HyeonseokE/smolvla_turn_off_lever_cap_2000_10fps
Robotics • 0.5B • Updated • 20
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 8
values | skill.verification_question stringclasses 8
values | skill.type stringclasses 5
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 0.27 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 2
values | subtask.target_position list | timestamp float32 0 24 | frame_index int64 0 240 | episode_index int64 0 99 | index int64 0 21.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.042192 | [
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[
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[
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[
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[
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[
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3.0755021572113037
] | 1 | [
0.00029997772071510553,
-1.5041351318359375,
1.1926442384719849,
1.2038220167160034,
-0.0025729378685355186,
0.09750587493181229
] | [
0.012189513072371483,
-1.4224625825881958,
1.0926069021224976,
1.2047102451324463,
-0.0033543300814926624,
0.09227542579174042
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.332504 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
-2.208033323287964,
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77.75614166259766,
72.45671081542969,
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4.135918140411377
] | [
-1.4436851739883423,
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71.67646789550781,
72.50824737548828,
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3.8934242725372314
] | [
0.18151713907718658,
-0.00084614974912256,
0.07563323527574539,
3.0992887020111084,
0.6857929229736328,
3.0688438415527344
] | 1 | [
0.0060224877670407295,
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1.1444940567016602,
1.204249620437622,
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0.08887398988008499
] | [
0.0182750653475523,
-1.3806501626968384,
1.0413939952850342,
1.205165147781372,
-0.0037546611856669188,
0.08357325941324234
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.381865 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
-1.8418649435043335,
-78.3493423461914,
74.8435287475586,
72.4814224243164,
-0.08179017901420593,
3.7375006675720215
] | [
-1.0632177591323853,
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68.64987182617188,
72.53390502929688,
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3.4944491386413574
] | [
0.1838677078485489,
-0.0017086196457967162,
0.08196201920509338,
3.098217725753784,
0.6943879723548889,
3.0619943141937256
] | 1 | [
0.011892203241586685,
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1.0951015949249268,
1.204688549041748,
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] | [
0.024373995140194893,
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0.9900685548782349,
1.2056208848953247,
-0.004155872389674187,
0.07485197484493256
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.43249 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
-1.4705144166946411,
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71.88951873779297,
72.5064468383789,
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3.3399181365966797
] | [
-0.6860835552215576,
-71.3139877319336,
65.64978790283203,
72.55933380126953,
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3.0989692211151123
] | [
0.18640664219856262,
-0.002614382654428482,
0.08831342309713364,
3.0971100330352783,
0.7031071782112122,
3.05502986907959
] | 1 | [
0.017844989895820618,
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1.0450069904327393,
1.205133080482483,
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0.07147404551506042
] | [
0.030419493094086647,
-1.297208547592163,
0.9391926527023315,
1.2060725688934326,
-0.004553568549454212,
0.06620708853006363
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.483823 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
-1.0980440378189087,
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68.92646789550781,
72.53153991699219,
-0.10672266036272049,
2.9475255012512207
] | [
-0.31641629338264465,
-69.06371307373047,
62.7091064453125,
72.58426666259766,
-0.1329714059829712,
2.7113194465637207
] | [
0.18910647928714752,
-0.0035570859909057617,
0.09460858255624771,
3.095975160598755,
0.7118538022041321,
3.0480239391326904
] | 1 | [
0.02381572686135769,
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0.9947590827941895,
1.2055789232254028,
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0.06289664655923843
] | [
0.03634529560804367,
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0.8893240690231323,
1.2065154314041138,
-0.004943390376865864,
0.05773336440324783
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.535304 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
-0.7285316586494446,
-71.57328033447266,
65.98685455322266,
72.55647277832031,
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2.5646204948425293
] | [
0.0417357012629509,
-66.88353729248047,
59.860023498535156,
72.60841369628906,
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2.335745096206665
] | [
0.1919325441122055,
-0.00452880933880806,
0.10077166557312012,
3.0948243141174316,
0.7205305099487305,
3.041050672531128
] | 1 | [
0.029739046469330788,
-1.301900029182434,
0.9449086785316467,
1.206021785736084,
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0.054526638239622116
] | [
0.04208650812506676,
-1.217047095298767,
0.8410089015960693,
1.206944465637207,
-0.005321069620549679,
0.049523599445819855
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.586368 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
-0.36602237820625305,
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63.102901458740234,
72.58092498779297,
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2.1953985691070557
] | [
0.3844466805458069,
-64.79736328125,
57.1337776184082,
72.63152313232422,
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1.9763630628585815
] | [
0.19484402239322662,
-0.005519934929907322,
0.10673143714666367,
3.093672037124634,
0.7290412187576294,
3.0341899394989014
] | 1 | [
0.035550106316804886,
-1.2619783878326416,
0.8960021138191223,
1.2064560651779175,
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0.046455733478069305
] | [
0.04758020117878914,
-1.1793012619018555,
0.7947767972946167,
1.2073549032211304,
-0.005682465620338917,
0.04166778549551964
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.636456 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-0.014487982727587223,
-67.22721862792969,
60.306217193603516,
72.60462188720703,
-0.14313265681266785,
1.8439066410064697
] | [
0.7079627513885498,
-62.828025817871094,
54.56022644042969,
72.6533432006836,
-0.16736458241939545,
1.6371095180511475
] | [
0.19779489934444427,
-0.00651902100071311,
0.11242291331291199,
3.092531442642212,
0.7372941374778748,
3.0275161266326904
] | 1 | [
0.04118523746728897,
-1.2232654094696045,
0.8485755324363708,
1.2068771123886108,
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0.03877239301800728
] | [
0.05276619270443916,
-1.1436694860458374,
0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
0.03425196558237076
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.685019 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.322222501039505,
-65.17777252197266,
57.62744140625,
72.62732696533203,
-0.15442800521850586,
1.5139892101287842
] | [
1.0087400674819946,
-60.99710464477539,
52.16755676269531,
72.67362976074219,
-0.1774630844593048,
1.321700930595398
] | [
0.20073524117469788,
-0.0075129130855202675,
0.117787666618824,
3.0914173126220703,
0.7451977133750916,
3.0211050510406494
] | 1 | [
0.04658273980021477,
-1.1861841678619385,
0.8031483888626099,
1.2072803974151611,
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0.03156065195798874
] | [
0.05758768320083618,
-1.1105420589447021,
0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
0.027357378974556923
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.731525 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.6404186487197876,
-63.24100112915039,
55.095924377441406,
72.64878845214844,
-0.1651160567998886,
1.2092719078063965
] | [
1.2834818363189697,
-59.32467269897461,
49.98200225830078,
72.69215393066406,
-0.1866874396800995,
1.0335942506790161
] | [
0.20361293852329254,
-0.008486909791827202,
0.12277499586343765,
3.090343952178955,
0.7526659369468689,
3.0150277614593506
] | 1 | [
0.0516834557056427,
-1.1511415243148804,
0.7602185606956482,
1.2076616287231445,
-0.00595299806445837,
0.024899767711758614
] | [
0.061991821974515915,
-1.080282211303711,
0.6734958291053772,
1.2084319591522217,
-0.006630517542362213,
0.021059589460492134
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.775464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
0.9366136193275452,
-61.43806838989258,
52.73942565917969,
72.66875457763672,
-0.17504502832889557,
0.9330863952636719
] | [
1.5291792154312134,
-57.82904052734375,
48.02749252319336,
72.70872497558594,
-0.19493664801120758,
0.7759449481964111
] | [
0.20637519657611847,
-0.009425133466720581,
0.12734165787696838,
3.089327335357666,
0.7596161961555481,
3.0093557834625244
] | 1 | [
0.05643149092793465,
-1.1185204982757568,
0.7202566862106323,
1.208016276359558,
-0.006264849565923214,
0.018862565979361534
] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
0.015427575446665287
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.816356 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
1.2075676918029785,
-59.78878402709961,
50.583740234375,
72.68702697753906,
-0.18413898348808289,
0.6884617805480957
] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
-0.20212028920650482,
0.5515769124031067
] | [
0.2089700996875763,
-0.01031095813959837,
0.13145239651203156,
3.088381290435791,
0.7659733891487122,
3.004152536392212
] | 1 | [
0.06077491119503975,
-1.088679552078247,
0.6837002038955688,
1.2083408832550049,
-0.006550475023686886,
0.013515261001884937
] | [
0.0693601742386818,
-1.029655933380127,
0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
0.010523064061999321
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.853751 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
1.4503061771392822,
-58.31119155883789,
48.65248107910156,
72.70337677001953,
-0.19229546189308167,
0.47807440161705017
] | [
1.9230180978775024,
-55.43163299560547,
44.894527435302734,
72.73528289794922,
-0.2081596553325653,
0.36294782161712646
] | [
0.2113482654094696,
-0.011127542704343796,
0.13507898151874542,
3.0875205993652344,
0.7716683149337769,
2.999479055404663
] | 1 | [
0.0646660327911377,
-1.0619449615478516,
0.6509495973587036,
1.2086312770843506,
-0.006806655786931515,
0.008916355669498444
] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
0.006399777717888355
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.887241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
1.6621708869934082,
-57.02149963378906,
46.96685028076172,
72.71765899658203,
-0.19941198825836182,
0.304227739572525
] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
-0.21298861503601074,
0.21212391555309296
] | [
0.21346379816532135,
-0.011858447454869747,
0.13819940388202667,
3.086759090423584,
0.7766377329826355,
2.9953908920288086
] | 1 | [
0.06806224584579468,
-1.0386102199554443,
0.6223644018173218,
1.2088849544525146,
-0.00703017320483923,
0.005116202402859926
] | [
0.07454922050237656,
-0.9940032362937927,
0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
0.003102883929386735
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.916459 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
1.8408410549163818,
-55.933921813964844,
45.545318603515625,
72.7297134399414,
-0.2054012417793274,
0.1688368022441864
] | [
2.1730449199676514,
-53.909645080566406,
42.90557861328125,
72.75214385986328,
-0.21655422449111938,
0.10075844824314117
] | [
0.2152758687734604,
-0.012488259933888912,
0.14079774916172028,
3.0861098766326904,
0.7808289527893066,
2.9919369220733643
] | 1 | [
0.07092634588479996,
-1.0189323425292969,
0.5982578992843628,
1.2090991735458374,
-0.007218285463750362,
0.0021566611248999834
] | [
0.07625160366296768,
-0.9823064804077148,
0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
0.0006685209227725863
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.941085 | [
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 | ||
[
1.9843589067459106,
-55.060211181640625,
44.4034538269043,
72.73938751220703,
-0.2102176994085312,
0.0733746588230133
] | [
2.2404532432556152,
-53.49931335449219,
42.369346618652344,
72.7566909790039,
-0.21881742775440216,
0.030070995911955833
] | [
0.21674956381320953,
-0.013003193773329258,
0.14286212623119354,
3.085583209991455,
0.784193754196167,
2.9891579151153564
] | 1 | [
0.07322695106267929,
-1.0031239986419678,
0.5788939595222473,
1.20927095413208,
-0.007369562052190304,
0.00006993248098297045
] | [
0.07733216881752014,
-0.9748822450637817,
0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0008766520768404007
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.960852 | [
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 | ||
[
2.0911524295806885,
-54.41008758544922,
43.55375671386719,
72.74661254882812,
-0.21380063891410828,
0.018890075385570526
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0008363749948330224
] | [
0.21785633265972137,
-0.013391640037298203,
0.14438508450984955,
3.085188388824463,
0.7866975665092468,
2.9870874881744385
] | 1 | [
0.07493886351585388,
-0.991361141204834,
0.5644846558570862,
1.2093993425369263,
-0.007482095621526241,
-0.0011210583616048098
] | [
0.07777906209230423,
-0.9718117117881775,
0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015156982699409127
] | Move to initial state before turning the lever | Is the gripper at the initial pose? | move_initial | 0.975548 | [
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 | ||
[
2.1233789920806885,
-54.21514129638672,
43.295413970947266,
72.7487564086914,
-0.21486715972423553,
0.0011987353209406137
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819332242012024,
-0.01350985374301672,
0.14485332369804382,
3.0850629806518555,
0.7875087857246399,
2.9864583015441895
] | 0 | [
0.07545545697212219,
-0.9878339171409607,
0.5601036548614502,
1.209437370300293,
-0.007515593431890011,
-0.001507777371443808
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.668858 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.29639434814453,
72.7487564086914,
-0.21486715972423553,
0.0001644936710363254
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819254755973816,
-0.013509795069694519,
0.14484858512878418,
3.0850656032562256,
0.7874858975410461,
2.9864602088928223
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601202845573425,
1.209437370300293,
-0.007515593431890011,
-0.001530385110527277
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.81708 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.296958923339844,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.218191996216774,
-0.013509754091501236,
0.14484639465808868,
3.085066556930542,
0.7874763607978821,
2.9864609241485596
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601298213005066,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.877587 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 |
[
2.1233789920806885,
-54.21479034423828,
43.2973747253418,
72.7487564086914,
-0.21486715972423553,
0.000020533294446067885
] | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819160878658295,
-0.013509724289178848,
0.14484478533267975,
3.0850675106048584,
0.7874693274497986,
2.9864614009857178
] | 0 | [
0.07545545697212219,
-0.9878275394439697,
0.5601369142532349,
1.209437370300293,
-0.007515593431890011,
-0.0015335319330915809
] | [
0.07545439153909683,
-0.9878184795379639,
0.5601457357406616,
1.2094378471374512,
-0.007515831850469112,
-0.0015339808305725455
] | Close the gripper to sweep the lever | Is the gripper closed? | gripper_close | 0.916353 | [
2.123312473297119,
-54.21428680419922,
43.29789733886719,
72.748779296875,
-0.2148747593164444,
0
] | [
0.21819132566452026,
-0.013509508222341537,
0.14484135806560516,
3.085069179534912,
0.7874509692192078,
2.986463785171509
] | 0 | turn the lever off | lever | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 |
[
2.1232032775878906,
-54.112266540527344,
43.22209167480469,
72.7416000366211,
-0.21486715972423553,
0.000009799407962418627
] | [
2.1215920448303223,
-53.86756134033203,
43.04563522338867,
72.67112731933594,
-0.21486715972423553,
0
] | [
0.21833160519599915,
-0.013519799336791039,
0.14487215876579285,
3.085118293762207,
0.7870195508003235,
2.9865002632141113
] | 0 | [
0.07545264065265656,
-0.9859725832939148,
0.5588602423667908,
1.2093102931976318,
-0.007515593431890011,
-0.001533766626380384
] | [
0.07542680948972702,
-0.9815450310707092,
0.5558678507804871,
1.208058476448059,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.00198 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4 | 40 | 0 | 40 | 0 |
[
2.121641159057617,
-53.99064254760742,
43.13734436035156,
72.6737060546875,
-0.21486715972423553,
0.000001591140971868299
] | [
2.115431785583496,
-53.69779586791992,
42.94090270996094,
72.40351867675781,
-0.21486715972423553,
0
] | [
0.21861784160137177,
-0.013536907732486725,
0.1449999213218689,
3.085068464279175,
0.7874607443809509,
2.98649001121521
] | 0 | [
0.0754275992512703,
-0.9837719798088074,
0.5574230551719666,
1.2081042528152466,
-0.007515593431890011,
-0.0015339460223913193
] | [
0.07532805949449539,
-0.978473424911499,
0.55409175157547,
1.2033047676086426,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.005423 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.1 | 41 | 0 | 41 | 0 |
[
2.1174445152282715,
-53.82743453979492,
43.031009674072266,
72.49150848388672,
-0.21486715972423553,
3.283306568846456e-7
] | [
2.1045169830322266,
-53.397010803222656,
42.75533676147461,
71.92937469482422,
-0.21486715972423553,
0
] | [
0.2191854864358902,
-0.013567601330578327,
0.14531618356704712,
3.0848326683044434,
0.7895408272743225,
2.9863901138305664
] | 0 | [
0.07536032795906067,
-0.980819046497345,
0.5556198358535767,
1.2048677206039429,
-0.007515593431890011,
-0.0015339736128225923
] | [
0.07515309751033783,
-0.973031222820282,
0.5509449243545532,
1.1948822736740112,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.011725 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.2 | 42 | 0 | 42 | 0 |
[
2.1099355220794678,
-53.59169387817383,
42.88222885131836,
72.16542053222656,
-0.21486715972423553,
3.283306568846456e-7
] | [
2.0896878242492676,
-52.98834228515625,
42.50321960449219,
71.28517150878906,
-0.21486715972423553,
0
] | [
0.2201317995786667,
-0.013617100194096565,
0.14587455987930298,
3.08437180519104,
0.7935780882835388,
2.986182689666748
] | 0 | [
0.07523995637893677,
-0.9765536785125732,
0.5530967712402344,
1.1990753412246704,
-0.007515593431890011,
-0.0015339736128225923
] | [
0.07491538673639297,
-0.9656370878219604,
0.5466694831848145,
1.183439016342163,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.021994 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.3 | 43 | 0 | 43 | 0 |
[
2.0988526344299316,
-53.268798828125,
42.68106460571289,
71.68407440185547,
-0.21486715972423553,
0
] | [
2.0710184574127197,
-52.47385025024414,
42.185813903808594,
70.47415161132812,
-0.21486715972423553,
0
] | [
0.2214960753917694,
-0.013687300495803356,
0.146696537733078,
3.0836687088012695,
0.7996777892112732,
2.9858574867248535
] | 0 | [
0.07506229728460312,
-0.9707114696502686,
0.5496854186058044,
1.190524935722351,
-0.007515593431890011,
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] | [
0.07461611181497574,
-0.9563282132148743,
0.5412868857383728,
1.1690324544906616,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.036703 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.4 | 44 | 0 | 44 | 0 |
[
2.0841803550720215,
-52.853878021240234,
42.42387390136719,
71.04681396484375,
-0.21486715972423553,
3.283306568846456e-7
] | [
2.0488107204437256,
-51.861854553222656,
41.80825424194336,
69.50943756103516,
-0.21486715972423553,
0
] | [
0.22328324615955353,
-0.013778068125247955,
0.1477857232093811,
3.0827155113220215,
0.8078251481056213,
2.9854063987731934
] | 0 | [
0.07482709735631943,
-0.9632041454315186,
0.54532390832901,
1.1792049407958984,
-0.007515593431890011,
-0.0015339736128225923
] | [
0.07426012307405472,
-0.9452551603317261,
0.5348841547966003,
1.1518957614898682,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.055952 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.5 | 45 | 0 | 45 | 0 |
[
2.066019058227539,
-52.3469352722168,
42.11033248901367,
70.2578353881836,
-0.21486715972423553,
0
] | [
2.02364182472229,
-51.168243408203125,
41.380348205566406,
68.41606903076172,
-0.21486715972423553,
0
] | [
0.22548158466815948,
-0.013888220302760601,
0.1491372287273407,
3.081507682800293,
0.8179510235786438,
2.9848203659057617
] | 0 | [
0.07453597337007523,
-0.9540318846702576,
0.5400068163871765,
1.1651899814605713,
-0.007515593431890011,
-0.0015339808305725455
] | [
0.0738566592335701,
-0.9327054619789124,
0.5276276469230652,
1.1324737071990967,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.079664 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.6 | 46 | 0 | 46 | 0 |
[
2.0446250438690186,
-52.188072204589844,
41.743228912353516,
69.32661437988281,
-0.2148405909538269,
0
] | [
1.9955589771270752,
-51.724952697753906,
40.90290069580078,
67.19611358642578,
-0.21486715972423553,
0
] | [
0.22778910398483276,
-0.01399537269026041,
0.1519911289215088,
3.079066514968872,
0.8377751708030701,
2.983365774154663
] | 0 | [
0.07419302314519882,
-0.9511575102806091,
0.5337814092636108,
1.1486481428146362,
-0.007514758966863155,
-0.0015339808305725455
] | [
0.07340648770332336,
-0.9427781701087952,
0.5195310115814209,
1.1108030080795288,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.102117 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.7 | 47 | 0 | 47 | 0 |
[
2.0201363563537598,
-51.864437103271484,
41.32524490356445,
68.26415252685547,
-0.2148405909538269,
0
] | [
1.965076208114624,
-50.88490676879883,
40.38465118408203,
65.87191009521484,
-0.21486715972423553,
0
] | [
0.2304646223783493,
-0.01411859504878521,
0.15487970411777496,
3.076486349105835,
0.8578082323074341,
2.981823682785034
] | 0 | [
0.0738004669547081,
-0.94530189037323,
0.5266932249069214,
1.1297751665115356,
-0.007514758966863155,
-0.0015339808305725455
] | [
0.07291784882545471,
-0.9275789856910706,
0.5107424855232239,
1.087280511856079,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.129438 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.8 | 48 | 0 | 48 | 0 |
[
1.9929225444793701,
-51.32709503173828,
40.861480712890625,
67.08258056640625,
-0.2148405909538269,
3.283306568846456e-7
] | [
1.9325854778289795,
-49.989524841308594,
39.8322639465332,
64.46047973632812,
-0.21486715972423553,
0
] | [
0.2335195541381836,
-0.014259060844779015,
0.15760736167430878,
3.073918104171753,
0.8768671154975891,
2.9803009033203125
] | 0 | [
0.07336422801017761,
-0.9355795979499817,
0.5188286304473877,
1.1087863445281982,
-0.007514758966863155,
-0.0015339736128225923
] | [
0.07239701598882675,
-0.9113785624504089,
0.5013750195503235,
1.062208652496338,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.162032 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 4.9 | 49 | 0 | 49 | 0 |
[
1.9633021354675293,
-50.639347076416016,
40.35585403442383,
65.7958755493164,
-0.2148405909538269,
3.283306568846456e-7
] | [
1.8981845378875732,
-49.04150390625,
39.2399787902832,
62.966068267822266,
-0.21486715972423553,
0
] | [
0.23688678443431854,
-0.014411983080208302,
0.1603030264377594,
3.0712497234344482,
0.8957792520523071,
2.978708505630493
] | 0 | [
0.07288940995931625,
-0.9231359958648682,
0.5102540850639343,
1.0859298706054688,
-0.007514758966863155,
-0.0015339736128225923
] | [
0.07184556871652603,
-0.8942257165908813,
0.49133092164993286,
1.0356626510620117,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.19883 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5 | 50 | 0 | 50 | 0 |
[
1.9315757751464844,
-49.842796325683594,
39.81192398071289,
64.41754913330078,
-0.2148405909538269,
0
] | [
1.862444519996643,
-48.05657958984375,
38.62406539916992,
61.413482666015625,
-0.21486715972423553,
0
] | [
0.24050872027873993,
-0.014573328197002411,
0.16303983330726624,
3.068405866622925,
0.9149949550628662,
2.9769797325134277
] | 0 | [
0.07238083332777023,
-0.908723771572113,
0.5010300874710083,
1.0614460706710815,
-0.007514758966863155,
-0.0015339808305725455
] | [
0.07127264887094498,
-0.8764051795005798,
0.48088616132736206,
1.0080833435058594,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.239028 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.1 | 51 | 0 | 51 | 0 |
[
1.8980623483657837,
-48.96816635131836,
39.04192352294922,
62.961708068847656,
-0.2148405909538269,
0.000059680412960005924
] | [
1.8256244659423828,
-47.04188919067383,
37.98953628540039,
59.81398010253906,
-0.21486715972423553,
0
] | [
0.2444690465927124,
-0.014749420806765556,
0.16665904223918915,
3.064809560775757,
0.9379873871803284,
2.9746413230895996
] | 0 | [
0.07184360921382904,
-0.8928987979888916,
0.4879722595214844,
1.0355851650238037,
-0.007514758966863155,
-0.001532676164060831
] | [
0.07068242132663727,
-0.8580461144447327,
0.4701257348060608,
0.979670524597168,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.283295 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.2 | 52 | 0 | 52 | 0 |
[
1.8631150722503662,
-48.02973556518555,
38.51704025268555,
61.44319534301758,
-0.2148405909538269,
0.000007273787105077645
] | [
1.7880263328552246,
-45.97660827636719,
37.34160232543945,
58.18067932128906,
-0.21486715972423553,
0
] | [
0.2483828067779541,
-0.014913075603544712,
0.16920900344848633,
3.061695098876953,
0.9567955732345581,
2.972672700881958
] | 0 | [
0.07128340005874634,
-0.8759194612503052,
0.4790712296962738,
1.0086110830307007,
-0.007514758966863155,
-0.00153382180724293
] | [
0.07007972151041031,
-0.838771641254425,
0.4591379463672638,
0.9506573677062988,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.327827 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.3 | 53 | 0 | 53 | 0 |
[
1.827086091041565,
-47.02476501464844,
37.741268157958984,
59.87631607055664,
-0.21481402218341827,
0.00001043081283569336
] | [
1.7500470876693726,
-44.882015228271484,
36.68709945678711,
56.53081512451172,
-0.21486715972423553,
0
] | [
0.25257858633995056,
-0.015088590793311596,
0.1727181077003479,
3.057708263397217,
0.9794890284538269,
2.969965934753418
] | 0 | [
0.0707058534026146,
-0.8577362298965454,
0.4659155607223511,
0.9807778000831604,
-0.0075139245018363,
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] | [
0.06947091221809387,
-0.818966805934906,
0.448038786649704,
0.9213500022888184,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.375885 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.4 | 54 | 0 | 54 | 0 |
[
1.7902048826217651,
-45.999595642089844,
37.205448150634766,
58.27566146850586,
-0.21484819054603577,
0.000014219243894331157
] | [
1.7119886875152588,
-43.7851448059082,
36.03123474121094,
54.87752151489258,
-0.21486715972423553,
0
] | [
0.25665441155433655,
-0.015247814357280731,
0.17522336542606354,
3.05417799949646,
0.9983606338500977,
2.967607259750366
] | 0 | [
0.07011464238166809,
-0.8391875624656677,
0.4568290412425995,
0.9523445963859558,
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] | [
0.06886082887649536,
-0.7991208434104919,
0.4369165301322937,
0.8919817805290222,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.423168 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.5 | 55 | 0 | 55 | 0 |
[
1.7529224157333374,
-44.94052505493164,
36.63129425048828,
56.655914306640625,
-0.21484819054603577,
3.283306568846456e-7
] | [
1.6742157936096191,
-42.69649887084961,
33.14670944213867,
53.23662567138672,
-0.21486715972423553,
0
] | [
0.26078662276268005,
-0.01540470588952303,
0.1778167188167572,
3.0503602027893066,
1.0176000595092773,
2.964975595474243
] | 0 | [
0.06951700150966644,
-0.8200254440307617,
0.4470924437046051,
0.9235722422599792,
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] | [
0.06825532764196396,
-0.7794235944747925,
0.3880003094673157,
0.8628336787223816,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.471516 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.6 | 56 | 0 | 56 | 0 |
[
1.7155386209487915,
-43.87369155883789,
35.88425827026367,
55.03180694580078,
-0.21484819054603577,
0.000022427509975386783
] | [
1.6370148658752441,
-41.62434387207031,
34.73919677734375,
51.62057876586914,
-0.21486715972423553,
0
] | [
0.2649982273578644,
-0.015561758540570736,
0.18114115297794342,
3.0456717014312744,
1.0396835803985596,
2.9615583419799805
] | 0 | [
0.06891773641109467,
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0.43442410230636597,
0.8947224020957947,
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] | [
0.06765899062156677,
-0.7600247859954834,
0.41500595211982727,
0.8341270685195923,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.521216 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.7 | 57 | 0 | 57 | 0 |
[
1.6783910989761353,
-42.80805969238281,
35.32581329345703,
53.41790771484375,
-0.21484819054603577,
0
] | [
1.600813865661621,
-40.58100128173828,
34.11533737182617,
50.0479621887207,
-0.21486715972423553,
0
] | [
0.2690422236919403,
-0.01570315472781658,
0.1836184710264206,
3.0414061546325684,
1.0584213733673096,
2.958455801010132
] | 0 | [
0.06832225620746613,
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0.4249538779258728,
0.8660538792610168,
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] | [
0.06707868725061417,
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0.4044264554977417,
0.8061918616294861,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.569413 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.8 | 58 | 0 | 58 | 0 |
[
1.6418155431747437,
-41.75700759887695,
34.74481964111328,
51.82883071899414,
-0.21484819054603577,
3.283306568846456e-7
] | [
1.565883994102478,
-39.57429504394531,
33.51338577270508,
48.53057098388672,
-0.21486715972423553,
0
] | [
0.27300596237182617,
-0.015836438164114952,
0.18617753684520721,
3.0367953777313232,
1.0773545503616333,
2.9550018310546875
] | 0 | [
0.0677359476685524,
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0.4151013195514679,
0.8378263711929321,
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] | [
0.06651875376701355,
-0.7229326367378235,
0.39421844482421875,
0.779237687587738,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.617085 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 5.9 | 59 | 0 | 59 | 0 |
[
1.606158971786499,
-40.73124313354492,
34.1600456237793,
50.279720306396484,
-0.21484819054603577,
3.283306568846456e-7
] | [
1.5324989557266235,
-38.612117767333984,
32.93805694580078,
47.08029556274414,
-0.21486715972423553,
0
] | [
0.2768431603908539,
-0.015960076823830605,
0.18873970210552216,
3.0318989753723145,
1.096091389656067,
2.9512393474578857
] | 0 | [
0.06716436892747879,
-0.7438656687736511,
0.40518462657928467,
0.8103086948394775,
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-0.0015339736128225923
] | [
0.0659835934638977,
-0.705523669719696,
0.3844619393348694,
0.7534757256507874,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.663669 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 6 | 60 | 0 | 60 | 0 |
[
1.5734058618545532,
-39.78811264038086,
33.61210632324219,
48.856502532958984,
-0.21484819054603577,
0
] | [
1.513137936592102,
-38.054115295410156,
32.60440444946289,
46.239227294921875,
-0.21486715972423553,
0
] | [
0.2803401052951813,
-0.01606791839003563,
0.19112977385520935,
3.027026414871216,
1.113463044166565,
2.947411298751831
] | 0 | [
0.06663933396339417,
-0.726801335811615,
0.39589259028434753,
0.7850273847579956,
-0.007514997385442257,
-0.0015339808305725455
] | [
0.06567323207855225,
-0.6954275965690613,
0.3788038194179535,
0.738535463809967,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.706512 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 6.1 | 61 | 0 | 61 | 0 |
[
1.546913981437683,
-39.02524185180664,
33.16582107543945,
47.70558166503906,
-0.21484819054603577,
0
] | [
1.4966648817062378,
-37.579349517822266,
32.32052230834961,
45.52362060546875,
-0.21486715972423553,
0
] | [
0.2831445336341858,
-0.016150860115885735,
0.19306950271129608,
3.0228121280670166,
1.1275538206100464,
2.9440414905548096
] | 0 | [
0.0662146657705307,
-0.7129984498023987,
0.38832440972328186,
0.7645829916000366,
-0.007514997385442257,
-0.0015339808305725455
] | [
0.06540916860103607,
-0.6868374943733215,
0.37398970127105713,
0.7258237600326538,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.741143 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 6.2 | 62 | 0 | 62 | 0 |
[
1.5242700576782227,
-38.37317657470703,
32.78254318237305,
46.721927642822266,
-0.21484819054603577,
0
] | [
1.4797438383102417,
-37.0916748046875,
32.0289192199707,
44.788551330566406,
-0.21486715972423553,
0
] | [
0.2855239510536194,
-0.016218697652220726,
0.19473040103912354,
3.0189969539642334,
1.1396210193634033,
2.940948247909546
] | 0 | [
0.06585168093442917,
-0.7012004256248474,
0.38182470202445984,
0.7471098899841309,
-0.007514997385442257,
-0.0015339808305725455
] | [
0.06513792276382446,
-0.6780138611793518,
0.36904463171958923,
0.7127663493156433,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.770713 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 6.3 | 63 | 0 | 63 | 0 |
[
1.5037868022918701,
-37.7833251953125,
32.43424606323242,
45.83229446411133,
-0.21484819054603577,
0
] | [
1.4623397588729858,
-36.5900764465332,
31.728992462158203,
44.032501220703125,
-0.21486715972423553,
0
] | [
0.28766193985939026,
-0.016277628019452095,
0.19623538851737976,
3.0153613090515137,
1.1505556106567383,
2.9379653930664062
] | 0 | [
0.06552333384752274,
-0.6905280947685242,
0.3759182393550873,
0.7313069105148315,
-0.007514997385442257,
-0.0015339808305725455
] | [
0.06485893577337265,
-0.6689382791519165,
0.3639584481716156,
0.6993362903594971,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.797421 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 6.4 | 64 | 0 | 64 | 0 |
[
1.4844326972961426,
-37.22587585449219,
32.10380935668945,
44.99166488647461,
-0.21484819054603577,
0
] | [
1.4443848133087158,
-36.07259750366211,
31.419570922851562,
43.25251770019531,
-0.21486715972423553,
0
] | [
0.28966957330703735,
-0.016331201419234276,
0.19765929877758026,
3.011751413345337,
1.1609036922454834,
2.934971809387207
] | 0 | [
0.06521308422088623,
-0.6804419755935669,
0.3703146278858185,
0.7163743376731873,
-0.007514997385442257,
-0.0015339808305725455
] | [
0.06457111239433289,
-0.659575343132019,
0.35871121287345886,
0.6854810118675232,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.822606 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 6.5 | 65 | 0 | 65 | 0 |
[
1.4655474424362183,
-36.68186950683594,
31.780447006225586,
44.17140579223633,
-0.21484819054603577,
0
] | [
1.4260098934173584,
-35.54302215576172,
31.102914810180664,
42.45429229736328,
-0.21486715972423553,
0
] | [
0.29161638021469116,
-0.016381481662392616,
0.19904890656471252,
3.0080535411834717,
1.1710107326507568,
2.931875705718994
] | 0 | [
0.06491035223007202,
-0.670599102973938,
0.36483100056648254,
0.7018036842346191,
-0.007514997385442257,
-0.0015339808305725455
] | [
0.0642765611410141,
-0.6499935984611511,
0.35334131121635437,
0.6713017821311951,
-0.007515593431890011,
-0.0015339808305725455
] | Move above the lever sweep start | Is the gripper above the lever sweep start? | move | 0.847101 | [
1.3614792823791504,
-32.439090728759766,
30.291345596313477,
39.6510124206543,
-0.21486715972423553,
0
] | [
0.3039538264274597,
-0.016739262267947197,
0.19998565316200256,
2.996605634689331,
1.1994719505310059,
2.9229350090026855
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.20000000298023224
] | 6.6 | 66 | 0 | 66 | 0 |
[
1.4467328786849976,
-36.13984298706055,
31.457578659057617,
43.35422897338867,
-0.21484819054603577,
0
] | [
1.4467328786849976,
-36.023433685302734,
31.16819190979004,
43.35422897338867,
-0.21484819054603577,
0
] | [
0.29354363679885864,
-0.016429604962468147,
0.2004324495792389,
3.004185438156128,
1.1810857057571411,
2.9286065101623535
] | 0 | [
0.06460875272750854,
-0.6607920527458191,
0.35935574769973755,
0.6872877478599548,
-0.007514997385442257,
-0.0015339808305725455
] | [
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0.6872877478599548,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
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] | [
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
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0.04800000041723251
] | 6.7 | 67 | 0 | 67 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.6864749789237976,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.000623 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
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] | [
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 6.8 | 68 | 0 | 68 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.6843066215515137,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.003367 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 6.9 | 69 | 0 | 69 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.6808215975761414,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.009804 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7 | 70 | 0 | 70 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.020674 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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0.0032619975972920656,
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.1 | 71 | 0 | 71 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.6702108383178711,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.032296 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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0.0032619975972920656,
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.2 | 72 | 0 | 72 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.37253105640411377,
0.6633206605911255,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.036324 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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0.0032619975972920656,
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.3 | 73 | 0 | 73 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.37843015789985657,
0.6555019021034241,
-0.007514997385442257,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.051319 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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0
] | [
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0.0032619975972920656,
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3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.4 | 74 | 0 | 74 | 0 |
[
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] | [
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] | [
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3.0142080783843994,
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] | 0 | [
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] | [
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0.38491734862327576,
0.6469036340713501,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.074411 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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0
] | [
0.30393704771995544,
0.0032619975972920656,
0.04803533852100372,
3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.5 | 75 | 0 | 75 | 0 |
[
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] | [
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] | [
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3.020226240158081,
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] | 0 | [
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] | [
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0.3919793963432312,
0.6375434994697571,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.105077 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
-0.21484819054603577,
0
] | [
0.30393704771995544,
0.0032619975972920656,
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3.0972068309783936,
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3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.6 | 76 | 0 | 76 | 0 |
[
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] | [
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] | [
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3.0250489711761475,
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] | 0 | [
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] | [
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0.3994896113872528,
0.6275894045829773,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.138589 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
-0.21484819054603577,
0
] | [
0.30393704771995544,
0.0032619975972920656,
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3.0972068309783936,
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3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.7 | 77 | 0 | 77 | 0 |
[
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40.52670669555664,
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] | [
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0
] | [
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] | 0 | [
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] | [
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0.40737444162368774,
0.617138683795929,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.177223 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
-0.21484819054603577,
0
] | [
0.30393704771995544,
0.0032619975972920656,
0.04803533852100372,
3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.8 | 78 | 0 | 78 | 0 |
[
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39.98068618774414,
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] | [
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0
] | [
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3.036217212677002,
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] | 0 | [
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] | [
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0.4155905544757843,
0.6062489748001099,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.217347 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
-0.21484819054603577,
0
] | [
0.30393704771995544,
0.0032619975972920656,
0.04803533852100372,
3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 7.9 | 79 | 0 | 79 | 0 |
[
-0.011811275035142899,
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39.40537643432617,
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] | [
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0
] | [
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3.0421364307403564,
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] | 0 | [
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] | [
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.261587 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
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] | [
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8 | 80 | 0 | 80 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.5836853384971619,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.307087 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
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] | [
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.1 | 81 | 0 | 81 | 0 |
[
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] | [
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] | [
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0.5721957683563232,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.352755 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
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0.04800000041723251
] | 8.2 | 82 | 0 | 82 | 0 |
[
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] | [
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] | [
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] | [
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.400934 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.3 | 83 | 0 | 83 | 0 |
[
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] | [
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] | [
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] | [
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0.5493202209472656,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.449308 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.4 | 84 | 0 | 84 | 0 |
[
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36.290870666503906,
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] | [
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] | [
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] | 0 | [
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] | [
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0.5381424427032471,
-0.007514997385442257,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.496807 | [
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41.601993560791016,
30.395967483520508,
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] | [
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3.0972068309783936,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.5 | 85 | 0 | 85 | 0 |
[
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] | [
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] | [
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] | [
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0.5272527933120728,
-0.007514997385442257,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.545712 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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0.0032619975972920656,
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3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.6 | 86 | 0 | 86 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.4830765724182129,
0.5168020725250244,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.591939 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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0.0032619975972920656,
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3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.7 | 87 | 0 | 87 | 0 |
[
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] | [
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] | [
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] | [
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0.4905867278575897,
0.5068479776382446,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.639011 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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0.0032619975972920656,
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3.0972068309783936,
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3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.8 | 88 | 0 | 88 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.49428486824035645,
0.5019463896751404,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.679058 | [
-3.3395090103149414,
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41.601993560791016,
30.395967483520508,
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] | [
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0.0032619975972920656,
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3.0972068309783936,
0.6677799820899963,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 8.9 | 89 | 0 | 89 | 0 |
[
-2.204728841781616,
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] | [
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] | [
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] | 0 | [
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] | [
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0.4980764389038086,
0.4969210624694824,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.711715 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
-0.21484819054603577,
0
] | [
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0.0032619975972920656,
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3.0972068309783936,
0.6677799820899963,
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] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 9 | 90 | 0 | 90 | 0 |
[
-2.3435583114624023,
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] | [
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] | [
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3.082030773162842,
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] | 0 | [
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] | [
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0.5019447803497314,
0.4917711913585663,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.740099 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
-0.21484819054603577,
0
] | [
0.30393704771995544,
0.0032619975972920656,
0.04803533852100372,
3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 9.1 | 91 | 0 | 91 | 0 |
[
-2.4703712463378906,
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] | [
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0
] | [
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3.08355975151062,
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] | 0 | [
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] | [
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0.5058750510215759,
0.48649102449417114,
-0.007514997385442257,
-0.0015339808305725455
] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.766115 | [
-3.3395090103149414,
-4.410994529724121,
41.601993560791016,
30.395967483520508,
-0.21484819054603577,
0
] | [
0.30393704771995544,
0.0032619975972920656,
0.04803533852100372,
3.0972068309783936,
0.6677799820899963,
3.0821213722229004
] | 0 | turn the lever off | lever | [
0.30397453904151917,
-0.016739463433623314,
0.04800000041723251
] | 9.2 | 92 | 0 | 92 | 0 |
[
-2.5911014080047607,
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] | [
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0
] | [
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3.084998846054077,
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] | 0 | [
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0.4930971562862396,
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] | [
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0.509909451007843,
0.4810708463191986,
-0.007514997385442257,
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.790931 | [
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[
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] | push lever: descend to pre-contact | Is the robot completing push lever: descend to pre-contact? | move | 0.923424 | [
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] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 21317,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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6
],
"names": [
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"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
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"shape": [
6
],
"names": [
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"elbow_flex.pos",
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"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
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"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
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480,
640,
3
],
"names": [
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],
"info": {
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"video.codec": "h264",
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}
},
"observation.ee_pos.robot_xyzrpy": {
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],
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},
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},
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"names": [
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]
},
"action.radian_urdf0": {
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],
"names": [
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]
},
"skill.natural_language": {
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},
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},
"skill.goal_position.joint": {
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]
},
"skill.goal_position.robot_xyzrpy": {
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6
],
"names": [
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]
},
"skill.goal_position.gripper": {
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"shape": [
1
],
"names": [
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]
},
"subtask.natural_language": {
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],
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},
"subtask.object_name": {
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},
"subtask.target_position": {
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"names": [
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]
},
"timestamp": {
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},
"frame_index": {
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},
"episode_index": {
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},
"index": {
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},
"task_index": {
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"names": null
}
}
}
Citation
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