HyeonseokE/smolvla_push_cube_cap_1000_10fps
Robotics • 0.5B • Updated
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 8
values | skill.verification_question stringclasses 8
values | skill.type stringclasses 5
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 0.27 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 21.9 | frame_index int64 0 219 | episode_index int64 0 99 | index int64 0 21.2k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 1 | [
0.00029997772071510553,
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1.1926442384719849,
1.2038220167160034,
-0.0025729378685355186,
0.09750587493181229
] | [
0.012189513072371483,
-1.4224625825881958,
1.0926069021224976,
1.2047102451324463,
-0.0033543300814926624,
0.09227542579174042
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.332504 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
-2.208033323287964,
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77.75614166259766,
72.45671081542969,
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4.135918140411377
] | [
-1.4436851739883423,
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71.67646789550781,
72.50824737548828,
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3.8934242725372314
] | [
0.18151713907718658,
-0.00084614974912256,
0.07563323527574539,
3.0992887020111084,
0.6857929229736328,
3.0688438415527344
] | 1 | [
0.0060224877670407295,
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1.1444940567016602,
1.204249620437622,
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0.08887398988008499
] | [
0.0182750653475523,
-1.3806501626968384,
1.0413939952850342,
1.205165147781372,
-0.0037546611856669188,
0.08357325941324234
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.381865 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
-1.8418649435043335,
-78.3493423461914,
74.8435287475586,
72.4814224243164,
-0.08179017901420593,
3.7375006675720215
] | [
-1.0632177591323853,
-73.60971069335938,
68.64987182617188,
72.53390502929688,
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3.4944491386413574
] | [
0.1838677078485489,
-0.0017086196457967162,
0.08196201920509338,
3.098217725753784,
0.6943879723548889,
3.0619943141937256
] | 1 | [
0.011892203241586685,
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1.0951015949249268,
1.204688549041748,
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] | [
0.024373995140194893,
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0.9900685548782349,
1.2056208848953247,
-0.004155872389674187,
0.07485197484493256
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.43249 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
-1.4705144166946411,
-76.0892105102539,
71.88951873779297,
72.5064468383789,
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3.3399181365966797
] | [
-0.6860835552215576,
-71.3139877319336,
65.64978790283203,
72.55933380126953,
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3.0989692211151123
] | [
0.18640664219856262,
-0.002614382654428482,
0.08831342309713364,
3.0971100330352783,
0.7031071782112122,
3.05502986907959
] | 1 | [
0.017844989895820618,
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1.0450069904327393,
1.205133080482483,
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0.07147404551506042
] | [
0.030419493094086647,
-1.297208547592163,
0.9391926527023315,
1.2060725688934326,
-0.004553568549454212,
0.06620708853006363
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.483823 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
-1.0980440378189087,
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68.92646789550781,
72.53153991699219,
-0.10672266036272049,
2.9475255012512207
] | [
-0.31641629338264465,
-69.06371307373047,
62.7091064453125,
72.58426666259766,
-0.1329714059829712,
2.7113194465637207
] | [
0.18910647928714752,
-0.0035570859909057617,
0.09460858255624771,
3.095975160598755,
0.7118538022041321,
3.0480239391326904
] | 1 | [
0.02381572686135769,
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0.9947590827941895,
1.2055789232254028,
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0.06289664655923843
] | [
0.03634529560804367,
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0.8893240690231323,
1.2065154314041138,
-0.004943390376865864,
0.05773336440324783
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.535304 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
-0.7285316586494446,
-71.57328033447266,
65.98685455322266,
72.55647277832031,
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2.5646204948425293
] | [
0.0417357012629509,
-66.88353729248047,
59.860023498535156,
72.60841369628906,
-0.14499624073505402,
2.335745096206665
] | [
0.1919325441122055,
-0.00452880933880806,
0.10077166557312012,
3.0948243141174316,
0.7205305099487305,
3.041050672531128
] | 1 | [
0.029739046469330788,
-1.301900029182434,
0.9449086785316467,
1.206021785736084,
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0.054526638239622116
] | [
0.04208650812506676,
-1.217047095298767,
0.8410089015960693,
1.206944465637207,
-0.005321069620549679,
0.049523599445819855
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.586368 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
-0.36602237820625305,
-69.36685180664062,
63.102901458740234,
72.58092498779297,
-0.13132493197917938,
2.1953985691070557
] | [
0.3844466805458069,
-64.79736328125,
57.1337776184082,
72.63152313232422,
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1.9763630628585815
] | [
0.19484402239322662,
-0.005519934929907322,
0.10673143714666367,
3.093672037124634,
0.7290412187576294,
3.0341899394989014
] | 1 | [
0.035550106316804886,
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0.8960021138191223,
1.2064560651779175,
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0.046455733478069305
] | [
0.04758020117878914,
-1.1793012619018555,
0.7947767972946167,
1.2073549032211304,
-0.005682465620338917,
0.04166778549551964
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.636456 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-0.014487982727587223,
-67.22721862792969,
60.306217193603516,
72.60462188720703,
-0.14313265681266785,
1.8439066410064697
] | [
0.7079627513885498,
-62.828025817871094,
54.56022644042969,
72.6533432006836,
-0.16736458241939545,
1.6371095180511475
] | [
0.19779489934444427,
-0.00651902100071311,
0.11242291331291199,
3.092531442642212,
0.7372941374778748,
3.0275161266326904
] | 1 | [
0.04118523746728897,
-1.2232654094696045,
0.8485755324363708,
1.2068771123886108,
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0.03877239301800728
] | [
0.05276619270443916,
-1.1436694860458374,
0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
0.03425196558237076
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.685019 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.322222501039505,
-65.17777252197266,
57.62744140625,
72.62732696533203,
-0.15442800521850586,
1.5139892101287842
] | [
1.0087400674819946,
-60.99710464477539,
52.16755676269531,
72.67362976074219,
-0.1774630844593048,
1.321700930595398
] | [
0.20073524117469788,
-0.0075129130855202675,
0.117787666618824,
3.0914173126220703,
0.7451977133750916,
3.0211050510406494
] | 1 | [
0.04658273980021477,
-1.1861841678619385,
0.8031483888626099,
1.2072803974151611,
-0.00561730470508337,
0.03156065195798874
] | [
0.05758768320083618,
-1.1105420589447021,
0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
0.027357378974556923
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.731525 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.6404186487197876,
-63.24100112915039,
55.095924377441406,
72.64878845214844,
-0.1651160567998886,
1.2092719078063965
] | [
1.2834818363189697,
-59.32467269897461,
49.98200225830078,
72.69215393066406,
-0.1866874396800995,
1.0335942506790161
] | [
0.20361293852329254,
-0.008486909791827202,
0.12277499586343765,
3.090343952178955,
0.7526659369468689,
3.0150277614593506
] | 1 | [
0.0516834557056427,
-1.1511415243148804,
0.7602185606956482,
1.2076616287231445,
-0.00595299806445837,
0.024899767711758614
] | [
0.061991821974515915,
-1.080282211303711,
0.6734958291053772,
1.2084319591522217,
-0.006630517542362213,
0.021059589460492134
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.775464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
0.9366136193275452,
-61.43806838989258,
52.73942565917969,
72.66875457763672,
-0.17504502832889557,
0.9330863952636719
] | [
1.5291792154312134,
-57.82904052734375,
48.02749252319336,
72.70872497558594,
-0.19493664801120758,
0.7759449481964111
] | [
0.20637519657611847,
-0.009425133466720581,
0.12734165787696838,
3.089327335357666,
0.7596161961555481,
3.0093557834625244
] | 1 | [
0.05643149092793465,
-1.1185204982757568,
0.7202566862106323,
1.208016276359558,
-0.006264849565923214,
0.018862565979361534
] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
0.015427575446665287
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.816356 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
1.2075676918029785,
-59.78878402709961,
50.583740234375,
72.68702697753906,
-0.18413898348808289,
0.6884617805480957
] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
-0.20212028920650482,
0.5515769124031067
] | [
0.2089700996875763,
-0.01031095813959837,
0.13145239651203156,
3.088381290435791,
0.7659733891487122,
3.004152536392212
] | 1 | [
0.06077491119503975,
-1.088679552078247,
0.6837002038955688,
1.2083408832550049,
-0.006550475023686886,
0.013515261001884937
] | [
0.0693601742386818,
-1.029655933380127,
0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
0.010523064061999321
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.853751 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
1.4503061771392822,
-58.31119155883789,
48.65248107910156,
72.70337677001953,
-0.19229546189308167,
0.47807440161705017
] | [
1.9230180978775024,
-55.43163299560547,
44.894527435302734,
72.73528289794922,
-0.2081596553325653,
0.36294782161712646
] | [
0.2113482654094696,
-0.011127542704343796,
0.13507898151874542,
3.0875205993652344,
0.7716683149337769,
2.999479055404663
] | 1 | [
0.0646660327911377,
-1.0619449615478516,
0.6509495973587036,
1.2086312770843506,
-0.006806655786931515,
0.008916355669498444
] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
0.006399777717888355
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.887241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
1.6621708869934082,
-57.02149963378906,
46.96685028076172,
72.71765899658203,
-0.19941198825836182,
0.304227739572525
] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
-0.21298861503601074,
0.21212391555309296
] | [
0.21346379816532135,
-0.011858447454869747,
0.13819940388202667,
3.086759090423584,
0.7766377329826355,
2.9953908920288086
] | 1 | [
0.06806224584579468,
-1.0386102199554443,
0.6223644018173218,
1.2088849544525146,
-0.00703017320483923,
0.005116202402859926
] | [
0.07454922050237656,
-0.9940032362937927,
0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
0.003102883929386735
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.916459 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
1.8408410549163818,
-55.933921813964844,
45.545318603515625,
72.7297134399414,
-0.2054012417793274,
0.1688368022441864
] | [
2.1730449199676514,
-53.909645080566406,
42.90557861328125,
72.75214385986328,
-0.21655422449111938,
0.10075844824314117
] | [
0.2152758687734604,
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0.14079774916172028,
3.0861098766326904,
0.7808289527893066,
2.9919369220733643
] | 1 | [
0.07092634588479996,
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0.5982578992843628,
1.2090991735458374,
-0.007218285463750362,
0.0021566611248999834
] | [
0.07625160366296768,
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0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
0.0006685209227725863
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.941085 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
1.9843589067459106,
-55.060211181640625,
44.4034538269043,
72.73938751220703,
-0.2102176994085312,
0.0733746588230133
] | [
2.2404532432556152,
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42.369346618652344,
72.7566909790039,
-0.21881742775440216,
0.030070995911955833
] | [
0.21674956381320953,
-0.013003193773329258,
0.14286212623119354,
3.085583209991455,
0.784193754196167,
2.9891579151153564
] | 1 | [
0.07322695106267929,
-1.0031239986419678,
0.5788939595222473,
1.20927095413208,
-0.007369562052190304,
0.00006993248098297045
] | [
0.07733216881752014,
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0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0008766520768404007
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.960852 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
2.0911524295806885,
-54.41008758544922,
43.55375671386719,
72.74661254882812,
-0.21380063891410828,
0.018890075385570526
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0008363749948330224
] | [
0.21785633265972137,
-0.013391640037298203,
0.14438508450984955,
3.085188388824463,
0.7866975665092468,
2.9870874881744385
] | 1 | [
0.07493886351585388,
-0.991361141204834,
0.5644846558570862,
1.2093993425369263,
-0.007482095621526241,
-0.0011210583616048098
] | [
0.07777906209230423,
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0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015156982699409127
] | Move to initial state before pushing the cube | Is the gripper at the initial pose? | move_initial | 0.975548 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
2.1233789920806885,
-54.21514129638672,
43.295413970947266,
72.7487564086914,
-0.21486715972423553,
0.0011987353209406137
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
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0
] | [
0.21819332242012024,
-0.01350985374301672,
0.14485332369804382,
3.0850629806518555,
0.7875087857246399,
2.9864583015441895
] | 0 | [
0.07545545697212219,
-0.9878339171409607,
0.5601036548614502,
1.209437370300293,
-0.007515593431890011,
-0.001507777371443808
] | [
0.07545439153909683,
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0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.668858 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.29639434814453,
72.7487564086914,
-0.21486715972423553,
0.0001644936710363254
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819254755973816,
-0.013509795069694519,
0.14484858512878418,
3.0850656032562256,
0.7874858975410461,
2.9864602088928223
] | 0 | [
0.07545545697212219,
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0.5601202845573425,
1.209437370300293,
-0.007515593431890011,
-0.001530385110527277
] | [
0.07545439153909683,
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0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.81708 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.296958923339844,
72.7487564086914,
-0.21486715972423553,
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] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
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0
] | [
0.218191996216774,
-0.013509754091501236,
0.14484639465808868,
3.085066556930542,
0.7874763607978821,
2.9864609241485596
] | 0 | [
0.07545545697212219,
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0.5601298213005066,
1.209437370300293,
-0.007515593431890011,
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] | [
0.07545439153909683,
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0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.877587 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
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] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
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] | [
0.07545439153909683,
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0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
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] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
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] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
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] | [
0.07545439153909683,
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0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close gripper before pushing the cube | Is the gripper closed for pushing? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | push the cube to the target marker | target marker | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 |
[
2.1242949962615967,
-54.11753463745117,
43.224273681640625,
72.74918365478516,
-0.21486715972423553,
0.000011693623491737526
] | [
2.1334614753723145,
-53.925392150878906,
43.07038116455078,
72.75385284423828,
-0.21486715972423553,
0
] | [
0.21831074357032776,
-0.013521380722522736,
0.14486351609230042,
3.0851268768310547,
0.7869433760643005,
2.9864890575408936
] | 0 | [
0.07547014206647873,
-0.9860678911209106,
0.5588971972465515,
1.2094449996948242,
-0.007515593431890011,
-0.0015337251825258136
] | [
0.07561708241701126,
-0.9825913906097412,
0.5562874674797058,
1.2095279693603516,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4 | 40 | 0 | 40 | 0 |
[
2.133120536804199,
-54.046329498291016,
43.16073989868164,
72.7536392211914,
-0.21486715972423553,
0.000011693623491737526
] | [
2.1682181358337402,
-53.95498275756836,
43.05094909667969,
72.77140808105469,
-0.21486715972423553,
0
] | [
0.2183973640203476,
-0.013553478755056858,
0.1449078768491745,
3.0851595401763916,
0.7866542339324951,
2.98637056350708
] | 0 | [
0.07561161369085312,
-0.9847795367240906,
0.5578197836875916,
1.209524154663086,
-0.007515593431890011,
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] | [
0.07617423683404922,
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0.5559579730033875,
1.2098398208618164,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.1 | 41 | 0 | 41 | 0 |
[
2.1567907333374023,
-54.01866912841797,
43.11201477050781,
72.765625,
-0.21486715972423553,
0.000014219243894331157
] | [
2.229799509048462,
-54.007415771484375,
43.016517639160156,
72.8025131225586,
-0.21486715972423553,
0
] | [
0.21842850744724274,
-0.013624373823404312,
0.1449984759092331,
3.085146903991699,
0.786766767501831,
2.9859821796417236
] | 0 | [
0.07599104940891266,
-0.9842790961265564,
0.5569935441017151,
1.2097370624542236,
-0.007515593431890011,
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] | [
0.07716138660907745,
-0.9840754866600037,
0.5553740859031677,
1.2103923559188843,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.2 | 42 | 0 | 42 | 0 |
[
2.199139356613159,
-54.02571487426758,
43.06681823730469,
72.78703308105469,
-0.21486715972423553,
0.00001737626917019952
] | [
2.313467502593994,
-54.078651428222656,
42.9697380065918,
72.84477996826172,
-0.21486715972423553,
0
] | [
0.21841458976268768,
-0.013745932839810848,
0.14515146613121033,
3.0850889682769775,
0.7872787714004517,
2.985262393951416
] | 0 | [
0.07666990160942078,
-0.984406590461731,
0.5562270879745483,
1.2101173400878906,
-0.007515593431890011,
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] | [
0.0785025954246521,
-0.9853643774986267,
0.5545807480812073,
1.211143136024475,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.004603 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.3 | 43 | 0 | 43 | 0 |
[
2.261654853820801,
-54.06132507324219,
43.018821716308594,
72.81861877441406,
-0.21486715972423553,
0.000020533294446067885
] | [
2.4188013076782227,
-54.1683349609375,
42.91084671020508,
72.89798736572266,
-0.21486715972423553,
0
] | [
0.21836264431476593,
-0.013922924175858498,
0.1453731656074524,
3.0849876403808594,
0.7881730794906616,
2.9841885566711426
] | 0 | [
0.07767203450202942,
-0.9850508570671082,
0.5554131269454956,
1.2106783390045166,
-0.007515593431890011,
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] | [
0.08019110560417175,
-0.9869870543479919,
0.5535820722579956,
1.2120882272720337,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.017967 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.4 | 44 | 0 | 44 | 0 |
[
2.344423294067383,
-54.121116638183594,
42.964637756347656,
72.86042785644531,
-0.21486715972423553,
0.000020533294446067885
] | [
2.544097900390625,
-54.2750129699707,
42.84079360961914,
72.9612808227539,
-0.21486715972423553,
0
] | [
0.21827757358551025,
-0.014155847951769829,
0.14566464722156525,
3.084845542907715,
0.7894271016120911,
2.9827606678009033
] | 0 | [
0.07899881899356842,
-0.9861326813697815,
0.5544942617416382,
1.211421012878418,
-0.007515593431890011,
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] | [
0.08219962567090988,
-0.9889171719551086,
0.5523940920829773,
1.2132126092910767,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.036346 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.5 | 45 | 0 | 45 | 0 |
[
2.4468905925750732,
-54.20189666748047,
42.90256118774414,
72.91217803955078,
-0.21487854421138763,
0.000020533294446067885
] | [
2.686103343963623,
-54.39591598510742,
42.76139831542969,
73.03301239013672,
-0.21486715972423553,
0
] | [
0.21816277503967285,
-0.01444319263100624,
0.14602422714233398,
3.0846641063690186,
0.7910169959068298,
2.9809889793395996
] | 0 | [
0.08064138144254684,
-0.9875942468643188,
0.55344158411026,
1.2123403549194336,
-0.007515951059758663,
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] | [
0.08447598665952682,
-0.9911047220230103,
0.5510477423667908,
1.2144867181777954,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.059468 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.6 | 46 | 0 | 46 | 0 |
[
2.567836046218872,
-54.30095291137695,
42.8320198059082,
72.97327423095703,
-0.2148975282907486,
0.000020533294446067885
] | [
2.8445489406585693,
-54.530818939208984,
42.672813415527344,
73.11305236816406,
-0.21486715972423553,
0
] | [
0.2180209755897522,
-0.014781446196138859,
0.14644773304462433,
3.084446907043457,
0.792914092540741,
2.9788951873779297
] | 0 | [
0.08258014917373657,
-0.9893865585327148,
0.5522453188896179,
1.213425636291504,
-0.007516547106206417,
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] | [
0.08701588213443756,
-0.9935455918312073,
0.5495454668998718,
1.2159085273742676,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.086963 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.7 | 47 | 0 | 47 | 0 |
[
2.7058205604553223,
-54.41606903076172,
42.75312042236328,
73.04297637939453,
-0.21491649746894836,
0.000019901890482287854
] | [
3.0165345668792725,
-54.677249908447266,
42.576656341552734,
73.1999282836914,
-0.21486715972423553,
0
] | [
0.2178543508052826,
-0.01516640279442072,
0.1469300091266632,
3.0841968059539795,
0.7950897216796875,
2.9765045642852783
] | 0 | [
0.08479205518960953,
-0.9914693832397461,
0.5509073138237,
1.2146637439727783,
-0.007517142686992884,
-0.0015335457865148783
] | [
0.08977282792329788,
-0.9961949586868286,
0.5479148030281067,
1.217451810836792,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.118441 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.8 | 48 | 0 | 48 | 0 |
[
2.8592872619628906,
-54.54533004760742,
42.666259765625,
73.12049102783203,
-0.21493548154830933,
0.00001927048469951842
] | [
3.199849843978882,
-54.83332824707031,
42.47416305541992,
73.29253387451172,
-0.21486715972423553,
0
] | [
0.21766474843025208,
-0.015593482181429863,
0.14746561646461487,
3.083916664123535,
0.7975166440010071,
2.973843812942505
] | 0 | [
0.08725214004516602,
-0.9938080906867981,
0.5494343638420105,
1.2160407304763794,
-0.007517739199101925,
-0.0015335595235228539
] | [
0.09271138906478882,
-0.9990189671516418,
0.5461767315864563,
1.2190967798233032,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.153512 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 4.9 | 49 | 0 | 49 | 0 |
[
3.026404619216919,
-54.686767578125,
42.572181701660156,
73.20491790771484,
-0.2149544656276703,
0.000018639078916748986
] | [
3.39394211769104,
-54.99858093261719,
42.36564636230469,
73.39057922363281,
-0.21486715972423553,
0
] | [
0.21745403110980988,
-0.016057314351201057,
0.14804793894290924,
3.0836095809936523,
0.8001627326011658,
2.970944404602051
] | 0 | [
0.08993104845285416,
-0.9963672161102295,
0.5478389263153076,
1.2175403833389282,
-0.007518335245549679,
-0.0015335733769461513
] | [
0.09582270681858063,
-1.0020089149475098,
0.5443364977836609,
1.2208384275436401,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.191731 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 5 | 50 | 0 | 50 | 0 |
[
3.2054266929626465,
-54.83869934082031,
42.471683502197266,
73.29534149169922,
-0.21497343480587006,
0.000018639078916748986
] | [
3.5955896377563477,
-55.170265197753906,
42.252906799316406,
73.49243927001953,
-0.21486715972423553,
0
] | [
0.21722395718097687,
-0.01655277982354164,
0.14867088198661804,
3.0832784175872803,
0.8030003309249878,
2.967836380004883
] | 0 | [
0.09280078858137131,
-0.9991161227226257,
0.5461347103118896,
1.2191466093063354,
-0.007518931291997433,
-0.0015335733769461513
] | [
0.09905514121055603,
-1.005115270614624,
0.5424246191978455,
1.222647786140442,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.232681 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 5.1 | 51 | 0 | 51 | 0 |
[
3.3945038318634033,
-54.99940490722656,
42.365718841552734,
73.39085388183594,
-0.21499241888523102,
0.000018007674952968955
] | [
3.8033313751220703,
-55.347137451171875,
42.136756896972656,
73.59737396240234,
-0.21486715972423553,
0
] | [
0.21697629988193512,
-0.017074478790163994,
0.14932771027088165,
3.0829265117645264,
0.8059984445571899,
2.9645514488220215
] | 0 | [
0.09583171457052231,
-1.0020238161087036,
0.5443376898765564,
1.2208433151245117,
-0.007519527338445187,
-0.0015335871139541268
] | [
0.1023852601647377,
-1.0083154439926147,
0.5404549241065979,
1.2245118618011475,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.275927 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 5.2 | 52 | 0 | 52 | 0 |
[
3.591728687286377,
-55.16719436645508,
42.25529098510742,
73.49049377441406,
-0.2150113880634308,
0.000018007674952968955
] | [
4.015462398529053,
-55.527748107910156,
42.01815414428711,
73.70453643798828,
-0.21486715972423553,
0
] | [
0.21671302616596222,
-0.017616892233490944,
0.15001168847084045,
3.082556962966919,
0.809126615524292,
2.9611222743988037
] | 0 | [
0.09899324923753738,
-1.0050597190856934,
0.542465090751648,
1.2226132154464722,
-0.0075201233848929405,
-0.0015335871139541268
] | [
0.10578574240207672,
-1.0115833282470703,
0.5384436845779419,
1.2264153957366943,
-0.007515593431890011,
-0.0015339808305725455
] | Approach the cube push start | Is the gripper above the cube push start? | move | 0.321021 | [
6.42207145690918,
-58.01057052612305,
40.88420486450195,
74.92021942138672,
-0.21486715972423553,
0
] | [
0.21194243431091309,
-0.025115754455327988,
0.1600002944469452,
3.0764267444610596,
0.8582543134689331,
2.9112143516540527
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
0.1599999964237213
] | 5.3 | 53 | 0 | 53 | 0 |
[
3.672844171524048,
-55.14872741699219,
42.15697479248047,
73.5289535522461,
-0.21499620378017426,
3.283306568846456e-7
] | [
3.676060676574707,
-54.87331771850586,
42.025535583496094,
73.5066146850586,
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.000413 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 5.4 | 54 | 0 | 54 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.002254 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 5.5 | 55 | 0 | 55 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.007125 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 5.6 | 56 | 0 | 56 | 0 |
[
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.016077 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 5.7 | 57 | 0 | 57 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.03355 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 5.8 | 58 | 0 | 58 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.053703 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 5.9 | 59 | 0 | 59 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.078625 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 6 | 60 | 0 | 60 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.099587 | [
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] | [
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0.02006649598479271,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 6.1 | 61 | 0 | 61 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.129975 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 6.2 | 62 | 0 | 62 | 0 |
[
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] | [
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] | [
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] | [
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1.1356297731399536,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.161061 | [
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-31.129009246826172,
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 6.3 | 63 | 0 | 63 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.199253 | [
6.630727291107178,
-31.129009246826172,
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53.10824966430664,
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] | [
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 6.4 | 64 | 0 | 64 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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1.1025571823120117,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.24 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
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] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 6.5 | 65 | 0 | 65 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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1.085090160369873,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.286616 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
-0.21501898765563965,
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] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 6.6 | 66 | 0 | 66 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.330717 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 6.7 | 67 | 0 | 67 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.379859 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 6.8 | 68 | 0 | 68 | 0 |
[
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.42584 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 6.9 | 69 | 0 | 69 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.476058 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 7 | 70 | 0 | 70 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.522842 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 7.1 | 71 | 0 | 71 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.572676 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 7.2 | 72 | 0 | 72 | 0 |
[
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] | [
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.618589 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 7.3 | 73 | 0 | 73 | 0 |
[
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] | [
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.666428 | [
6.630727291107178,
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69.134033203125,
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] | [
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 7.4 | 74 | 0 | 74 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.705659 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
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] | [
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 7.5 | 75 | 0 | 75 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.735375 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
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] | [
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 7.6 | 76 | 0 | 76 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.9185135960578918,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.76152 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
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] | [
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 7.7 | 77 | 0 | 77 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.9102767705917358,
-0.007520361803472042,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.789101 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
-0.21501898765563965,
0
] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
0.28164446353912354,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 7.8 | 78 | 0 | 78 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.9017964601516724,
-0.007520361803472042,
-0.0015339808305725455
] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.80085 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
-0.21501898765563965,
0
] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
0.28164446353912354,
2.9353818893432617
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 7.9 | 79 | 0 | 79 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
0.14346511662006378,
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1.0012153387069702,
0.8930179476737976,
-0.007520361803472042,
-0.0015339808305725455
] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.804085 | [
6.630727291107178,
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 8 | 80 | 0 | 80 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.801216 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 8.1 | 81 | 0 | 81 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.797386 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
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] | 8.2 | 82 | 0 | 82 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.792609 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 8.3 | 83 | 0 | 83 | 0 |
[
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.78679 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 8.4 | 84 | 0 | 84 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.780663 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 8.5 | 85 | 0 | 85 | 0 |
[
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] | [
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] | [
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.776939 | [
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] | [
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 8.6 | 86 | 0 | 86 | 0 |
[
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] | [
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] | [
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1.0438482761383057,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.774947 | [
6.630727291107178,
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] | [
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0.02006649598479271,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 8.7 | 87 | 0 | 87 | 0 |
[
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] | [
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] | [
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] | [
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1.0438482761383057,
0.8605533242225647,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.773894 | [
6.630727291107178,
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53.10824966430664,
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] | [
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 8.8 | 88 | 0 | 88 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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1.0438482761383057,
0.8605533242225647,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.773332 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
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] | [
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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] | 8.9 | 89 | 0 | 89 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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1.0438482761383057,
0.8605533242225647,
-0.007520361803472042,
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] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.773029 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
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] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 9 | 90 | 0 | 90 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
0.1477086991071701,
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1.0438482761383057,
0.8605533242225647,
-0.007520361803472042,
-0.0015339808305725455
] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.772864 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
-0.21501898765563965,
0
] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
0.28164446353912354,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 9.1 | 91 | 0 | 91 | 0 |
[
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] | [
6.630727291107178,
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] | [
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] | 0 | [
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] | [
0.1477086991071701,
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1.0438482761383057,
0.8605533242225647,
-0.007520361803472042,
-0.0015339808305725455
] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.772772 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
-0.21501898765563965,
0
] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
0.28164446353912354,
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] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
-0.02511592209339142,
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] | 9.2 | 92 | 0 | 92 | 0 |
[
6.0412187576293945,
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] | [
6.630727291107178,
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] | [
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3.0513558387756348,
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] | 0 | [
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] | [
0.1477086991071701,
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1.0438482761383057,
0.8605533242225647,
-0.007520361803472042,
-0.0015339808305725455
] | push cube: descend to pre-contact | Is the robot completing push cube: descend to pre-contact? | move | 0.77272 | [
6.630727291107178,
-31.129009246826172,
69.134033203125,
53.10824966430664,
-0.21501898765563965,
0
] | [
0.19198723137378693,
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0.02006649598479271,
3.12530779838562,
0.28164446353912354,
2.9353818893432617
] | 0 | push the cube to the target marker | cube | [
0.21195198595523834,
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 21210,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
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},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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},
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]
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
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"video.codec": "h264",
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},
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"info": {
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},
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},
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},
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},
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],
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},
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],
"names": [
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]
},
"subtask.natural_language": {
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},
"subtask.object_name": {
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},
"subtask.target_position": {
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]
},
"timestamp": {
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},
"frame_index": {
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},
"episode_index": {
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"index": {
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"task_index": {
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}
}
}
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