094879,
-0.2734934389591217,
0.26021236181259155,
0.41502144932746887,
-0.000007315482889680425,
0.41036471724510193
] | [
0.27134180068969727,
-0.19066199660301208,
0.24030162394046783,
0.329204261302948,
0.000003174940047756536,
0.4294050335884094
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.735839 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.2 | 52 | 0 | 52 | 0 |
[
13.742220878601074,
-12.66796875,
25.058256149291992,
25.849069595336914,
0.024175722151994705,
20.27181053161621
] | [
14.712057113647461,
-8.608773231506348,
23.899309158325195,
21.568315505981445,
0.024521110579371452,
21.142858505249023
] | [
0.338708758354187,
-0.08033061772584915,
0.16781257092952728,
3.0240824222564697,
1.1768784523010254,
2.7527413368225098
] | 1 | [
0.2617066502571106,
-0.23610831797122955,
0.25083503127098083,
0.37633493542671204,
-0.000007673108484596014,
0.44159209728240967
] | [
0.2772532105445862,
-0.16266405582427979,
0.23118142783641815,
0.3002937436103821,
0.000003174940047756536,
0.4606325328350067
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.766844 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.3 | 53 | 0 | 53 | 0 |
[
14.188522338867188,
-10.79860782623291,
24.508167266845703,
23.879322052001953,
0.024164335802197456,
21.700382232666016
] | [
15.091354370117188,
-7.017179012298584,
23.34615135192871,
19.894330978393555,
0.024521110579371452,
22.571428298950195
] | [
0.3426247239112854,
-0.08371332287788391,
0.1659267395734787,
3.020524740219116,
1.187286615371704,
2.7422947883605957
] | 1 | [
0.26886090636253357,
-0.20228539407253265,
0.24150654673576355,
0.34134531021118164,
-0.000008030733624764252,
0.47281959652900696
] | [
0.2833333909511566,
-0.13386686146259308,
0.22180089354515076,
0.2705579400062561,
0.000003174940047756536,
0.49185997247695923
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.795418 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.4 | 54 | 0 | 54 | 0 |
[
14.610231399536133,
-9.031466484069824,
23.953962326049805,
22.018049240112305,
0.024152949452400208,
23.12895393371582
] | [
15.482659339904785,
-5.375080585479736,
22.775482177734375,
18.167354583740234,
0.024521110579371452,
23.999998092651367
] | [
0.34624287486076355,
-0.08695027232170105,
0.16418957710266113,
3.0167815685272217,
1.1976827383041382,
2.732055902481079
] | 1 | [
0.2756209373474121,
-0.17031197249889374,
0.2321082502603531,
0.30828261375427246,
-0.000008388358764932491,
0.5040470361709595
] | [
0.2896060347557068,
-0.10415587574243546,
0.21212339401245117,
0.23988080024719238,
0.000003174940047756536,
0.5230873823165894
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.822687 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.5 | 55 | 0 | 55 | 0 |
[
15.02172565460205,
-7.306497573852539,
23.390485763549805,
20.201894760131836,
0.02414535917341709,
24.557525634765625
] | [
15.883113861083984,
-3.6945760250091553,
22.191469192504883,
16.39999771118164,
0.024521110579371452,
25.428571701049805
] | [
0.3496840000152588,
-0.09014210104942322,
0.16249366104602814,
3.0127885341644287,
1.2081913948059082,
2.721733570098877
] | 1 | [
0.28221723437309265,
-0.13910159468650818,
0.22255273163318634,
0.2760213315486908,
-0.000008626756425655913,
0.5352745056152344
] | [
0.2960253655910492,
-0.07374999672174454,
0.20221960544586182,
0.20848636329174042,
0.000003174940047756536,
0.554314911365509
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.849346 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.6 | 56 | 0 | 56 | 0 |
[
15.431662559509277,
-5.587418079376221,
22.814687728881836,
18.392578125,
0.024133972823619843,
25.986099243164062
] | [
16.29909896850586,
-1.9488976001739502,
21.584806442260742,
14.56409740447998,
0.024521110579371452,
26.85714340209961
] | [
0.3530133366584778,
-0.0933498963713646,
0.160768061876297,
3.008488178253174,
1.2188866138458252,
2.7111332416534424
] | 1 | [
0.2887885570526123,
-0.10799776762723923,
0.21278825402259827,
0.24388155341148376,
-0.000008984381565824151,
0.566502034664154
] | [
0.3026936650276184,
-0.04216491058468819,
0.19193172454833984,
0.17587435245513916,
0.000003174940047756536,
0.5855423808097839
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.875772 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.7 | 57 | 0 | 57 | 0 |
[
15.84695816040039,
-3.8455591201782227,
22.222211837768555,
16.559659957885742,
0.024133972823619843,
27.414669036865234
] | [
16.731611251831055,
-0.13386023044586182,
20.95404052734375,
12.655253410339355,
0.024521110579371452,
28.285715103149414
] | [
0.35627618432044983,
-0.09662365168333054,
0.1589599996805191,
3.0038046836853027,
1.2298624515533447,
2.700070858001709
] | 1 | [
0.2954457998275757,
-0.07648178189992905,
0.20274095237255096,
0.21132251620292664,
-0.000008984381565824151,
0.5977294445037842
] | [
0.30962687730789185,
-0.00932488776743412,
0.18123510479927063,
0.14196659624576569,
0.000003174940047756536,
0.6167698502540588
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.902191 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.8 | 58 | 0 | 58 | 0 |
[
16.2730712890625,
-2.0580670833587646,
21.608577728271484,
14.679001808166504,
0.024122586473822594,
28.843242645263672
] | [
17.189916610717773,
1.7894139289855957,
20.285659790039062,
10.632579803466797,
0.024521110579371452,
29.71428680419922
] | [
0.3595013916492462,
-0.10000351071357727,
0.15702611207962036,
2.9986445903778076,
1.2412075996398926,
2.6883668899536133
] | 1 | [
0.3022764325141907,
-0.04414014518260956,
0.192334845662117,
0.17791545391082764,
-0.000009342007615487091,
0.6289569735527039
] | [
0.3169735372066498,
0.025473495945334435,
0.16990059614181519,
0.10603684186935425,
0.000003174940047756536,
0.6479973196983337
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.928562 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 5.9 | 59 | 0 | 59 | 0 |
[
16.6662654876709,
-0.4066823422908783,
21.04289436340332,
12.94420051574707,
0.024122586473822594,
29.822376251220703
] | [
17.289470672607422,
2.2071876525878906,
20.140474319458008,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3623582720756531,
-0.10313623398542404,
0.15513402223587036,
2.993598222732544,
1.2516142129898071,
2.6772806644439697
] | 1 | [
0.30857938528060913,
-0.014261140488088131,
0.1827418953180313,
0.1470993161201477,
-0.000009342007615487091,
0.650360107421875
] | [
0.3185694217681885,
0.03303240239620209,
0.16743852198123932,
0.09823217988014221,
0.000003174940047756536,
0.6542428135871887
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.951403 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 6 | 60 | 0 | 60 | 0 |
[
16.911245346069336,
0.6226421594619751,
20.690940856933594,
11.86316204071045,
0.024122586473822594,
29.97565460205078
] | [
17.289470672607422,
2.2071876525878906,
20.140474319458008,
10.193214416503906,
0.024521110579371452,
30
] | [
0.36407890915870667,
-0.10509350150823593,
0.15390655398368835,
2.9902968406677246,
1.2580809593200684,
2.6702158451080322
] | 1 | [
0.31250640749931335,
0.004362740088254213,
0.17677341401576996,
0.1278962939977646,
-0.000009342007615487091,
0.653710663318634
] | [
0.3185694217681885,
0.03303240239620209,
0.16743852198123932,
0.09823217988014221,
0.000003174940047756536,
0.6542428135871887
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.964772 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 6.1 | 61 | 0 | 61 | 0 |
[
17.059921264648438,
1.2466590404510498,
20.47637367248535,
11.206926345825195,
0.024122586473822594,
29.99666404724121
] | [
17.289470672607422,
2.2071876525878906,
20.140474319458008,
10.193214416503906,
0.024521110579371452,
30
] | [
0.36510154604911804,
-0.10628332942724228,
0.15315411984920502,
2.9882116317749023,
1.2620350122451782,
2.6658473014831543
] | 1 | [
0.31488969922065735,
0.01565326750278473,
0.17313475906848907,
0.11623924225568771,
-0.000009342007615487091,
0.6541698575019836
] | [
0.3185694217681885,
0.03303240239620209,
0.16743852198123932,
0.09823217988014221,
0.000003174940047756536,
0.6542428135871887
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.972461 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 6.2 | 62 | 0 | 62 | 0 |
[
17.150142669677734,
1.6249384880065918,
20.34547996520996,
10.808573722839355,
0.024122586473822594,
29.999540328979492
] | [
17.289470672607422,
2.2071876525878906,
20.140474319458008,
10.193214416503906,
0.024521110579371452,
30
] | [
0.36571449041366577,
-0.10700613260269165,
0.15269742906093597,
2.9869096279144287,
1.26445472240448,
2.6631600856781006
] | 1 | [
0.3163359761238098,
0.022497590631246567,
0.17091503739356995,
0.10916311293840408,
-0.000009342007615487091,
0.6542327404022217
] | [
0.3185694217681885,
0.03303240239620209,
0.16743852198123932,
0.09823217988014221,
0.000003174940047756536,
0.6542428135871887
] | Approach red cube and open gripper | Is the gripper above the red cube and open? | move_and_open | 0.976809 | [
17.289470672607422,
4.080558776855469,
20.533435821533203,
10.193214416503906,
0.024521110579371452,
30
] | [
0.3670705258846283,
-0.1082623079419136,
0.1394542008638382,
3.0045669078826904,
1.2282010316848755,
2.6776692867279053
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.1599999964237213
] | 6.3 | 63 | 0 | 63 | 0 |
[
17.17623519897461,
1.671546459197998,
20.21161651611328,
10.696061134338379,
0.024122586473822594,
29.999927520751953
] | [
17.18439292907715,
1.5275682210922241,
19.90201187133789,
10.682889938354492,
0.024122586473822594,
30
] | [
0.3659656345844269,
-0.10723984986543655,
0.15337488055229187,
2.9850566387176514,
1.2678346633911133,
2.6609740257263184
] | 1 | [
0.31675422191619873,
0.02334088459610939,
0.1686449646949768,
0.10716449469327927,
-0.000009342007615487091,
0.6542412042617798
] | [
0.31688499450683594,
0.020735841244459152,
0.16339462995529175,
0.10693052411079407,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 6.4 | 64 | 0 | 64 | 0 |
[
17.187414169311523,
1.66389000415802,
20.07574462890625,
10.678107261657715,
0.024122586473822594,
29.999927520751953
] | [
17.238590240478516,
1.8720468282699585,
19.831710815429688,
10.596837043762207,
0.024122586473822594,
30
] | [
0.3661215901374817,
-0.10735592991113663,
0.15411902964115143,
2.9835333824157715,
1.2705589532852173,
2.6593403816223145
] | 1 | [
0.31693342328071594,
0.023202352225780487,
0.16634082794189453,
0.10684557259082794,
-0.000009342007615487091,
0.6542412042617798
] | [
0.31775379180908203,
0.02696859836578369,
0.16220246255397797,
0.10540192574262619,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.000121 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 6.5 | 65 | 0 | 65 | 0 |
[
17.22243881225586,
1.8390655517578125,
19.95638656616211,
10.622288703918457,
0.024122586473822594,
29.999927520751953
] | [
17.333759307861328,
2.4798216819763184,
19.706893920898438,
10.4451904296875,
0.024122586473822594,
30
] | [
0.3663679361343384,
-0.10764044523239136,
0.15384553372859955,
2.983618974685669,
1.2704071998596191,
2.658860683441162
] | 1 | [
0.3174948990345001,
0.026371857151389122,
0.16431672871112823,
0.10585403442382812,
-0.000009342007615487091,
0.6542412042617798
] | [
0.31927937269210815,
0.03796525299549103,
0.1600857973098755,
0.10270815342664719,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.005735 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 6.6 | 66 | 0 | 66 | 0 |
[
17.288183212280273,
1.6322413682937622,
19.836549758911133,
10.517684936523438,
0.024107404053211212,
29.99994468688965
] | [
17.467321395874023,
1.5068228244781494,
19.528718948364258,
10.231181144714355,
0.024122586473822594,
30
] | [
0.3663547933101654,
-0.10801870375871658,
0.15587766468524933,
2.9792685508728027,
1.2779330015182495,
2.653646230697632
] | 1 | [
0.3185487687587738,
0.02262972481548786,
0.16228452324867249,
0.1039959043264389,
-0.000009818861144594848,
0.6542416214942932
] | [
0.3214203715324402,
0.020360488444566727,
0.1570642739534378,
0.09890659898519516,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.002148 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 6.7 | 67 | 0 | 67 | 0 |
[
17.38656234741211,
1.760385513305664,
19.668203353881836,
10.359655380249023,
0.024107404053211212,
29.99994468688965
] | [
17.63517189025879,
2.5987532138824463,
19.2990665435791,
9.959965705871582,
0.024122586473822594,
30
] | [
0.3666074573993683,
-0.10867545008659363,
0.1563812643289566,
2.977294445037842,
1.2812280654907227,
2.6501781940460205
] | 1 | [
0.3201257884502411,
0.024948274716734886,
0.159429669380188,
0.10118874907493591,
-0.000009818861144594848,
0.6542416214942932
] | [
0.32411104440689087,
0.04011711850762367,
0.15316979587078094,
0.09408886730670929,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.007629 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 6.8 | 68 | 0 | 68 | 0 |
[
17.516908645629883,
2.3012709617614746,
19.47072982788086,
10.149219512939453,
0.024107404053211212,
29.999948501586914
] | [
17.828947067260742,
3.8755693435668945,
19.026220321655273,
9.64381217956543,
0.024122586473822594,
30
] | [
0.3671591877937317,
-0.10962031036615372,
0.15480881929397583,
2.9788918495178223,
1.2785676717758179,
2.6496188640594482
] | 1 | [
0.3222152590751648,
0.034734681248664856,
0.15608088672161102,
0.09745067358016968,
-0.000009818861144594848,
0.654241681098938
] | [
0.3272172808647156,
0.06321893632411957,
0.14854282140731812,
0.0884728729724884,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.02401 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 6.9 | 69 | 0 | 69 | 0 |
[
17.676319122314453,
3.163339853286743,
19.237585067749023,
9.889792442321777,
0.024107404053211212,
29.999954223632812
] | [
18.045063018798828,
5.323809623718262,
18.71039390563965,
9.286659240722656,
0.024122586473822594,
30
] | [
0.3679324984550476,
-0.11081396788358688,
0.1516885906457901,
2.9829249382019043,
1.271630883216858,
2.650921583175659
] | 1 | [
0.32477062940597534,
0.05033235251903534,
0.15212717652320862,
0.09284234046936035,
-0.000009818861144594848,
0.6542418003082275
] | [
0.33068162202835083,
0.08942238986492157,
0.14318698644638062,
0.08212858438491821,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.049025 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7 | 70 | 0 | 70 | 0 |
[
17.860801696777344,
4.280435562133789,
18.96668243408203,
9.586468696594238,
0.024107404053211212,
29.99995994567871
] | [
18.27674102783203,
6.9240546226501465,
18.356948852539062,
8.89791488647461,
0.024122586473822594,
30
] | [
0.36885058879852295,
-0.11221073567867279,
0.1473768949508667,
2.988475799560547,
1.261536955833435,
2.6532604694366455
] | 1 | [
0.32772791385650635,
0.0705443024635315,
0.14753316342830658,
0.08745425194501877,
-0.000009818861144594848,
0.6542419195175171
] | [
0.33439546823501587,
0.11837610602378845,
0.1371932178735733,
0.07522312551736832,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.08099 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.1 | 71 | 0 | 71 | 0 |
[
18.065731048583984,
5.615407943725586,
18.657947540283203,
9.245235443115234,
0.024107404053211212,
29.999963760375977
] | [
18.518085479736328,
8.663735389709473,
17.971471786499023,
8.486127853393555,
0.024122586473822594,
30
] | [
0.3698505759239197,
-0.1137651577591896,
0.14205285906791687,
2.994973659515381,
1.2488391399383545,
2.6561524868011475
] | 1 | [
0.33101293444633484,
0.09469836950302124,
0.14229759573936462,
0.08139275759458542,
-0.000009818861144594848,
0.6542420387268066
] | [
0.33826422691345215,
0.1498526781797409,
0.13065622746944427,
0.06790834665298462,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.118929 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.2 | 72 | 0 | 72 | 0 |
[
18.286020278930664,
7.125915050506592,
18.31426429748535,
8.872958183288574,
0.024107404053211212,
29.999969482421875
] | [
18.764389038085938,
10.490707397460938,
17.554306030273438,
8.056496620178223,
0.024122586473822594,
30
] | [
0.37086594104766846,
-0.11542663723230362,
0.1359117031097412,
3.001906156539917,
1.2341198921203613,
2.6591813564300537
] | 1 | [
0.33454421162605286,
0.12202843278646469,
0.13646936416625977,
0.07477980852127075,
-0.000009818861144594848,
0.6542421579360962
] | [
0.3422124981880188,
0.18290863931179047,
0.12358187139034271,
0.06027659401297569,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.161707 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.3 | 73 | 0 | 73 | 0 |
[
18.516576766967773,
8.770297050476074,
17.938222885131836,
8.476469993591309,
0.024107404053211212,
29.999971389770508
] | [
19.01003074645996,
12.36837100982666,
17.112621307373047,
7.617898941040039,
0.024122586473822594,
30
] | [
0.3718400299549103,
-0.11714645475149155,
0.1291508972644806,
3.0088694095611572,
1.2179579734802246,
2.662039279937744
] | 1 | [
0.3382400572299957,
0.15178072452545166,
0.13009239733219147,
0.06773678958415985,
-0.000009818861144594848,
0.6542421579360962
] | [
0.34615015983581543,
0.21688178181648254,
0.11609171330928802,
0.05248556658625603,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.208209 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.4 | 74 | 0 | 74 | 0 |
[
18.75234603881836,
10.512454986572266,
17.53299331665039,
8.062674522399902,
0.024107404053211212,
29.999975204467773
] | [
19.25092315673828,
14.27367115020752,
16.649991989135742,
7.176140308380127,
0.024122586473822594,
30
] | [
0.3727289140224457,
-0.11887906491756439,
0.12193793803453445,
3.0156075954437256,
1.2008236646652222,
2.664562940597534
] | 1 | [
0.3420194387435913,
0.1833021193742752,
0.12322044372558594,
0.06038633733987808,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3500116765499115,
0.25135496258735657,
0.10824637115001678,
0.044638387858867645,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.257457 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.5 | 75 | 0 | 75 | 0 |
[
18.988584518432617,
12.320303916931152,
17.102426528930664,
7.638269901275635,
0.024107404053211212,
29.999975204467773
] | [
19.481977462768555,
16.18191909790039,
16.169015884399414,
6.7377214431762695,
0.024122586473822594,
30
] | [
0.37350061535835266,
-0.12058369815349579,
0.11441940069198608,
3.021969795227051,
1.1831097602844238,
2.666687488555908
] | 1 | [
0.34580639004707336,
0.21601209044456482,
0.11591882258653641,
0.052847426384687424,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3537155091762543,
0.2858814597129822,
0.1000899001955986,
0.03685053437948227,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.308573 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.6 | 76 | 0 | 76 | 0 |
[
19.22083854675293,
14.165268898010254,
16.650312423706055,
7.2096052169799805,
0.024107404053211212,
29.999977111816406
] | [
19.700881958007812,
18.07112693786621,
15.675833702087402,
6.30755615234375,
0.024122586473822594,
30
] | [
0.37413570284843445,
-0.12222477048635483,
0.10672713071107864,
3.0278749465942383,
1.1651540994644165,
2.6684112548828125
] | 1 | [
0.3495294451713562,
0.24939359724521637,
0.10825180262327194,
0.04523284360766411,
-0.000009818861144594848,
0.6542422771453857
] | [
0.35722458362579346,
0.3200634717941284,
0.09172643721103668,
0.02920929528772831,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.360771 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.7 | 77 | 0 | 77 | 0 |
[
19.445140838623047,
16.021440505981445,
16.180782318115234,
6.782594680786133,
0.024107404053211212,
29.999977111816406
] | [
19.90415382385254,
19.920982360839844,
15.173807144165039,
5.890713691711426,
0.024122586473822594,
30
] | [
0.3746252655982971,
-0.1237727701663971,
0.09898076206445694,
3.033287525177002,
1.1472495794296265,
2.6697700023651123
] | 1 | [
0.3531250059604645,
0.2829778790473938,
0.10028943419456482,
0.03764764219522476,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3604830503463745,
0.35353347659111023,
0.08321299403905869,
0.02180471643805504,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.413334 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.8 | 78 | 0 | 78 | 0 |
[
19.658124923706055,
17.859060287475586,
15.698323249816895,
6.362534046173096,
0.024107404053211212,
29.999977111816406
] | [
20.088979721069336,
21.667552947998047,
14.667562484741211,
5.4920477867126465,
0.024122586473822594,
30
] | [
0.3749723732471466,
-0.125205859541893,
0.09132605046033859,
3.0381715297698975,
1.1297636032104492,
2.670790910720825
] | 1 | [
0.35653916001319885,
0.3162264823913574,
0.09210781753063202,
0.030185895040631294,
-0.000009818861144594848,
0.6542422771453857
] | [
0.36344581842422485,
0.3851346969604492,
0.07462801784276962,
0.014723015017807484,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.465452 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 7.9 | 79 | 0 | 79 | 0 |
[
19.856849670410156,
19.648204803466797,
15.206731796264648,
5.95428466796875,
0.024107404053211212,
29.999977111816406
] | [
20.255332946777344,
23.34191131591797,
14.161569595336914,
5.113353252410889,
0.024122586473822594,
30
] | [
0.3751944303512573,
-0.1265101432800293,
0.08391667902469635,
3.04250168800354,
1.113086223602295,
2.6715056896209717
] | 1 | [
0.359724760055542,
0.34859800338745117,
0.08377133309841156,
0.02293395809829235,
-0.000009818861144594848,
0.6542422771453857
] | [
0.36611247062683105,
0.41542938351631165,
0.0660473108291626,
0.007996074855327606,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.51632 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8 | 80 | 0 | 80 | 0 |
[
20.039155960083008,
21.37731170654297,
14.710399627685547,
5.561927795410156,
0.024107404053211212,
29.999977111816406
] | [
20.4003849029541,
24.92804527282715,
13.660591125488281,
4.759552001953125,
0.024122586473822594,
30
] | [
0.3753073811531067,
-0.12767623364925385,
0.07679801434278488,
3.04634165763855,
1.0972812175750732,
2.6720147132873535
] | 1 | [
0.362647145986557,
0.3798832595348358,
0.07535445690155029,
0.01596432738006115,
-0.000009818861144594848,
0.6542422771453857
] | [
0.36843767762184143,
0.44412776827812195,
0.057551637291908264,
0.0017113276990130544,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.565593 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.1 | 81 | 0 | 81 | 0 |
[
20.203420639038086,
23.03484344482422,
14.213823318481445,
5.188960552215576,
0.024107404053211212,
29.999977111816406
] | [
20.52489471435547,
26.418893814086914,
13.169286727905273,
4.431664943695068,
0.024122586473822594,
30
] | [
0.3753296732902527,
-0.12869931757450104,
0.07001685351133347,
3.04974102973938,
1.0824201107025146,
2.6723954677581787
] | 1 | [
0.3652803301811218,
0.40987348556518555,
0.06693343818187714,
0.009339125826954842,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3704335689544678,
0.47110214829444885,
0.049220021814107895,
-0.004113093484193087,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.612931 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.2 | 82 | 0 | 82 | 0 |
[
20.34853172302246,
24.609338760375977,
13.721015930175781,
4.838425159454346,
0.024107404053211212,
29.999977111816406
] | [
20.630016326904297,
27.810758590698242,
12.669891357421875,
4.129929542541504,
0.024122586473822594,
30
] | [
0.3752829432487488,
-0.1295793354511261,
0.0636231005191803,
3.0527374744415283,
1.0685893297195435,
2.67270565032959
] | 1 | [
0.3676064610481262,
0.4383613169193268,
0.05857633054256439,
0.0031123908702284098,
-0.000009818861144594848,
0.6542422771453857
] | [
0.37211868166923523,
0.4962855875492096,
0.040751196444034576,
-0.009472968988120556,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.658002 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.3 | 83 | 0 | 83 | 0 |
[
20.474254608154297,
26.09174346923828,
13.220723152160645,
4.512367248535156,
0.024107404053211212,
29.999977111816406
] | [
20.714017868041992,
29.081907272338867,
12.157369613647461,
3.859092950820923,
0.024122586473822594,
30
] | [
0.37522369623184204,
-0.13033558428287506,
0.05772067978978157,
3.055314302444458,
1.0561065673828125,
2.672941207885742
] | 1 | [
0.36962181329727173,
0.46518293023109436,
0.05009228736162186,
-0.0026795382145792246,
-0.000009818861144594848,
0.6542422771453857
] | [
0.37346524000167847,
0.5192848443984985,
0.032059770077466965,
-0.014283974654972553,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.700642 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.4 | 84 | 0 | 84 | 0 |
[
20.578868865966797,
27.442014694213867,
12.734550476074219,
4.219241142272949,
0.024107404053211212,
29.999977111816406
] | [
20.76302719116211,
29.912975311279297,
11.810845375061035,
3.6843509674072266,
0.024122586473822594,
30
] | [
0.3751619756221771,
-0.13096076250076294,
0.05244040861725807,
3.0574779510498047,
1.0451799631118774,
2.6731417179107666
] | 1 | [
0.37129878997802734,
0.48961377143859863,
0.04184769466519356,
-0.007886483334004879,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3742508590221405,
0.5343216061592102,
0.02618335746228695,
-0.017388002946972847,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.739628 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.5 | 85 | 0 | 85 | 0 |
[
20.65675163269043,
28.516708374023438,
12.332149505615234,
3.9879825115203857,
0.024107404053211212,
29.999977111816406
] | [
20.79415512084961,
30.50018882751465,
11.559220314025879,
3.5622613430023193,
0.024122586473822594,
30
] | [
0.3750954270362854,
-0.13141854107379913,
0.04828136786818504,
3.0590999126434326,
1.0367066860198975,
2.673293113708496
] | 1 | [
0.3725472688674927,
0.5090585350990295,
0.03502371534705162,
-0.011994444765150547,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3747498393058777,
0.5449462532997131,
0.021916260942816734,
-0.019556742161512375,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.7707 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.6 | 86 | 0 | 86 | 0 |
[
20.71584701538086,
29.400117874145508,
11.986161231994629,
3.799543857574463,
0.024107404053211212,
29.999977111816406
] | [
20.82262420654297,
31.091245651245117,
11.300408363342285,
3.4405007362365723,
0.024122586473822594,
30
] | [
0.3750447630882263,
-0.13176600635051727,
0.04491172358393669,
3.060357093811035,
1.02996826171875,
2.6734256744384766
] | 1 | [
0.37349456548690796,
0.5250423550605774,
0.029156392440199852,
-0.015341774560511112,
-0.000009818861144594848,
0.6542422771453857
] | [
0.37520620226860046,
0.5556403994560242,
0.01752728596329689,
-0.021719636395573616,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.796274 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.7 | 87 | 0 | 87 | 0 |
[
20.762399673461914,
30.168861389160156,
11.672181129455566,
3.6373488903045654,
0.024107404053211212,
29.999977111816406
] | [
20.848121643066406,
31.685850143432617,
11.033961296081543,
3.319247007369995,
0.024122586473822594,
30
] | [
0.3750106990337372,
-0.13204212486743927,
0.04202122986316681,
3.061394691467285,
1.0242900848388672,
2.673567295074463
] | 1 | [
0.37424081563949585,
0.5389514565467834,
0.023831868544220924,
-0.018222924321889877,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3756149411201477,
0.5663987994194031,
0.013008835725486279,
-0.023873526602983475,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.818526 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.8 | 88 | 0 | 88 | 0 |
[
20.80010223388672,
30.86933708190918,
11.374975204467773,
3.4913747310638428,
0.024107404053211212,
29.999977111816406
] | [
20.870405197143555,
32.28466033935547,
10.75905704498291,
3.1984729766845703,
0.024122586473822594,
30
] | [
0.3749912679195404,
-0.13226903975009918,
0.0394228920340538,
3.062295436859131,
1.0192712545394897,
2.673731565475464
] | 1 | [
0.3748451769351959,
0.5516253709793091,
0.0187918022274971,
-0.020815936848521233,
-0.000009818861144594848,
0.6542422771453857
] | [
0.3759721517562866,
0.5772332549095154,
0.008346965536475182,
-0.026018895208835602,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.838763 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 8.9 | 89 | 0 | 89 | 0 |
[
20.831096649169922,
31.529991149902344,
11.084765434265137,
3.3554866313934326,
0.024107404053211212,
29.999977111816406
] | [
20.88933563232422,
32.89058303833008,
10.473884582519531,
3.077690601348877,
0.024122586473822594,
30
] | [
0.3749847710132599,
-0.13245940208435059,
0.03700337931513786,
3.063108205795288,
1.014672875404358,
2.6739258766174316
] | 1 | [
0.3753420412540436,
0.5635787844657898,
0.013870379887521267,
-0.02322978340089321,
-0.000009818861144594848,
0.6542422771453857
] | [
0.37627559900283813,
0.5881963968276978,
0.0035109661985188723,
-0.028164412826299667,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.857762 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9 | 90 | 0 | 90 | 0 |
[
20.855892181396484,
32.11499786376953,
10.719322204589844,
3.0713882446289062,
0.263343870639801,
30.34657859802246
] | [
20.90369987487793,
33.492698669433594,
10.181891441345215,
2.959418296813965,
0.024122586473822594,
30
] | [
0.37546679377555847,
-0.1328677386045456,
0.03568979725241661,
3.075075149536133,
1.015873908996582,
2.687648057937622
] | 1 | [
0.37573951482772827,
0.5741634964942932,
0.007673135958611965,
-0.028276365250349045,
0.00750418147072196,
0.6618187427520752
] | [
0.37650585174560547,
0.5990906357765198,
-0.0014406995614990592,
-0.030265342444181442,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.874682 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.1 | 91 | 0 | 91 | 0 |
[
20.877593994140625,
32.64423751831055,
10.290035247802734,
2.687044143676758,
0.6869417428970337,
30.866634368896484
] | [
20.914196014404297,
34.10902404785156,
9.874866485595703,
2.840012550354004,
0.024122586473822594,
30
] | [
0.3763149380683899,
-0.13345105946063995,
0.03520573675632477,
3.0960631370544434,
1.0211410522460938,
2.71213698387146
] | 1 | [
0.37608739733695984,
0.583739161491394,
0.00039322010707110167,
-0.03510366007685661,
0.02080865204334259,
0.6731867790222168
] | [
0.3766741156578064,
0.6102420091629028,
-0.006647277157753706,
-0.032386407256126404,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.886531 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.2 | 92 | 0 | 92 | 0 |
[
20.895851135253906,
33.218727111816406,
9.922017097473145,
2.4359209537506104,
0.9088670611381531,
31.020681381225586
] | [
20.919742584228516,
34.73828125,
9.551389694213867,
2.720139980316162,
0.024122586473822594,
30
] | [
0.37676435708999634,
-0.13380210101604462,
0.033875688910484314,
3.1074118614196777,
1.0217257738113403,
2.7251596450805664
] | 1 | [
0.376380056142807,
0.5941336154937744,
-0.0058476896956563,
-0.03956448659300804,
0.02777894027531147,
0.6765540838241577
] | [
0.3767630159854889,
0.6216273307800293,
-0.012132847681641579,
-0.03451576456427574,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.898374 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.3 | 93 | 0 | 93 | 0 |
[
20.909502029418945,
33.727088928222656,
9.514448165893555,
2.0948245525360107,
1.2898341417312622,
31.407634735107422
] | [
20.920413970947266,
35.00020980834961,
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2.6708872318267822,
0.024122586473822594,
30
] | [
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0.03331505134701729,
3.126845121383667,
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-0.014469992369413376,
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-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.901386 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.4 | 94 | 0 | 94 | 0 |
[
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1.861093282699585,
1.565457820892334,
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] | [
20.920413970947266,
35.00020980834961,
12.751961708068848,
2.6708872318267822,
0.024122586473822594,
30
] | [
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0.03302280604839325,
3.141122341156006,
1.0286858081817627,
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] | 1 | [
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0.04840131103992462,
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] | [
0.37677380442619324,
0.6263664960861206,
0.04214295744895935,
-0.035390663892030716,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.899784 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.5 | 95 | 0 | 95 | 0 |
[
20.92511558532715,
34.18860626220703,
9.442672729492188,
1.4682508707046509,
2.081855058670044,
31.767797470092773
] | [
20.920413970947266,
35.00020980834961,
9.41357135772705,
2.6708872318267822,
0.024122586473822594,
30
] | [
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] | 1 | [
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0.06462045013904572,
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] | [
0.37677380442619324,
0.6263664960861206,
-0.014469992369413376,
-0.035390663892030716,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.893008 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
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-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.6 | 96 | 0 | 96 | 0 |
[
20.929100036621094,
34.298648834228516,
9.370234489440918,
1.2968218326568604,
2.295377254486084,
31.801570892333984
] | [
20.920413970947266,
35.00020980834961,
9.41357135772705,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.3781253397464752,
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0.03234509006142616,
-3.1037261486053467,
1.0317065715789795,
2.8088085651397705
] | 1 | [
0.37691304087638855,
0.6136729717254639,
-0.015204906463623047,
-0.059798870235681534,
0.07132680714130402,
0.6936237812042236
] | [
0.37677380442619324,
0.6263664960861206,
-0.014469992369413376,
-0.035390663892030716,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.889541 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.7 | 97 | 0 | 97 | 0 |
[
20.933265686035156,
34.37356948852539,
9.322816848754883,
1.2365721464157104,
2.367893695831299,
31.86658477783203
] | [
20.920413970947266,
35.00020980834961,
9.41357135772705,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.37821164727211,
-0.1349988430738449,
0.03223266452550888,
-3.0998730659484863,
1.0321341753005981,
2.8132169246673584
] | 1 | [
0.376979798078537,
0.6150285005569458,
-0.016009021550416946,
-0.060869116336107254,
0.07360441982746124,
0.6950449347496033
] | [
0.37677380442619324,
0.6263664960861206,
-0.014469992369413376,
-0.035390663892030716,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.888044 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.8 | 98 | 0 | 98 | 0 |
[
20.937332153320312,
34.42595672607422,
9.276101112365723,
1.2109016180038452,
2.4002575874328613,
31.92607879638672
] | [
20.920413970947266,
35.00020980834961,
12.751961708068848,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.3782811164855957,
-0.13506059348583221,
0.032171811908483505,
-3.098144054412842,
1.0323909521102905,
2.8151566982269287
] | 1 | [
0.37704500555992126,
0.6159763932228088,
-0.01680123433470726,
-0.06132511422038078,
0.07462091743946075,
0.6963453888893127
] | [
0.37677380442619324,
0.6263664960861206,
0.04214295744895935,
-0.035390663892030716,
-0.000009342007615487091,
0.6542428135871887
] | Pick up the red cube from the pocket | Is the red cube grasped? | move | 0.887104 | [
20.920413970947266,
36.75621032714844,
10.276577949523926,
2.6708872318267822,
0.024122586473822594,
30
] | [
0.361990362405777,
-0.14935731887817383,
0.010015470907092094,
3.073931932449341,
0.9462435245513916,
2.6814916133880615
] | 30 | pick red cube from pocket | red cube | [
0.3620354235172272,
-0.14938238263130188,
0.029999954625964165
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
Extract Cube Ours Phase1 80 10Fps
LeRobot v3.0 dataset collected via SCRAPE-IsaacLab — a Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
- Task instruction: "Extract the cube from the pocket and place it on the target marker."
- Robot: so101_follower
- Cameras: top + left-wrist RGB @ 10 fps
- Episodes: 80 (25,138 frames total)
- Labels: per-frame natural-language skill labels in
skill.natural_languageandsubtask.*columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python 3.11, CUDA 12.1.
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