HyeonseokE/smolvla_stack_2_cubes_per1_ikaction_10fps_29100step_s1000
Robotics • 0.5B • Updated • 17
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 12
values | skill.verification_question stringclasses 11
values | skill.type 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 stringclasses 2
values | subtask.object_name stringclasses 2
values | subtask.target_position list | timestamp float32 0 33.2 ⌀ | frame_index int64 0 332 ⌀ | episode_index int64 0 9 ⌀ | index int64 0 3.29k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.047076 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.095842 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.16214 | [
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[
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3.100311040878296,
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] | 1 | [
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1.2047102451324463,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.335378 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
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] | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.384452 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 1.4 | 14 | 0 | 14 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.43479 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1.5 | 15 | 0 | 15 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.485843 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
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] | [
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] | [
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3.0959742069244385,
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.537051 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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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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1.206944465637207,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.587854 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
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] | [
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] | [
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3.093672037124634,
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] | 1 | [
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] | [
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1.2073549032211304,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.637695 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
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] | [
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] | [
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0.11242285370826721,
3.092531204223633,
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] | 1 | [
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1.2068768739700317,
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] | [
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0.7511340975761414,
1.2077425718307495,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.686028 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
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] | [
1.0087400674819946,
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] | [
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3.091417074203491,
0.7451978325843811,
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] | 1 | [
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] | [
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0.7105588316917419,
1.208102822303772,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.732323 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
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72.64877319335938,
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] | [
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] | [
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0.12277500331401825,
3.090343952178955,
0.7526660561561584,
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] | 1 | [
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1.2076613903045654,
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] | [
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0.6734958291053772,
1.2084319591522217,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.776073 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
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] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
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72.66873168945312,
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] | [
1.5291792154312134,
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] | [
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3.089327335357666,
0.7596163749694824,
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] | 1 | [
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] | [
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1.2087262868881226,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.816799 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
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72.68701171875,
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] | [
1.7431391477584839,
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] | [
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0.13145244121551514,
3.088381052017212,
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] | 1 | [
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1.2083406448364258,
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] | [
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0.6114875674247742,
1.2089825868606567,
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.854054 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
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] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
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72.703369140625,
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] | [
1.9230180978775024,
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72.73528289794922,
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] | [
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0.13507899641990662,
3.0875208377838135,
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] | 1 | [
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1.208631157875061,
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] | [
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-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
-0.001489904592745006
] | Move to initial position | Is the robot at the initial position? | move_initial | 0.88743 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
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72.7176513671875,
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] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
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] | [
0.21346379816532135,
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0.13819940388202667,
3.086759567260742,
0.7766379117965698,
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] | 1 | [
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1.208884835243225,
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] | [
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0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
-0.0015082205645740032
] | Move to initial position | Is the robot at the initial position? | move_initial | 0.916562 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
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-0.20539365708827972,
0.000947436026763171
] | [
2.1730449199676514,
-53.909645080566406,
42.90557861328125,
72.75214385986328,
-0.21655422449111938,
0.0005597662529908121
] | [
0.21527588367462158,
-0.012488313019275665,
0.1407977193593979,
3.0861101150512695,
0.7808288335800171,
2.9919371604919434
] | 1 | [
0.07092662900686264,
-1.0189321041107178,
0.5982579588890076,
1.2090989351272583,
-0.007218047045171261,
-0.0015132705448195338
] | [
0.07625160366296768,
-0.9823064804077148,
0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
-0.0015217447653412819
] | Move to initial position | Is the robot at the initial position? | move_initial | 0.94113 | [
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
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
1.984378457069397,
-55.06019592285156,
44.40345764160156,
72.7393798828125,
-0.21021011471748352,
0.0004170557076577097
] | [
2.2404532432556152,
-53.49931335449219,
42.369346618652344,
72.7566909790039,
-0.21881742775440216,
0.00016706023598089814
] | [
0.21674957871437073,
-0.013003253377974033,
0.14286208152770996,
3.085583448410034,
0.7841935157775879,
2.9891579151153564
] | 1 | [
0.07322726398706436,
-1.0031237602233887,
0.5788940191268921,
1.2092708349227905,
-0.007369323633611202,
-0.0015248642303049564
] | [
0.07733216881752014,
-0.9748822450637817,
0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0015303289983421564
] | Move to initial position | Is the robot at the initial position? | move_initial | 0.960864 | [
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
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
2.0911693572998047,
-54.41007995605469,
43.55376052856445,
72.7466049194336,
-0.21378925442695618,
0.00011461265967227519
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0000046465038394671865
] | [
0.21785634756088257,
-0.013391692191362381,
0.14438506960868835,
3.085188865661621,
0.786697506904602,
2.9870877265930176
] | 1 | [
0.07493913173675537,
-0.9913610219955444,
0.564484715461731,
1.2093992233276367,
-0.007481737993657589,
-0.001531475456431508
] | [
0.07777906209230423,
-0.9718117117881775,
0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015338791999965906
] | Move to initial position | Is the robot at the initial position? | move_initial | 0.975549 | [
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
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
2.1114673614501953,
-54.10853576660156,
43.21650695800781,
72.74016571044922,
-0.214851975440979,
0.000018007674952968955
] | [
1.9935386180877686,
-53.82169723510742,
43.00868225097656,
72.65493774414062,
-0.2148633599281311,
0
] | [
0.21834444999694824,
-0.013486810959875584,
0.14488638937473297,
3.0851128101348877,
0.7870720624923706,
2.986685037612915
] | 1 | [
0.07526451349258423,
-0.9859050512313843,
0.5587655305862427,
1.209284782409668,
-0.007515116594731808,
-0.0015335871139541268
] | [
0.07337410002946854,
-0.9807152152061462,
0.5552411675453186,
1.207770824432373,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.000954 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3 | 30 | 0 | 30 | 0 |
[
1.997939944267273,
-53.946868896484375,
43.10031509399414,
72.6580810546875,
-0.21482540667057037,
0
] | [
1.5461326837539673,
-53.495513916015625,
42.7747688293457,
72.33147430419922,
-0.2148633599281311,
0
] | [
0.2187352478504181,
-0.01318708248436451,
0.14505423605442047,
3.085057020187378,
0.7875739336013794,
2.9884657859802246
] | 1 | [
0.0734446570277214,
-0.982979953289032,
0.5567951202392578,
1.2078267335891724,
-0.007514282129704952,
-0.0015339808305725455
] | [
0.06620214134454727,
-0.9748134613037109,
0.5512744784355164,
1.202025055885315,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.003368 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.1 | 31 | 0 | 31 | 0 |
[
1.69333016872406,
-53.676937103271484,
42.906917572021484,
72.43783569335938,
-0.21476848423480988,
9.597357575330534e-7
] | [
0.7534216046333313,
-52.91758346557617,
42.36031723022461,
71.75836181640625,
-0.2148633599281311,
0
] | [
0.2195836901664734,
-0.01236248854547739,
0.14548951387405396,
3.0847976207733154,
0.7898747324943542,
2.993165969848633
] | 1 | [
0.06856173276901245,
-0.9780960083007812,
0.5535154342651367,
1.2039144039154053,
-0.0075124939903616905,
-0.0015339597593992949
] | [
0.053494904190301895,
-0.9643567800521851,
0.5442461371421814,
1.1918444633483887,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.008583 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.2 | 32 | 0 | 32 | 0 |
[
1.1481781005859375,
-53.250465393066406,
42.601322174072266,
72.0437240600586,
-0.21469257771968842,
3.283306568846456e-7
] | [
-0.3236043453216553,
-52.13237380981445,
41.79722213745117,
70.97969818115234,
-0.2148633599281311,
0
] | [
0.2210254669189453,
-0.01086281519383192,
0.14626282453536987,
3.084291458129883,
0.794327437877655,
3.0015461444854736
] | 1 | [
0.059822890907526016,
-0.9703797101974487,
0.5483331084251404,
1.1969135999679565,
-0.007510109804570675,
-0.0015339736128225923
] | [
0.036230072379112244,
-0.9501497745513916,
0.5346970558166504,
1.178012728691101,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.017475 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.3 | 33 | 0 | 33 | 0 |
[
0.343496710062027,
-52.98771667480469,
42.16845703125,
71.4619140625,
-0.21457111835479736,
0.00001485064876760589
] | [
-1.6795215606689453,
-52.47445297241211,
41.08831024169922,
69.99940490722656,
-0.2148633599281311,
0
] | [
0.22290922701358795,
-0.008594498038291931,
0.14834921061992645,
3.0827980041503906,
0.8072071671485901,
3.013375759124756
] | 1 | [
0.046923767775297165,
-0.9656257629394531,
0.5409924983978271,
1.1865785121917725,
-0.00750629510730505,
-0.0015336561482399702
] | [
0.014494583941996098,
-0.9563391208648682,
0.5226752161979675,
1.1605993509292603,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.028643 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.4 | 34 | 0 | 34 | 0 |
[
-0.721985936164856,
-52.591732025146484,
41.41087341308594,
70.69161224365234,
-0.21456731855869293,
0.00006599446351174265
] | [
-3.292414665222168,
-51.29856491088867,
40.24504852294922,
68.83332061767578,
-0.2148633599281311,
0
] | [
0.22552776336669922,
-0.005524037405848503,
0.15172839164733887,
3.080476760864258,
0.8265077471733093,
3.0287632942199707
] | 1 | [
0.029843974858522415,
-0.9584611058235168,
0.5281453132629395,
1.1728953123092651,
-0.007506175898015499,
-0.0015325382119044662
] | [
-0.011360252276062965,
-0.9350634217262268,
0.5083750486373901,
1.1398855447769165,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.04428 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.5 | 35 | 0 | 35 | 0 |
[
-2.0409858226776123,
-51.85187530517578,
40.429325103759766,
69.7380142211914,
-0.21455593407154083,
0.000014219243894331157
] | [
-5.120389938354492,
-49.96587371826172,
39.2824821472168,
67.51173400878906,
-0.2148633599281311,
0
] | [
0.22885213792324066,
-0.0016039902111515403,
0.15541483461856842,
3.0779500007629395,
0.8466348052024841,
3.0480313301086426
] | 1 | [
0.008700275793671608,
-0.9450746178627014,
0.5115000605583191,
1.1559560298919678,
-0.007505818270146847,
-0.0015336700016632676
] | [
-0.04066287726163864,
-0.9109506011009216,
0.4920516908168793,
1.1164095401763916,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.064997 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.6 | 36 | 0 | 36 | 0 |
[
-3.5979323387145996,
-50.866798400878906,
39.43806457519531,
68.61235046386719,
-0.21460527181625366,
0.00006157463212730363
] | [
-7.159996032714844,
-48.47888946533203,
35.96800231933594,
66.03714752197266,
-0.2148633599281311,
0
] | [
0.23257622122764587,
0.0031993472948670387,
0.1588011533021927,
3.0754661560058594,
0.8655472993850708,
3.0711121559143066
] | 1 | [
-0.01625773124396801,
-0.9272513389587402,
0.49469009041786194,
1.135960340499878,
-0.007507367990911007,
-0.0015326348366215825
] | [
-0.0733579620718956,
-0.884046196937561,
0.4358442425727844,
1.090215802192688,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.089353 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.7 | 37 | 0 | 37 | 0 |
[
-5.3741278648376465,
-49.64728927612305,
38.23198699951172,
67.32819366455078,
-0.21458250284194946,
0.000012325028365012258
] | [
-9.373897552490234,
-46.86483383178711,
37.028316497802734,
64.43655395507812,
-0.2148633599281311,
0
] | [
0.2367878258228302,
0.008909727446734905,
0.16269174218177795,
3.072561264038086,
0.8866646885871887,
3.097353458404541
] | 1 | [
-0.04473032057285309,
-0.9051863551139832,
0.47423723340034485,
1.1131492853164673,
-0.007506652735173702,
-0.0015337113291025162
] | [
-0.10884702950716019,
-0.8548425436019897,
0.4538252055644989,
1.0617835521697998,
-0.007515473756939173,
-0.0015339808305725455
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.117748 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.8 | 38 | 0 | 38 | 0 |
[
-7.349695682525635,
-48.2489013671875,
37.00319290161133,
65.89997863769531,
-0.2146090716123581,
0.4494231343269348
] | [
-11.733636856079102,
-45.07583999633789,
35.77775955200195,
62.73051834106445,
-0.2148633599281311,
1.1428574323654175
] | [
0.2412034571170807,
0.015540308319032192,
0.16642987728118896,
3.0695431232452393,
0.9074865579605103,
3.1266627311706543
] | 1 | [
-0.07639887183904648,
-0.8798848986625671,
0.4533991515636444,
1.08777916431427,
-0.007507487200200558,
0.008290060795843601
] | [
-0.14667388796806335,
-0.8224737644195557,
0.43261805176734924,
1.0314784049987793,
-0.007515473756939173,
0.023447997868061066
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.150912 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 3.9 | 39 | 0 | 39 | 0 |
[
-9.500895500183105,
-46.67439270019531,
35.75290298461914,
64.34469604492188,
-0.2146090716123581,
1.7247086763381958
] | [
-14.232108116149902,
-43.17085647583008,
32.2201042175293,
60.9241828918457,
-0.2148633599281311,
2.571427583694458
] | [
0.24572990834712982,
0.023085186257958412,
0.1699530929327011,
3.0664494037628174,
0.9277414083480835,
-3.1244959831237793
] | 1 | [
-0.11088281869888306,
-0.8513968586921692,
0.43219655752182007,
1.0601519346237183,
-0.007507487200200558,
0.03616681694984436
] | [
-0.18672461807727814,
-0.7880063056945801,
0.3722867965698242,
0.9993916153907776,
-0.007515473756939173,
0.05467543751001358
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.190303 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4 | 40 | 0 | 40 | 0 |
[
-11.805371284484863,
-44.967933654785156,
34.48712921142578,
62.67855453491211,
-0.2146090716123581,
3.1323494911193848
] | [
-16.82783317565918,
-41.19171905517578,
30.84449005126953,
59.04753494262695,
-0.2148633599281311,
4.000000953674316
] | [
0.25022780895233154,
0.031528376042842865,
0.17331133782863617,
3.063209295272827,
0.9478365182876587,
-3.09016752243042
] | 1 | [
-0.14782379567623138,
-0.820521354675293,
0.41073134541511536,
1.0305553674697876,
-0.007507487200200558,
0.06693675369024277
] | [
-0.22833435237407684,
-0.7521972060203552,
0.34895890951156616,
0.9660557508468628,
-0.007515473756939173,
0.08590294420719147
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.232534 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.1 | 41 | 0 | 41 | 0 |
[
-14.239206314086914,
-43.12581253051758,
33.012210845947266,
60.91891098022461,
-0.21454834938049316,
4.557973861694336
] | [
-19.50200653076172,
-39.152774810791016,
29.42729949951172,
57.114173889160156,
-0.2148633599281311,
5.4285712242126465
] | [
0.25472962856292725,
0.040863629430532455,
0.17724277079105377,
3.059302568435669,
0.9706659913063049,
-3.0543506145477295
] | 1 | [
-0.18683840334415436,
-0.7871913313865662,
0.3857194483280182,
0.9992979764938354,
-0.007505579851567745,
0.09809979796409607
] | [
-0.27120161056518555,
-0.7153059244155884,
0.32492595911026,
0.9317125082015991,
-0.007515473756939173,
0.11713038384914398
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.277515 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.2 | 42 | 0 | 42 | 0 |
[
-16.778005599975586,
-41.20526123046875,
31.527814865112305,
59.083438873291016,
-0.21449899673461914,
5.986163139343262
] | [
-22.232683181762695,
-37.070743560791016,
27.980165481567383,
55.13996124267578,
-0.2148633599281311,
6.857144355773926
] | [
0.2589392066001892,
0.05101475119590759,
0.18104791641235352,
3.0551092624664307,
0.9935760498046875,
-3.0171403884887695
] | 1 | [
-0.22753562033176422,
-0.7524421811103821,
0.3605468273162842,
0.9666935801506042,
-0.007504030130803585,
0.12931890785694122
] | [
-0.3149746358394623,
-0.677635133266449,
0.3003852367401123,
0.8966435790061951,
-0.007515473756939173,
0.14835788309574127
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.323982 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.3 | 43 | 0 | 43 | 0 |
[
-19.397703170776367,
-39.217018127441406,
30.038331985473633,
57.1894645690918,
-0.21444585919380188,
7.414688587188721
] | [
-24.991046905517578,
-34.96760177612305,
28.751937866210938,
53.145729064941406,
-0.2148633599281311,
8.285714149475098
] | [
0.2627527415752411,
0.061908870935440063,
0.18468636274337769,
3.0506303310394287,
1.0163787603378296,
-2.978926658630371
] | 1 | [
-0.2695296108722687,
-0.716468334197998,
0.3352879583835602,
0.9330499768257141,
-0.007502361200749874,
0.16054537892341614
] | [
-0.3591914772987366,
-0.6395823359489441,
0.31347307562828064,
0.861219048500061,
-0.007515473756939173,
0.1795853227376938
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.371608 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.4 | 44 | 0 | 44 | 0 |
[
-22.073762893676758,
-37.19285202026367,
28.741342544555664,
55.25458526611328,
-0.21445345878601074,
8.843318939208984
] | [
-27.75514793395996,
-32.87039566040039,
25.053613662719727,
51.1473503112793,
-0.2148633599281311,
9.714284896850586
] | [
0.2659474313259125,
0.0734105035662651,
0.18735384941101074,
3.0464987754821777,
1.0360033512115479,
-2.939563512802124
] | 1 | [
-0.3124271333217621,
-0.6798444986343384,
0.3132933974266052,
0.8986797332763672,
-0.007502599619328976,
0.1917741298675537
] | [
-0.4035002887248993,
-0.6016369462013245,
0.25075632333755493,
0.8257208466529846,
-0.007515473756939173,
0.2108127772808075
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.419369 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.5 | 45 | 0 | 45 | 0 |
[
-24.78175926208496,
-35.13389587402344,
27.24325942993164,
53.296966552734375,
-0.21448002755641937,
10.27180290222168
] | [
-30.498523712158203,
-30.844026565551758,
23.599868774414062,
49.16395568847656,
-0.2148633599281311,
11.142858505249023
] | [
0.26868245005607605,
0.08547710627317429,
0.1907084435224533,
3.04134202003479,
1.058783769607544,
-2.900621175765991
] | 1 | [
-0.35583657026290894,
-0.6425911784172058,
0.28788867592811584,
0.8639055490493774,
-0.007503434084355831,
0.2229996770620346
] | [
-0.44747689366340637,
-0.5649732351303101,
0.22610346972942352,
0.7904888391494751,
-0.007515473756939173,
0.24204029142856598
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.468208 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.6 | 46 | 0 | 46 | 0 |
[
-27.49705696105957,
-33.100746154785156,
25.736631393432617,
51.33387756347656,
-0.21443068981170654,
11.700386047363281
] | [
-33.20035171508789,
-28.848346710205078,
24.40153694152832,
47.21059799194336,
-0.2148633599281311,
12.571428298950195
] | [
0.2707291841506958,
0.09792287647724152,
0.1941065490245819,
3.0355734825134277,
1.0822560787200928,
-2.8621559143066406
] | 1 | [
-0.39936307072639465,
-0.6058047413825989,
0.2623390257358551,
0.8290342688560486,
-0.007501884363591671,
0.2542273998260498
] | [
-0.49078744649887085,
-0.5288648009300232,
0.23969829082489014,
0.7557903528213501,
-0.007515473756939173,
0.2732677161693573
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.516951 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.7 | 47 | 0 | 47 | 0 |
[
-30.1953182220459,
-31.089170455932617,
24.42888641357422,
49.383155822753906,
-0.2144382745027542,
13.12894344329834
] | [
-35.829566955566406,
-26.906301498413086,
20.77488899230957,
45.30973815917969,
-0.2148633599281311,
14.000001907348633
] | [
0.271979957818985,
0.11056096106767654,
0.19656223058700562,
3.0301570892333984,
1.1025359630584717,
-2.8237111568450928
] | 1 | [
-0.44261646270751953,
-0.5694087147712708,
0.24016208946704865,
0.794382631778717,
-0.0075021227821707726,
0.28545457124710083
] | [
-0.5329340100288391,
-0.49372678995132446,
0.17819702625274658,
0.7220244407653809,
-0.007515473756939173,
0.3044952154159546
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.564763 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.8 | 48 | 0 | 48 | 0 |
[
-32.852108001708984,
-29.129438400268555,
23.108272552490234,
47.4620475769043,
-0.2144496589899063,
14.557599067687988
] | [
-38.366455078125,
-25.032453536987305,
19.43056297302246,
43.47562789916992,
-0.2148633599281311,
15.428571701049805
] | [
0.27251461148262024,
0.12326227873563766,
0.1990990787744522,
3.0240988731384277,
1.1234281063079834,
-2.78655743598938
] | 1 | [
-0.4852050840854645,
-0.533950686454773,
0.2177669107913971,
0.7602570056915283,
-0.007502480410039425,
0.3166838586330414
] | [
-0.5736005902290344,
-0.4598226845264435,
0.15539972484111786,
0.6894442439079285,
-0.007515473756939173,
0.3357226550579071
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.61186 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 4.9 | 49 | 0 | 49 | 0 |
[
-35.44207000732422,
-27.20970344543457,
21.8011417388916,
45.58955383300781,
-0.21446484327316284,
15.986167907714844
] | [
-40.7911376953125,
-23.24148178100586,
18.145694732666016,
41.72264099121094,
-0.2148633599281311,
16.857141494750977
] | [
0.2723773121833801,
0.1358674168586731,
0.2015111744403839,
3.0176098346710205,
1.1439393758773804,
-2.7509195804595947
] | 1 | [
-0.5267224311828613,
-0.49921634793281555,
0.19560037553310394,
0.7269949913024902,
-0.007502957247197628,
0.3479112684726715
] | [
-0.6124684810638428,
-0.4274180829524994,
0.13361072540283203,
0.6583050489425659,
-0.007515473756939173,
0.3669500946998596
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.657955 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5 | 50 | 0 | 50 | 0 |
[
-37.82162094116211,
-25.443218231201172,
20.951068878173828,
43.869266510009766,
-0.21449141204357147,
17.414697647094727
] | [
-42.197296142578125,
-22.202836990356445,
19.633953094482422,
40.706024169921875,
-0.2148633599281311,
18.285715103149414
] | [
0.27151086926460266,
0.14751704037189484,
0.20200508832931519,
3.0132205486297607,
1.1568279266357422,
-2.716782808303833
] | 1 | [
-0.564866840839386,
-0.46725478768348694,
0.18118470907211304,
0.6964366436004639,
-0.0075037917122244835,
0.3791378438472748
] | [
-0.6350093483924866,
-0.4086255729198456,
0.1588488519191742,
0.6402463912963867,
-0.007515473756939173,
0.3981775939464569
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.69987 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.1 | 51 | 0 | 51 | 0 |
[
-39.74589920043945,
-24.015897750854492,
20.32522201538086,
42.47816467285156,
-0.21451038122177124,
18.84325408935547
] | [
-43.39370346069336,
-21.319122314453125,
18.999963760375977,
39.84104919433594,
-0.2148633599281311,
19.714284896850586
] | [
0.27035629749298096,
0.1569993793964386,
0.2020401507616043,
3.009850263595581,
1.1662319898605347,
-2.68902850151062
] | 1 | [
-0.595713198184967,
-0.44142982363700867,
0.17057150602340698,
0.6717258095741272,
-0.00750438729301095,
0.4103649854660034
] | [
-0.6541879177093506,
-0.3926362693309784,
0.14809755980968475,
0.624881386756897,
-0.007515473756939173,
0.4294050335884094
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.734952 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.2 | 52 | 0 | 52 | 0 |
[
-41.39043426513672,
-22.79859733581543,
19.692758560180664,
41.28926467895508,
-0.2145293653011322,
20.271814346313477
] | [
-44.622642517089844,
-20.411376953125,
18.34873390197754,
38.952552795410156,
-0.2148633599281311,
21.142858505249023
] | [
0.2690966725349426,
0.16516940295696259,
0.20247124135494232,
3.00620698928833,
1.1759486198425293,
-2.666022777557373
] | 1 | [
-0.6220752596855164,
-0.41940486431121826,
0.15984608232975006,
0.6506068110466003,
-0.007504983805119991,
0.44159218668937683
] | [
-0.6738879084587097,
-0.37621214985847473,
0.13705390691757202,
0.6090986132621765,
-0.007515473756939173,
0.4606325328350067
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.76624 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.3 | 53 | 0 | 53 | 0 |
[
-42.877750396728516,
-21.697513580322266,
19.04952049255371,
40.213958740234375,
-0.2145407497882843,
21.700380325317383
] | [
-45.88666534423828,
-19.464412689208984,
17.678913116455078,
38.0386962890625,
-0.2148633599281311,
22.571428298950195
] | [
0.2677367925643921,
0.17260417342185974,
0.20314547419548035,
3.002284049987793,
1.185925006866455,
-2.6458098888397217
] | 1 | [
-0.6459171175956726,
-0.3994826078414917,
0.14893795549869537,
0.6315056085586548,
-0.007505341432988644,
0.4728195369243622
] | [
-0.6941503286361694,
-0.35907843708992004,
0.12569497525691986,
0.5928653478622437,
-0.007515473756939173,
0.49185997247695923
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.7954 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.4 | 54 | 0 | 54 | 0 |
[
-44.283172607421875,
-20.651525497436523,
18.392620086669922,
39.19792938232422,
-0.2145407497882843,
23.12894630432129
] | [
-47.190704345703125,
-18.48263168334961,
16.98788833618164,
37.095909118652344,
-0.2148633599281311,
23.999998092651367
] | [
0.26625680923461914,
0.17966465651988983,
0.2039470672607422,
2.9980900287628174,
1.1960692405700684,
-2.627175807952881
] | 1 | [
-0.6684461832046509,
-0.38055723905563354,
0.13779813051223755,
0.6134573817253113,
-0.007505341432988644,
0.5040469169616699
] | [
-0.7150542140007019,
-0.34131476283073425,
0.11397647112607956,
0.5761181116104126,
-0.007515473756939173,
0.5230873823165894
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.82344 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.5 | 55 | 0 | 55 | 0 |
[
-45.65446472167969,
-19.614046096801758,
17.53022575378418,
38.207035064697266,
-0.21455593407154083,
24.557464599609375
] | [
-48.52523422241211,
-17.477893829345703,
16.28070640563965,
36.131072998046875,
-0.2148633599281311,
25.428571701049805
] | [
0.2647014558315277,
0.18664278090000153,
0.20564977824687958,
2.992251396179199,
1.2093592882156372,
-2.6106419563293457
] | 1 | [
-0.6904281377792358,
-0.36178579926490784,
0.12317351251840591,
0.5958555936813354,
-0.007505818270146847,
0.5352731943130493
] | [
-0.7364468574523926,
-0.32313576340675354,
0.10198396444320679,
0.5589792728424072,
-0.007515473756939173,
0.554314911365509
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.851545 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.6 | 56 | 0 | 56 | 0 |
[
-47.02067565917969,
-18.604169845581055,
16.896198272705078,
37.21875,
-0.21455973386764526,
25.98610496520996
] | [
-49.911521911621094,
-16.434188842773438,
15.546097755432129,
35.128822326660156,
-0.2148633599281311,
26.85714340209961
] | [
0.26283562183380127,
0.19350939989089966,
0.20637503266334534,
2.9876227378845215,
1.2192637920379639,
-2.593079090118408
] | 1 | [
-0.7123286128044128,
-0.3435138165950775,
0.11242157220840454,
0.5783002376556396,
-0.0075059374794363976,
0.5665021538734436
] | [
-0.7586691975593567,
-0.30425167083740234,
0.08952635526657104,
0.5411757826805115,
-0.007515473756939173,
0.5855423808097839
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.878562 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.7 | 57 | 0 | 57 | 0 |
[
-48.40465545654297,
-17.564367294311523,
16.234500885009766,
36.21818923950195,
-0.21455973386764526,
27.41466522216797
] | [
-51.35288619995117,
-15.349017143249512,
12.510149955749512,
34.08675003051758,
-0.2148633599281311,
28.285715103149414
] | [
0.26076048612594604,
0.20048335194587708,
0.20708312094211578,
2.9826648235321045,
1.2293049097061157,
-2.575556993484497
] | 1 | [
-0.7345139384269714,
-0.32470032572746277,
0.1012004017829895,
0.5605267286300659,
-0.0075059374794363976,
0.5977293848991394
] | [
-0.7817744016647339,
-0.2846173346042633,
0.038042277097702026,
0.5226649641990662,
-0.007515473756939173,
0.6167698502540588
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.905562 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.8 | 58 | 0 | 58 | 0 |
[
-49.82471466064453,
-16.498397827148438,
15.377351760864258,
35.19147491455078,
-0.21457111835479736,
28.843252182006836
] | [
-52.88020706176758,
-14.199131965637207,
13.972957611083984,
32.9825325012207,
-0.2148633599281311,
29.71428680419922
] | [
0.2584603428840637,
0.20767655968666077,
0.2086193859577179,
2.9756479263305664,
1.2425931692123413,
-2.5594208240509033
] | 1 | [
-0.7572776675224304,
-0.3054134249687195,
0.08666473627090454,
0.5422887206077576,
-0.00750629510730505,
0.628957211971283
] | [
-0.8062574863433838,
-0.2638121247291565,
0.06284879893064499,
0.5030501484870911,
-0.007515473756939173,
0.6479973196983337
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.932572 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 5.9 | 59 | 0 | 59 | 0 |
[
-51.134796142578125,
-15.511147499084473,
14.766316413879395,
34.24427795410156,
-0.2145635187625885,
29.822385787963867
] | [
-53.211971282958984,
-13.94935417175293,
13.797151565551758,
32.74267578125,
-0.2148633599281311,
30
] | [
0.2560864984989166,
0.21424958109855652,
0.20913517475128174,
2.9704692363739014,
1.2517716884613037,
-2.543330192565918
] | 1 | [
-0.7782783508300781,
-0.28755080699920654,
0.07630269974470139,
0.5254631638526917,
-0.007506056223064661,
0.6503602862358093
] | [
-0.811575710773468,
-0.2592928111553192,
0.05986745283007622,
0.4987894892692566,
-0.007515473756939173,
0.6542428135871887
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.954744 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6 | 60 | 0 | 60 | 0 |
[
-51.95123291015625,
-14.89604377746582,
14.384084701538086,
33.65396499633789,
-0.2145635187625885,
29.975662231445312
] | [
-53.211971282958984,
-13.94935417175293,
13.797151565551758,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25450968742370605,
0.21833516657352448,
0.20944708585739136,
2.9670770168304443,
1.2575143575668335,
-2.5334665775299072
] | 1 | [
-0.791365921497345,
-0.27642154693603516,
0.06982075423002243,
0.5149771571159363,
-0.007506056223064661,
0.6537107825279236
] | [
-0.811575710773468,
-0.2592928111553192,
0.05986745283007622,
0.4987894892692566,
-0.007515473756939173,
0.6542428135871887
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.967162 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.1 | 61 | 0 | 61 | 0 |
[
-52.446773529052734,
-14.523170471191406,
14.152676582336426,
33.29571533203125,
-0.2145635187625885,
29.996667861938477
] | [
-53.211971282958984,
-13.94935417175293,
13.797151565551758,
32.74267578125,
-0.2148633599281311,
30
] | [
0.2535153031349182,
0.22080931067466736,
0.20962941646575928,
2.9649600982666016,
1.2609959840774536,
-2.5275380611419678
] | 1 | [
-0.799309492111206,
-0.26967504620552063,
0.06589650362730026,
0.5086134076118469,
-0.007506056223064661,
0.6541699767112732
] | [
-0.811575710773468,
-0.2592928111553192,
0.05986745283007622,
0.4987894892692566,
-0.007515473756939173,
0.6542428135871887
] | Approach green block and open gripper | Is the gripper above green block and open? | move_and_open | 0.973993 | [
-53.211971282958984,
-12.374648094177246,
14.249466896057129,
32.74267578125,
-0.2148633599281311,
30
] | [
0.25350645184516907,
0.2262878715991974,
0.1997615545988083,
2.981884002685547,
1.2307827472686768,
-2.499234437942505
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.2 | 62 | 0 | 62 | 0 |
[
-52.64534378051758,
-14.402746200561523,
13.983529090881348,
33.151954650878906,
-0.21460527181625366,
29.99953842163086
] | [
-52.65220642089844,
-14.52149772644043,
13.618906021118164,
33.141014099121094,
-0.2145635187625885,
30
] | [
0.2530955374240875,
0.22178561985492706,
0.21021124720573425,
2.9629769325256348,
1.2641829252243042,
-2.5262451171875
] | 1 | [
-0.802492618560791,
-0.26749616861343384,
0.06302806735038757,
0.5060597062110901,
-0.007507367990911007,
0.6542327404022217
] | [
-0.8026025891304016,
-0.26964476704597473,
0.05684473365545273,
0.5058653354644775,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.3 | 63 | 0 | 63 | 0 |
[
-52.65492248535156,
-14.41021728515625,
13.847756385803223,
33.13682174682617,
-0.21460527181625366,
29.999923706054688
] | [
-52.704532623291016,
-14.20162582397461,
13.708788871765137,
33.059226989746094,
-0.2145635187625885,
30
] | [
0.2530980408191681,
0.22185635566711426,
0.2109355330467224,
2.961294412612915,
1.2668416500091553,
-2.527696371078491
] | 1 | [
-0.8026461601257324,
-0.2676313519477844,
0.0607256144285202,
0.5057908892631531,
-0.007507367990911007,
0.654241144657135
] | [
-0.8034414052963257,
-0.26385724544525146,
0.0583689846098423,
0.5044125318527222,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.4 | 64 | 0 | 64 | 0 |
[
-52.691104888916016,
-14.229736328125,
13.816086769104004,
33.08017349243164,
-0.21459008753299713,
29.999940872192383
] | [
-52.81000518798828,
-13.554454803466797,
13.888470649719238,
32.8946418762207,
-0.2145635187625885,
30
] | [
0.2532288432121277,
0.22224953770637512,
0.21032856404781342,
2.962369680404663,
1.2651500701904297,
-2.526090383529663
] | 1 | [
-0.8032261729240417,
-0.2643658518791199,
0.06018855795264244,
0.5047846436500549,
-0.007506891153752804,
0.6542415022850037
] | [
-0.8051321506500244,
-0.25214776396751404,
0.061416056007146835,
0.5014889240264893,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.00376 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.5 | 65 | 0 | 65 | 0 |
[
-52.763370513916016,
-14.275986671447754,
13.89389705657959,
32.96762466430664,
-0.21459388732910156,
29.99995231628418
] | [
-52.966285705566406,
-14.420403480529785,
14.150322914123535,
32.651546478271484,
-0.2145635187625885,
30
] | [
0.25297218561172485,
0.22249874472618103,
0.210490420460701,
2.9614243507385254,
1.2666398286819458,
-2.52583384513855
] | 1 | [
-0.8043845891952515,
-0.26520267128944397,
0.06150807812809944,
0.5027853846549988,
-0.007507010363042355,
0.6542417407035828
] | [
-0.8076373338699341,
-0.26781564950942993,
0.06585658341646194,
0.49717071652412415,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.003229 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.6 | 66 | 0 | 66 | 0 |
[
-52.87559509277344,
-14.138093948364258,
14.037603378295898,
32.79283905029297,
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29.999971389770508
] | [
-53.162010192871094,
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14.47127914428711,
32.34833908081055,
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30
] | [
0.2528122663497925,
0.22313451766967773,
0.2095758318901062,
2.9625637531280518,
1.2648450136184692,
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] | 1 | [
-0.8061835765838623,
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0.06394506990909576,
0.4996805489063263,
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] | [
-0.8107748031616211,
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0.07129941135644913,
0.4917846918106079,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.007342 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.7 | 67 | 0 | 67 | 0 |
[
-53.02718734741211,
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14.262203216552734,
32.557777404785156,
-0.21455593407154083,
29.999984741210938
] | [
-53.39331817626953,
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17.81716537475586,
31.99202537536621,
-0.2145635187625885,
30
] | [
0.2530588209629059,
0.2244807779788971,
0.20605012774467468,
2.968952178955078,
1.2543667554855347,
-2.5144360065460205
] | 1 | [
-0.8086135983467102,
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0.0677538737654686,
0.49550503492355347,
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] | [
-0.8144826889038086,
-0.21925900876522064,
0.12803947925567627,
0.48545530438423157,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.02287 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.8 | 68 | 0 | 68 | 0 |
[
-53.215049743652344,
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14.744159698486328,
32.268043518066406,
-0.2145293653011322,
29.999990463256836
] | [
-53.65262985229492,
-10.0708589553833,
15.235617637634277,
31.595476150512695,
-0.2145635187625885,
30
] | [
0.25347474217414856,
0.226276695728302,
0.19952702522277832,
2.980318784713745,
1.2338699102401733,
-2.5006580352783203
] | 1 | [
-0.811625063419342,
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0.07592696696519852,
0.4903583526611328,
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] | [
-0.8186395168304443,
-0.18911801278591156,
0.08426118642091751,
0.4784111976623535,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.04738 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 6.9 | 69 | 0 | 69 | 0 |
[
-53.434661865234375,
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15.263487815856934,
31.931350708007812,
-0.21451038122177124,
29.999977111816406
] | [
-53.93156433105469,
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15.642354965209961,
31.172407150268555,
-0.2145635187625885,
30
] | [
0.2539588510990143,
0.2283915877342224,
0.19138966500759125,
2.9927821159362793,
1.2081984281539917,
-2.4854276180267334
] | 1 | [
-0.8151454329490662,
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0.08473381400108337,
0.48437750339508057,
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] | [
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0.09115870296955109,
0.47089600563049316,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.078987 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7 | 70 | 0 | 70 | 0 |
[
-53.68035125732422,
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15.476380348205566,
31.557186126708984,
-0.2144724279642105,
30.0000057220459
] | [
-54.22491455078125,
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16.04261016845703,
30.73237419128418,
-0.2145635187625885,
30
] | [
0.25457116961479187,
0.23085615038871765,
0.18353576958179474,
3.0030391216278076,
1.184057354927063,
-2.471942663192749
] | 1 | [
-0.8190838694572449,
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0.08834407478570938,
0.47773104906082153,
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] | [
-0.8278132677078247,
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0.09794629365205765,
0.4630794823169708,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.116444 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.1 | 71 | 0 | 71 | 0 |
[
-53.94606018066406,
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15.975388526916504,
31.156267166137695,
-0.2144496589899063,
29.99998664855957
] | [
-54.52475357055664,
-4.224026203155518,
16.420146942138672,
30.288236618041992,
-0.2145635187625885,
30
] | [
0.2549140155315399,
0.2332058995962143,
0.17332448065280914,
3.014880418777466,
1.152051568031311,
-2.456787586212158
] | 1 | [
-0.8233432173728943,
-0.15222518146038055,
0.09680633991956711,
0.47060930728912354,
-0.007502480410039425,
0.6542425155639648
] | [
-0.8326197266578674,
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0.10434862226247787,
0.4551900625228882,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.158224 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.2 | 72 | 0 | 72 | 0 |
[
-54.22551345825195,
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16.20648956298828,
30.738872528076172,
-0.21441170573234558,
30.000017166137695
] | [
-54.82542419433594,
-2.1001996994018555,
16.76280975341797,
29.849275588989258,
-0.2145635187625885,
30
] | [
0.2552485466003418,
0.2356754094362259,
0.16358061134815216,
3.0244832038879395,
1.1221673488616943,
-2.4435927867889404
] | 1 | [
-0.8278228640556335,
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0.10072538256645203,
0.46319493651390076,
-0.007501288317143917,
0.6542431712150574
] | [
-0.8374395370483398,
-0.044902462512254715,
0.11015955358743668,
0.4473925828933716,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.203711 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.3 | 73 | 0 | 73 | 0 |
[
-54.51253890991211,
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16.736032485961914,
30.315731048583984,
-0.21440032124519348,
29.999975204467773
] | [
-55.12049102783203,
0.062577024102211,
17.051305770874023,
29.427017211914062,
-0.2145635187625885,
30
] | [
0.25510090589523315,
0.237700417637825,
0.15179091691970825,
3.034801959991455,
1.0852563381195068,
-2.429776430130005
] | 1 | [
-0.8324239253997803,
-0.08283637464046478,
0.10970545560121536,
0.45567846298217773,
-0.007500930689275265,
0.6542422771453857
] | [
-0.842169463634491,
-0.005770688410848379,
0.11505191028118134,
0.4398917853832245,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.251251 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.4 | 74 | 0 | 74 | 0 |
[
-54.80120849609375,
-2.148777484893799,
16.89954948425293,
29.896345138549805,
-0.21436236798763275,
30.000015258789062
] | [
-55.40557861328125,
2.231647491455078,
17.281719207763672,
29.02765464782715,
-0.2145635187625885,
30
] | [
0.2549993097782135,
0.23980839550495148,
0.14124244451522827,
3.042675018310547,
1.0530999898910522,
-2.4182443618774414
] | 1 | [
-0.8370513319969177,
-0.045781396329402924,
0.11247840523719788,
0.4482286870479584,
-0.007499738596379757,
0.6542431116104126
] | [
-0.8467394709587097,
0.033474963158369064,
0.11895930022001266,
0.43279770016670227,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.30099 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.5 | 75 | 0 | 75 | 0 |
[
-55.085994720458984,
-0.054854974150657654,
17.078359603881836,
29.4901180267334,
-0.21432441473007202,
30.00003433227539
] | [
-55.676185607910156,
4.383561134338379,
17.4438533782959,
28.65866470336914,
-0.2145635187625885,
30
] | [
0.254616916179657,
0.2415926158428192,
0.13028942048549652,
3.0499775409698486,
1.0196034908294678,
-2.407393455505371
] | 1 | [
-0.8416164517402649,
-0.007895421236753464,
0.11551069468259811,
0.4410126805305481,
-0.007498546503484249,
0.654243528842926
] | [
-0.8510773181915283,
0.07241018861532211,
0.12170879542827606,
0.4262431561946869,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.351575 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.6 | 76 | 0 | 76 | 0 |
[
-55.362022399902344,
2.055698871612549,
17.23845672607422,
29.1048583984375,
-0.21429024636745453,
30.000041961669922
] | [
-55.92745590209961,
6.494564533233643,
17.52770233154297,
28.32793617248535,
-0.2145635187625885,
30
] | [
0.25398269295692444,
0.2430383861064911,
0.11923903971910477,
3.0565900802612305,
0.9857313632965088,
-2.3973934650421143
] | 1 | [
-0.846041202545166,
0.030291469767689705,
0.11822564899921417,
0.43416911363601685,
-0.007497473619878292,
0.6542437076568604
] | [
-0.8551051616668701,
0.11060521006584167,
0.12313071638345718,
0.4203682541847229,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.402342 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.7 | 77 | 0 | 77 | 0 |
[
-55.624935150146484,
4.168211936950684,
17.356273651123047,
28.747594833374023,
-0.21427127718925476,
30.000045776367188
] | [
-56.15842056274414,
8.60745620727539,
17.537559509277344,
28.035917282104492,
-0.2145635187625885,
30
] | [
0.2531382143497467,
0.24414995312690735,
0.10827270150184631,
3.0625274181365967,
0.9520244598388672,
-2.3882839679718018
] | 1 | [
-0.8502557277679443,
0.06851381063461304,
0.12022360414266586,
0.42782285809516907,
-0.007496877573430538,
0.6542438268661499
] | [
-0.8588075637817383,
0.14883440732955933,
0.12329787760972977,
0.4151809811592102,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.452993 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.8 | 78 | 0 | 78 | 0 |
[
-55.8710823059082,
6.266773700714111,
17.418230056762695,
28.42380714416504,
-0.2142522931098938,
30.000045776367188
] | [
-56.365264892578125,
10.634490966796875,
17.46687889099121,
27.78857421875,
-0.2145635187625885,
30
] | [
0.25212642550468445,
0.24493998289108276,
0.09753371775150299,
3.067835569381714,
0.9189049005508423,
-2.3800647258758545
] | 1 | [
-0.8542014956474304,
0.10648372769355774,
0.12127427011728287,
0.42207127809524536,
-0.007496281526982784,
0.6542438268661499
] | [
-0.8621233105659485,
0.18551015853881836,
0.12209926545619965,
0.41078731417655945,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.503205 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 7.9 | 79 | 0 | 79 | 0 |
[
-56.097652435302734,
8.32113265991211,
17.415809631347656,
28.137569427490234,
-0.21423332393169403,
30.000045776367188
] | [
-56.547122955322266,
12.560212135314941,
17.320100784301758,
27.58620262145996,
-0.2145635187625885,
30
] | [
0.25099778175354004,
0.24543824791908264,
0.08721897751092911,
3.0725300312042236,
0.8869924545288086,
-2.372746229171753
] | 1 | [
-0.8578334450721741,
0.14365386962890625,
0.12123322486877441,
0.4169866740703583,
-0.00749568548053503,
0.6542438268661499
] | [
-0.8650385141372681,
0.22035281360149384,
0.11961018294095993,
0.4071924686431885,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.552332 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8 | 80 | 0 | 80 | 0 |
[
-56.30235290527344,
10.306379318237305,
17.345062255859375,
27.891860961914062,
-0.21421433985233307,
30.000045776367188
] | [
-56.7049674987793,
14.378287315368652,
17.106229782104492,
27.42597198486328,
-0.2145635187625885,
30
] | [
0.24980759620666504,
0.24568645656108856,
0.07747545838356018,
3.0766494274139404,
0.8567530512809753,
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] | 1 | [
-0.8611147999763489,
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0.12003348022699356,
0.41262203454971313,
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] | [
-0.8675687909126282,
0.25324779748916626,
0.11598332226276398,
0.404346227645874,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.59986 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.1 | 81 | 0 | 81 | 0 |
[
-56.483978271484375,
12.203441619873047,
17.206544876098633,
27.687719345092773,
-0.2141953557729721,
30.000045776367188
] | [
-56.8360710144043,
16.063322067260742,
16.82543182373047,
27.311281204223633,
-0.2145635187625885,
30
] | [
0.24860776960849762,
0.24573329091072083,
0.06840028613805771,
3.08024525642395,
0.8285053372383118,
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] | 1 | [
-0.8640263080596924,
0.21389766037464142,
0.11768448352813721,
0.40899577736854553,
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] | [
-0.8696703910827637,
0.28373563289642334,
0.11122150719165802,
0.4023089110851288,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.645411 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.2 | 82 | 0 | 82 | 0 |
[
-56.64190673828125,
13.996204376220703,
17.003671646118164,
27.525144577026367,
-0.21417638659477234,
30.000045776367188
] | [
-56.94385528564453,
17.618635177612305,
16.494333267211914,
27.234865188598633,
-0.2145635187625885,
30
] | [
0.247446209192276,
0.24562938511371613,
0.06006219983100891,
3.0833659172058105,
0.802484393119812,
-2.355909824371338
] | 1 | [
-0.8665578961372375,
0.24633465707302094,
0.11424412578344345,
0.4061078727245331,
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0.6542438268661499
] | [
-0.8713981509208679,
0.3118763864040375,
0.10560668259859085,
0.4009515047073364,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.688672 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.3 | 83 | 0 | 83 | 0 |
[
-56.77530288696289,
15.658946990966797,
16.747756958007812,
27.403200149536133,
-0.2141612023115158,
30.000045776367188
] | [
-57.01388168334961,
18.7651424407959,
16.198997497558594,
27.199527740478516,
-0.2145635187625885,
30
] | [
0.24636676907539368,
0.24542030692100525,
0.052548859268426895,
3.086043119430542,
0.7789811491966248,
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] | 1 | [
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0.10990428179502487,
0.40394172072410583,
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] | [
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0.3326205015182495,
0.10059833526611328,
0.4003237783908844,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.729056 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.4 | 84 | 0 | 84 | 0 |
[
-56.87598419189453,
17.00554847717285,
16.502721786499023,
27.320716857910156,
-0.2141612023115158,
30.000045776367188
] | [
-57.05250549316406,
19.46813201904297,
15.994478225708008,
27.18745231628418,
-0.2145635187625885,
30
] | [
0.24547792971134186,
0.24517081677913666,
0.04658505693078041,
3.0880837440490723,
0.7602946162223816,
-2.3488337993621826
] | 1 | [
-0.8703101873397827,
0.300783634185791,
0.10574893653392792,
0.4024765193462372,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8731398582458496,
0.34533989429473877,
0.09713006019592285,
0.40010929107666016,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.76192 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.5 | 85 | 0 | 85 | 0 |
[
-56.95171356201172,
18.09861183166504,
16.268207550048828,
27.2672119140625,
-0.2141612023115158,
30.000045776367188
] | [
-57.08784866333008,
20.17253303527832,
15.769835472106934,
27.183095932006836,
-0.2145635187625885,
30
] | [
0.244770810008049,
0.2449347823858261,
0.04185941070318222,
3.0896496772766113,
0.7454888820648193,
-2.3465492725372314
] | 1 | [
-0.8715241551399231,
0.3205607533454895,
0.1017720103263855,
0.4015260934829712,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8737064003944397,
0.35808485746383667,
0.09332053363323212,
0.4000318944454193,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.788778 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.6 | 86 | 0 | 86 | 0 |
[
-57.01093292236328,
19.035429000854492,
16.032758712768555,
27.234481811523438,
-0.2141612023115158,
30.000045776367188
] | [
-57.1195068359375,
20.863557815551758,
15.523344039916992,
27.187259674072266,
-0.2145635187625885,
30
] | [
0.24419529736042023,
0.2447216808795929,
0.03791835159063339,
3.0909223556518555,
0.7331487536430359,
-2.3447422981262207
] | 1 | [
-0.872473418712616,
0.337510883808136,
0.09777922928333282,
0.40094467997550964,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8742138743400574,
0.3705877661705017,
0.08914049714803696,
0.40010586380958557,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.81199 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.7 | 87 | 0 | 87 | 0 |
[
-57.0586051940918,
19.87559700012207,
15.788153648376465,
27.21785545349121,
-0.2141612023115158,
30.000045776367188
] | [
-57.147178649902344,
21.557811737060547,
15.253190994262695,
27.200660705566406,
-0.2145635187625885,
30
] | [
0.24371793866157532,
0.24453219771385193,
0.034487929195165634,
3.092005729675293,
0.7224211692810059,
-2.343257427215576
] | 1 | [
-0.8732376098632812,
0.3527123034000397,
0.09363117814064026,
0.4006493389606476,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8746574521064758,
0.383149117231369,
0.08455919474363327,
0.4003438949584961,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.833003 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.8 | 88 | 0 | 88 | 0 |
[
-57.09768295288086,
20.658754348754883,
15.528632164001465,
27.214738845825195,
-0.2141612023115158,
30.000045776367188
] | [
-57.170658111572266,
22.257537841796875,
14.956961631774902,
27.223970413208008,
-0.2145635187625885,
30
] | [
0.24331434071063995,
0.24436138570308685,
0.03138602524995804,
3.0929665565490723,
0.7127346396446228,
-2.3419992923736572
] | 1 | [
-0.8738640546798706,
0.36688220500946045,
0.08923017233610153,
0.40059399604797363,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8750338554382324,
0.39580947160720825,
0.07953569293022156,
0.40075796842575073,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.85277 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 8.9 | 89 | 0 | 89 | 0 |
[
-57.129791259765625,
21.409440994262695,
15.249531745910645,
27.223920822143555,
-0.2141612023115158,
30.000045776367188
] | [
-57.189571380615234,
22.96464729309082,
14.631407737731934,
27.258255004882812,
-0.2145635187625885,
30
] | [
0.24297061562538147,
0.24420598149299622,
0.028503047302365303,
3.093843936920166,
0.7037467956542969,
-2.340913772583008
] | 1 | [
-0.8743787407875061,
0.3804645836353302,
0.08449714630842209,
0.4007570743560791,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8753370046615601,
0.4086034297943115,
0.07401490211486816,
0.4013669788837433,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.871869 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 9 | 90 | 0 | 90 | 0 |
[
-57.15574264526367,
22.142772674560547,
14.946844100952148,
27.245121002197266,
-0.2141612023115158,
30.000045776367188
] | [
-57.20289993286133,
23.67387580871582,
14.274209976196289,
27.305200576782227,
-0.2145635187625885,
30
] | [
0.24268002808094025,
0.24406468868255615,
0.025774529203772545,
3.0946600437164307,
0.695257842540741,
-2.3399722576141357
] | 1 | [
-0.8747947216033936,
0.3937329947948456,
0.0793641209602356,
0.4011336863040924,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8755506873130798,
0.42143571376800537,
0.06795748323202133,
0.4022009074687958,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.890625 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 9.1 | 91 | 0 | 91 | 0 |
[
-57.1757926940918,
22.86910629272461,
14.616060256958008,
27.278764724731445,
-0.2141612023115158,
30.000045776367188
] | [
-57.210594177246094,
24.397445678710938,
13.877696990966797,
27.366233825683594,
-0.2145635187625885,
30
] | [
0.24244141578674316,
0.2439383864402771,
0.02316136099398136,
3.095428943634033,
0.6871495246887207,
-2.339160680770874
] | 1 | [
-0.8751161694526672,
0.40687477588653564,
0.07375463098287582,
0.40173131227493286,
-0.0074934205040335655,
0.6542438268661499
] | [
-0.8756740093231201,
0.4345274865627289,
0.06123335286974907,
0.40328505635261536,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.909195 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 9.2 | 92 | 0 | 92 | 0 |
[
-57.18853759765625,
23.5802059173584,
14.254009246826172,
27.32009506225586,
-0.1857786327600479,
30.19449806213379
] | [
-57.21205139160156,
24.850635528564453,
13.611075401306152,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.24228987097740173,
0.24384711682796478,
0.02072451449930668,
3.0968453884124756,
0.6797487139701843,
-2.337371349334717
] | 1 | [
-0.8753204345703125,
0.4197409152984619,
0.06761491298675537,
0.40246549248695374,
-0.006601973436772823,
0.6584944128990173
] | [
-0.8756973743438721,
0.4427271783351898,
0.056711941957473755,
0.4040970504283905,
-0.007506056223064661,
0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.926976 | [
-57.21205139160156,
26.60663604736328,
14.065131187438965,
27.411945343017578,
-0.2145635187625885,
30
] | [
0.2535773813724518,
0.22640202939510345,
0.005006913095712662,
3.1008543968200684,
0.6266545057296753,
-2.3352746963500977
] | 30 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 9.3 | 93 | 0 | 93 | 0 |
[
-57.18960952758789,
24.042524337768555,
13.973017692565918,
27.343242645263672,
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30.812646865844727
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30
] | [
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0.056711941957473755,
0.4040970504283905,
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0.6542428135871887
] | Pick up green block | Is green block grasped? | move | 0.935207 | [
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26.60663604736328,
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] | [
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] | 30 | stack green block on red block | green block | [
0.2536076307296753,
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] | 9.4 | 94 | 0 | 94 | 0 |
[
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] | [
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] | [
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] | Pick up green block | Is green block grasped? | move | 0.938038 | [
-57.21205139160156,
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] | [
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] | 30 | stack green block on red block | green block | [
0.2536076307296753,
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] | 9.5 | 95 | 0 | 95 | 0 |
[
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] | [
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] | [
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] | grasp green block | Is green block grasped? | gripper_close | 0.001117 | [
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] | [
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] | 0 | stack green block on red block | green block | [
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] | 9.6 | 96 | 0 | 96 | 0 |
[
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] | [
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] | 0 | [
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] | [
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] | grasp green block | Is green block grasped? | gripper_close | 0.042166 | [
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24.46169090270996,
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] | [
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] | 0 | stack green block on red block | green block | [
0.2536076307296753,
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] | 9.7 | 97 | 0 | 97 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.43568989634513855,
0.058111727237701416,
0.4036254584789276,
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] | grasp green block | Is green block grasped? | gripper_close | 0.100162 | [
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24.46169090270996,
13.693618774414062,
27.38539695739746,
0.16941720247268677,
0
] | [
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0.24384376406669617,
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] | 0 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
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] | 9.8 | 98 | 0 | 98 | 0 |
[
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24.374128341674805,
13.676624298095703,
27.453998565673828,
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] | [
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24.46169090270996,
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24
] | [
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3.113595962524414,
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] | 0 | [
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0.4341055750846863,
0.057823531329631805,
0.4048440754413605,
0.013623789884150028,
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] | [
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0.43568989634513855,
0.058111727237701416,
0.4036254584789276,
0.004554108716547489,
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] | grasp green block | Is green block grasped? | gripper_close | 0.165836 | [
-57.18474578857422,
24.46169090270996,
13.693618774414062,
27.38539695739746,
0.16941720247268677,
0
] | [
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0.24384376406669617,
0.018077483400702477,
3.1064109802246094,
0.6726039052009583,
-2.32275128364563
] | 0 | stack green block on red block | green block | [
0.2536076307296753,
0.22642435133457184,
0.02499999664723873
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
Redundancy Stack 2 Cubes Per1 Ikaction 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: "Stack the green block on the red block."
- Robot: so101_follower
- Cameras: top + left-wrist RGB @ 10 fps
- Episodes: 10 (3,291 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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Models trained or fine-tuned on HyeonseokE/redundancy_stack_2_cubes_per1_ikaction_10fps