observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 18
values | skill.verification_question stringclasses 9
values | skill.type stringclasses 7
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 3
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 34.6 | frame_index int64 0 346 | episode_index int64 0 19 | index int64 0 7.06k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-5.674281597137451,
-96.87103271484375,
98.36363983154297,
67.09194946289062,
-0.9035409092903137,
0.73041170835495
] | [
-5.674281597137451,
-96.87103271484375,
98.36363983154297,
67.09194946289062,
-0.9035409092903137,
0.73041170835495
] | [
0.16420622169971466,
0.00266584032215178,
0.03912140801548958,
3.083247423171997,
0.6420086026191711,
3.0643110275268555
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0 | 0 | 0 | 0 | 0 | |||
[
-5.674281597137451,
-96.87103271484375,
98.36363983154297,
67.09194946289062,
-0.9035409092903137,
0.7297629117965698
] | [
-5.703929424285889,
-96.72932434082031,
98.22569274902344,
67.07859802246094,
-0.9035409092903137,
0.7297629117965698
] | [
0.16420622169971466,
0.00266584032215178,
0.03912140801548958,
3.083247423171997,
0.6420086026191711,
3.0643110275268555
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | |||
[
-5.674281597137451,
-96.87103271484375,
98.36363983154297,
67.09194946289062,
-0.9035409092903137,
0.727822482585907
] | [
-5.792598247528076,
-96.3055191040039,
97.81311798095703,
67.0386734008789,
-0.9035409092903137,
0.727822482585907
] | [
0.16420622169971466,
0.00266584032215178,
0.03912140801548958,
3.083247423171997,
0.6420086026191711,
3.0643110275268555
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.2 | 2 | 0 | 2 | 0 | |||
[
-5.674281597137451,
-96.87103271484375,
98.36363983154297,
67.09194946289062,
-0.9035409092903137,
0.7246107459068298
] | [
-5.939362525939941,
-95.60404205322266,
97.13023376464844,
66.97257995605469,
-0.9035409092903137,
0.7246107459068298
] | [
0.16420622169971466,
0.00266584032215178,
0.03912140801548958,
3.083247423171997,
0.6420086026191711,
3.0643110275268555
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.3 | 3 | 0 | 3 | 0 | |||
[
-5.674281597137451,
-96.87103271484375,
98.36363983154297,
67.09194946289062,
-0.9035409092903137,
0.7201647758483887
] | [
-6.142528057098389,
-94.63298034667969,
96.1849136352539,
66.88109588623047,
-0.9035409092903137,
0.7201647758483887
] | [
0.16420622169971466,
0.00266584032215178,
0.03912140801548958,
3.083247423171997,
0.6420086026191711,
3.0643110275268555
] | 1 | move to initial state | move_initial | 0.000001 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | |||
[
-5.821665287017822,
-96.10993957519531,
98.09091186523438,
67.09194946289062,
-0.9035409092903137,
0.7145301103591919
] | [
-6.400009632110596,
-93.40231323242188,
94.98686981201172,
66.76514434814453,
-0.9035409092903137,
0.7145301103591919
] | [
0.16349969804286957,
0.003034398425370455,
0.03878382593393326,
3.084355592727661,
0.6328480243682861,
3.0680384635925293
] | 1 | move to initial state | move_initial | 0.009727 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.5 | 5 | 0 | 5 | 0 | |||
[
-6.042741298675537,
-95.01057434082031,
98,
67.09194946289062,
-0.9035409092903137,
0.7077775597572327
] | [
-6.708576202392578,
-91.92747497558594,
93.5511245727539,
66.6261978149414,
-0.9035409092903137,
0.7077775597572327
] | [
0.1620468646287918,
0.0035683545283973217,
0.03723887726664543,
3.0865275859832764,
0.6145249605178833,
3.073909044265747
] | 1 | move to initial state | move_initial | 0.02067 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | |||
[
-6.3375091552734375,
-93.8266372680664,
97.09091186523438,
67.09194946289062,
-0.9035409092903137,
0.6999737024307251
] | [
-7.065181732177734,
-90.22303009033203,
91.89186096191406,
66.46561431884766,
-0.9035409092903137,
0.6999737024307251
] | [
0.16166210174560547,
0.0043121217750012875,
0.03844534605741501,
3.0872392654418945,
0.6084166169166565,
3.080453395843506
] | 1 | move to initial state | move_initial | 0.040546 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.7 | 7 | 0 | 7 | 0 | |||
[
-6.632277011871338,
-92.38900756835938,
95.81818389892578,
67.09194946289062,
-0.9035409092903137,
0.6912032961845398
] | [
-7.465956211090088,
-88.30746459960938,
90.0270767211914,
66.28514099121094,
-0.9035409092903137,
0.6912032961845398
] | [
0.16150906682014465,
0.005060726776719093,
0.040500394999980927,
3.087769031524658,
0.60383540391922,
3.0868911743164062
] | 1 | move to initial state | move_initial | 0.066366 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.8 | 8 | 0 | 8 | 0 | |||
[
-7.000736713409424,
-90.69767761230469,
94,
67.09194946289062,
-0.9035409092903137,
0.6815648078918457
] | [
-7.906397342681885,
-86.20231628417969,
87.97772979736328,
66.08680725097656,
-0.9035409092903137,
0.6815648078918457
] | [
0.16189594566822052,
0.00602188752964139,
0.04403305798768997,
3.087769031524658,
0.6038355231285095,
3.0945611000061035
] | 1 | move to initial state | move_initial | 0.099956 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.9 | 9 | 0 | 9 | 0 | |||
[
-7.369196891784668,
-88.75263977050781,
92.2727279663086,
67.09194946289062,
-0.9035409092903137,
0.6711646318435669
] | [
-8.381646156311035,
-83.93079376220703,
85.76642608642578,
65.872802734375,
-0.9035409092903137,
0.6711646318435669
] | [
0.1619279831647873,
0.006970082875341177,
0.04680408537387848,
3.088469982147217,
0.5977267622947693,
3.1026272773742676
] | 1 | move to initial state | move_initial | 0.134861 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1 | 10 | 0 | 10 | 0 | |||
[
-7.885040760040283,
-86.55390930175781,
90.18181610107422,
67.09194946289062,
-0.9035409092903137,
0.6601169109344482
] | [
-8.88648509979248,
-81.5178451538086,
83.41744232177734,
65.64546966552734,
-0.9035409092903137,
0.6601169109344482
] | [
0.16231152415275574,
0.008322150446474552,
0.05039309710264206,
3.088992118835449,
0.5931452512741089,
3.1136579513549805
] | 1 | move to initial state | move_initial | 0.1756 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.1 | 11 | 0 | 11 | 0 | |||
[
-8.253499984741211,
-84.27061462402344,
88,
67.09194946289062,
-0.9035409092903137,
0.6485497951507568
] | [
-9.415059089660645,
-78.991455078125,
80.95801544189453,
65.4074478149414,
-0.9035409092903137,
0.6485497951507568
] | [
0.16292911767959595,
0.009319472126662731,
0.054117582738399506,
3.089510917663574,
0.5885635614395142,
3.121616840362549
] | 1 | move to initial state | move_initial | 0.218015 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | |||
[
-8.9904203414917,
-81.90274810791016,
85.54545593261719,
66.739990234375,
-0.9035409092903137,
0.636584997177124
] | [
-9.961803436279297,
-76.37820434570312,
78.4140396118164,
65.16123962402344,
-0.9035409092903137,
0.636584997177124
] | [
0.16473932564258575,
0.011397414840757847,
0.0590614452958107,
3.088992118835449,
0.5931453108787537,
3.1366677284240723
] | 1 | move to initial state | move_initial | 0.263546 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | |||
[
-9.5799560546875,
-79.36575317382812,
83.18181610107422,
66.38803100585938,
-0.9035409092903137,
0.6243444681167603
] | [
-10.521149635314941,
-73.7047348022461,
75.81143951416016,
64.90936279296875,
-0.9035409092903137,
0.6243444681167603
] | [
0.16645556688308716,
0.01313111837953329,
0.06332655996084213,
3.088992118835449,
0.593145489692688,
-3.1342458724975586
] | 1 | move to initial state | move_initial | 0.309505 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | |||
[
-10.1694917678833,
-76.74418640136719,
80.63636016845703,
66.03607940673828,
-0.9035409092903137,
0.6119664311408997
] | [
-11.086776733398438,
-71.00123596191406,
73.17960357666016,
64.65465545654297,
-0.9035409092903137,
0.6119664311408997
] | [
0.16858139634132385,
0.014958048239350319,
0.06799093633890152,
3.088818311691284,
0.5946726202964783,
-3.1220710277557373
] | 1 | move to initial state | move_initial | 0.357786 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | |||
[
-10.537951469421387,
-74.12261962890625,
77.90908813476562,
65.86009979248047,
-0.9035409092903137,
0.5995929837226868
] | [
-11.652198791503906,
-68.29872131347656,
70.5487289428711,
64.40003967285156,
-0.9035409092903137,
0.5995929837226868
] | [
0.17089958488941193,
0.016249489039182663,
0.07295815646648407,
3.088644504547119,
0.5961998105049133,
-3.1144988536834717
] | 1 | move to initial state | move_initial | 0.408044 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | |||
[
-11.274870872497559,
-71.33192443847656,
75.2727279663086,
65.59613037109375,
-0.9035409092903137,
0.587365984916687
] | [
-12.210925102233887,
-65.62820434570312,
67.94900512695312,
64.14844512939453,
-0.9035409092903137,
0.587365984916687
] | [
0.17323020100593567,
0.018629897385835648,
0.07728995382785797,
3.088818311691284,
0.5946726202964783,
-3.0990614891052246
] | 1 | move to initial state | move_initial | 0.457742 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | |||
[
-11.790715217590332,
-68.3720932006836,
72.90908813476562,
65.50814056396484,
-0.9035409092903137,
0.575411856174469
] | [
-12.757182121276855,
-63.017295837402344,
65.40731048583984,
63.90245819091797,
-0.9035409092903137,
0.575411856174469
] | [
0.17494551837444305,
0.02035718411207199,
0.079966239631176,
3.0901975631713867,
0.5824546217918396,
-3.087557792663574
] | 1 | move to initial state | move_initial | 0.505861 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | |||
[
-12.306558609008789,
-65.75052642822266,
70.18181610107422,
65.50814056396484,
-0.9035409092903137,
0.5638552308082581
] | [
-13.285274505615234,
-60.49319839477539,
62.95012283325195,
63.66465377807617,
-0.9035409092903137,
0.5638552308082581
] | [
0.17748987674713135,
0.02225898578763008,
0.08430740237236023,
3.0903685092926025,
0.5809272527694702,
-3.076725959777832
] | 1 | move to initial state | move_initial | 0.554453 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | |||
[
-12.89609432220459,
-63.128963470458984,
67.54545593261719,
65.50814056396484,
-0.9035409092903137,
0.5528371334075928
] | [
-13.788761138916016,
-58.08671569824219,
60.60742950439453,
63.437931060791016,
-0.9035409092903137,
0.5528371334075928
] | [
0.1800389587879181,
0.02444586344063282,
0.08818670362234116,
3.0907092094421387,
0.5778725743293762,
-3.064267635345459
] | 1 | move to initial state | move_initial | 0.600999 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | |||
[
-13.48563003540039,
-60.59196472167969,
65.2727279663086,
64.8042221069336,
-0.9035409092903137,
0.5424383878707886
] | [
-14.26394271850586,
-55.81551742553711,
58.39643478393555,
63.22395324707031,
-0.9035409092903137,
0.5424383878707886
] | [
0.18372313678264618,
0.026914261281490326,
0.09173490852117538,
3.0901975631713867,
0.5824546813964844,
-3.052276134490967
] | 1 | move to initial state | move_initial | 0.641015 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | |||
[
-13.78039836883545,
-58.13953399658203,
62.818180084228516,
64.45226287841797,
-0.9035409092903137,
0.5328060984611511
] | [
-14.7041015625,
-53.71171188354492,
56.3484001159668,
63.0257453918457,
-0.9035409092903137,
0.5328060984611511
] | [
0.18729817867279053,
0.028517497703433037,
0.09548994898796082,
3.0898549556732178,
0.5855093598365784,
-3.0463292598724365
] | 1 | move to initial state | move_initial | 0.682318 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | |||
[
-14.222549438476562,
-55.771671295166016,
60.6363639831543,
64.18830108642578,
-0.9035409092903137,
0.5240758657455444
] | [
-15.103041648864746,
-51.8049201965332,
54.49215316772461,
62.846099853515625,
-0.9035409092903137,
0.5240758657455444
] | [
0.19032500684261322,
0.030543508008122444,
0.09821309894323349,
3.090026378631592,
0.583981990814209,
-3.0370306968688965
] | 1 | move to initial state | move_initial | 0.71758 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | |||
[
-14.517317771911621,
-53.57293701171875,
58.6363639831543,
63.9243278503418,
-0.9035409092903137,
0.5163148641586304
] | [
-15.457690238952637,
-50.10982894897461,
52.84199905395508,
62.686397552490234,
-0.9035409092903137,
0.5163148641586304
] | [
0.19331887364387512,
0.03213126212358475,
0.1005415990948677,
3.0901975631713867,
0.5824547410011292,
-3.0308005809783936
] | 1 | move to initial state | move_initial | 0.748232 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | |||
[
-14.95946979522705,
-51.627906799316406,
56.90909194946289,
63.74835205078125,
-0.9035409092903137,
0.5096064805984497
] | [
-15.764236450195312,
-48.644649505615234,
51.41565704345703,
62.54835891723633,
-0.9035409092903137,
0.5096064805984497
] | [
0.19573445618152618,
0.034140199422836304,
0.10226820409297943,
3.09053897857666,
0.5794000625610352,
-3.021409273147583
] | 1 | move to initial state | move_initial | 0.771051 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | |||
[
-15.254237174987793,
-49.93657684326172,
55.272727966308594,
63.74835205078125,
-0.9035409092903137,
0.504024863243103
] | [
-16.019296646118164,
-47.42555236816406,
50.228878021240234,
62.433502197265625,
-0.9035409092903137,
0.504024863243103
] | [
0.19785162806510925,
0.03562166169285774,
0.1039537787437439,
3.090878963470459,
0.5763453841209412,
-3.015087604522705
] | 1 | move to initial state | move_initial | 0.790472 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | |||
[
-15.549005508422852,
-48.329811096191406,
53.727272033691406,
63.396392822265625,
-0.9035409092903137,
0.4996328353881836
] | [
-16.219993591308594,
-46.466285705566406,
49.295040130615234,
62.34312438964844,
-0.9035409092903137,
0.4996328353881836
] | [
0.20063894987106323,
0.03728694096207619,
0.10590080171823502,
3.09053897857666,
0.5794001817703247,
-3.0091373920440674
] | 1 | move to initial state | move_initial | 0.804291 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | |||
[
-15.843772888183594,
-47.061309814453125,
52.54545593261719,
63.396392822265625,
-0.9035409092903137,
0.49647772312164307
] | [
-16.36417007446289,
-45.77717590332031,
48.62419509887695,
62.278202056884766,
-0.9035409092903137,
0.49647772312164307
] | [
0.20216301083564758,
0.038693204522132874,
0.10688981413841248,
3.090878963470459,
0.5763453841209412,
-3.0028157234191895
] | 1 | move to initial state | move_initial | 0.812464 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | |||
[
-15.843772888183594,
-46.046512603759766,
51.818180084228516,
63.396392822265625,
-0.9035409092903137,
0.4945940673351288
] | [
-16.450246810913086,
-45.36576461791992,
48.223690032958984,
62.23944091796875,
-0.9035409092903137,
0.4945940673351288
] | [
0.20322154462337494,
0.038942888379096985,
0.10688597708940506,
3.091554880142212,
0.5702359080314636,
-3.0024492740631104
] | 1 | move to initial state | move_initial | 0.817932 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | |||
[
-16.285924911499023,
-45.2854118347168,
51.3636360168457,
63.396392822265625,
-0.9035409092903137,
0.4940014183521271
] | [
-16.28591537475586,
-45.24577331542969,
51.10957717895508,
63.3963623046875,
-0.9035409092903137,
0.4940014183521271
] | [
0.20350171625614166,
0.04061276465654373,
0.10654905438423157,
3.0922255516052246,
0.5641260743141174,
-2.992884874343872
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-16.285924911499023,
-45.2854118347168,
51.3636360168457,
63.396392822265625,
-0.9035409092903137,
0.4940014183521271
] | [
-16.250783920288086,
-45.20071792602539,
51.024940490722656,
63.28350067138672,
-0.9035409092903137,
0.4940014183521271
] | [
0.20350171625614166,
0.04061276465654373,
0.10654905438423157,
3.0922255516052246,
0.5641260743141174,
-2.992884874343872
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-16.285924911499023,
-45.2854118347168,
51.90909194946289,
63.396392822265625,
-0.9035409092903137,
0.4940014183521271
] | [
-16.15703010559082,
-45.080474853515625,
50.79906463623047,
62.982295989990234,
-0.9035409092903137,
0.4940014183521271
] | [
0.20255397260189056,
0.04037999361753464,
0.10466014593839645,
3.09322190284729,
0.5549609661102295,
-2.992356061935425
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-16.285924911499023,
-45.2854118347168,
51.90909194946289,
63.396392822265625,
-0.9035409092903137,
0.4940014183521271
] | [
-16.006488800048828,
-44.88740539550781,
50.04795837402344,
62.498653411865234,
-0.9035409092903137,
0.4940014183521271
] | [
0.20255397260189056,
0.04037999361753464,
0.10466014593839645,
3.09322190284729,
0.5549609661102295,
-2.992356061935425
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-16.285924911499023,
-45.11627960205078,
51.90909194946289,
63.396392822265625,
-0.9035409092903137,
0.4940014183521271
] | [
-15.80016803741455,
-44.62279510498047,
49.5508918762207,
61.835811614990234,
-0.9035409092903137,
0.4940014183521271
] | [
0.20251776278018951,
0.04037110134959221,
0.10423613339662552,
3.0935513973236084,
0.5519058704376221,
-2.992182731628418
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-16.285924911499023,
-45.11627960205078,
51.90909194946289,
63.396392822265625,
-0.9035409092903137,
0.4940014183521271
] | [
-15.547656059265137,
-44.2989387512207,
48.942535400390625,
61.024566650390625,
-0.9035409092903137,
0.4940014183521271
] | [
0.20251776278018951,
0.04037110134959221,
0.10423613339662552,
3.0935513973236084,
0.5519058704376221,
-2.992182731628418
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-16.138540267944336,
-44.862579345703125,
51.818180084228516,
63.04443359375,
-0.9035409092903137,
0.4940014183521271
] | [
-15.249909400939941,
-43.91707229614258,
48.22520065307617,
60.06800079345703,
-0.9035409092903137,
0.4940014183521271
] | [
0.20350688695907593,
0.040078628808259964,
0.10434833914041519,
3.09322190284729,
0.5549610257148743,
-2.9954240322113037
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-15.843772888183594,
-44.1860466003418,
51.3636360168457,
61.72459411621094,
-0.9035409092903137,
0.4940014183521271
] | [
-14.911766052246094,
-43.4833984375,
47.41054153442383,
58.98165512084961,
-0.9035409092903137,
0.4940014183521271
] | [
0.20725326240062714,
0.039893850684165955,
0.10586745291948318,
3.091217517852783,
0.5732906460762024,
-3.002631664276123
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.020486 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-15.622696876525879,
-43.763214111328125,
50.6363639831543,
60.66872024536133,
-0.9035409092903137,
0.4940014183521271
] | [
-14.540285110473633,
-43.00696563720703,
46.51556396484375,
57.788204193115234,
-0.9035409092903137,
0.4940014183521271
] | [
0.21087785065174103,
0.03991372138261795,
0.10870243608951569,
3.088644504547119,
0.5962001085281372,
-3.0086541175842285
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.039361 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-15.254237174987793,
-43.34038162231445,
49.818180084228516,
59.436866760253906,
-0.9035409092903137,
0.5131911635398865
] | [
-14.135879516601562,
-42.488304138183594,
45.541263580322266,
56.48897933959961,
-0.9035409092903137,
0.5131911635398865
] | [
0.21510833501815796,
0.03946907818317413,
0.11216834932565689,
3.085448741912842,
0.6236873269081116,
-3.0181548595428467
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.061106 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-14.738393783569336,
-42.663848876953125,
49,
58.29300308227539,
-0.9035409092903137,
2.15840482711792
] | [
-13.705702781677246,
-41.93659591674805,
44.504878997802734,
55.106956481933594,
-0.9035409092903137,
2.15840482711792
] | [
0.21921344101428986,
0.03835555166006088,
0.11488457024097443,
3.0828747749328613,
0.6450626850128174,
-3.0304183959960938
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.10293 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-14.222549438476562,
-42.24101638793945,
47.90909194946289,
56.97316360473633,
-0.9035409092903137,
3.802799701690674
] | [
-13.254509925842285,
-41.35792922973633,
43.4178581237793,
53.65741729736328,
-0.9035409092903137,
3.802799701690674
] | [
0.22406835854053497,
0.037309467792510986,
0.11964090168476105,
3.0786571502685547,
0.6786458492279053,
-3.043748617172241
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.147697 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-13.92778205871582,
-41.564483642578125,
46.90909194946289,
55.6533203125,
-0.9035409092903137,
5.4472336769104
] | [
-12.784245491027832,
-40.75480651855469,
42.28489303588867,
52.1466064453125,
-0.9035409092903137,
5.4472336769104
] | [
0.22853948175907135,
0.03699644282460213,
0.1234307587146759,
3.075033187866211,
0.706116259098053,
-3.0521984100341797
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.191995 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-13.411937713623047,
-40.8879508972168,
45.727272033691406,
54.157501220703125,
-0.9035409092903137,
7.092979907989502
] | [
-12.301240921020508,
-40.13534164428711,
41.12123107910156,
50.59486770629883,
-0.9035409092903137,
7.092979907989502
] | [
0.2337261289358139,
0.0358358696103096,
0.12827296555042267,
3.0703656673431396,
0.7396818995475769,
-3.0660245418548584
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.240166 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-12.969786643981934,
-40.380550384521484,
44.6363639831543,
52.749671936035156,
-0.9035409092903137,
8.738574028015137
] | [
-11.809423446655273,
-39.504573822021484,
39.936336517333984,
49.01481246948242,
-0.9035409092903137,
8.738574028015137
] | [
0.238410085439682,
0.03479759022593498,
0.13325300812721252,
3.065403461456299,
0.7732359170913696,
-3.0786349773406982
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.285899 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-12.527634620666504,
-39.78858184814453,
43.45454406738281,
51.16585922241211,
-0.9035409092903137,
10.383073806762695
] | [
-11.313467025756836,
-38.868499755859375,
38.72715377807617,
47.42145919799805,
-0.9035409092903137,
10.383073806762695
] | [
0.24344754219055176,
0.033734533935785294,
0.13874368369579315,
3.0596048831939697,
0.8098253607749939,
-3.0919647216796875
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.334366 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-12.01179027557373,
-39.02748489379883,
42.3636360168457,
49.670040130615234,
-0.9035409092903137,
12.028029441833496
] | [
-10.817496299743652,
-38.23240661621094,
37.515960693359375,
45.82806396484375,
-0.9035409092903137,
12.028029441833496
] | [
0.2482064962387085,
0.03221023827791214,
0.14328187704086304,
3.054421901702881,
0.8403028249740601,
-3.106510639190674
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.382041 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-11.42225456237793,
-38.435516357421875,
41.09090805053711,
47.99824142456055,
-0.9035409092903137,
13.673580169677734
] | [
-10.325843811035156,
-37.60185241699219,
36.3153190612793,
44.24854278564453,
-0.9035409092903137,
13.673580169677734
] | [
0.2533281147480011,
0.030304813757538795,
0.14953459799289703,
3.047130823135376,
0.8799017667770386,
-3.124309778213501
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.432479 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-10.832718849182129,
-37.92811965942383,
40,
46.502418518066406,
-0.9035409092903137,
15.460561752319336
] | [
-9.802450180053711,
-36.93058395385742,
35.03715896606445,
42.567039489746094,
-0.9035409092903137,
15.460561752319336
] | [
0.2577143609523773,
0.028186343610286713,
0.1551285982131958,
3.0400736331939697,
0.9149079918861389,
3.1410861015319824
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.481197 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-10.316875457763672,
-36.997886657714844,
38.727272033691406,
44.74263000488281,
-0.9035409092903137,
17.191314697265625
] | [
-9.310684204101562,
-36.29988479614258,
33.836238861083984,
40.98715591430664,
-0.9035409092903137,
17.191314697265625
] | [
0.26282408833503723,
0.02639894187450409,
0.16062115132808685,
3.032343864440918,
0.9498876929283142,
3.1241397857666016
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.534296 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-9.874723434448242,
-36.49048614501953,
37.45454406738281,
43.24681091308594,
-0.9035409092903137,
18.841182708740234
] | [
-8.86019229888916,
-35.72211837768555,
32.73611068725586,
39.53986740112305,
-0.9035409092903137,
18.841182708740234
] | [
0.26697805523872375,
0.02475889027118683,
0.16718101501464844,
3.0230355262756348,
0.9878736138343811,
3.107262134552002
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.582249 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-9.432571411132812,
-35.72938537597656,
36.272727966308594,
41.663002014160156,
-0.9035409092903137,
20.485702514648438
] | [
-8.469833374023438,
-35.22147750854492,
31.782833099365234,
38.2857666015625,
-0.9035409092903137,
20.485702514648438
] | [
0.2712414562702179,
0.023056499660015106,
0.1727178543806076,
3.0139107704162598,
1.0212644338607788,
3.0903563499450684
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.630872 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-8.9904203414917,
-35.30655288696289,
35.181819915771484,
40.25516891479492,
-0.9035409092903137,
22.13011360168457
] | [
-8.257710456848145,
-34.949424743652344,
31.264816284179688,
37.604286193847656,
-0.9035409092903137,
22.13011360168457
] | [
0.27467823028564453,
0.021205050870776176,
0.17882362008094788,
3.0032432079315186,
1.0561288595199585,
3.071958303451538
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.676108 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-8.843035697937012,
-34.88372039794922,
34.45454406738281,
39.111305236816406,
-0.9035409092903137,
23.77458381652832
] | [
-8.040163040161133,
-34.670413970947266,
30.733552932739258,
36.905372619628906,
-0.9035409092903137,
23.77458381652832
] | [
0.27724000811576843,
0.020696496590971947,
0.18285903334617615,
2.99501371383667,
1.080350637435913,
3.0616776943206787
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.715202 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-8.69565200805664,
-34.63002014160156,
34,
38.319400787353516,
-0.9035409092903137,
25.425386428833008
] | [
-7.816216945648193,
-34.38319778442383,
30.186662673950195,
36.18590545654297,
-0.9035409092903137,
25.425386428833008
] | [
0.27890872955322266,
0.020098356530070305,
0.18561126291751862,
2.9889097213745117,
1.0969853401184082,
3.053201198577881
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.748333 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-8.327192306518555,
-34.20718765258789,
33.45454406738281,
37.70347595214844,
-0.9035409092903137,
27.071224212646484
] | [
-7.5870866775512695,
-34.089332580566406,
29.627113342285156,
35.44978332519531,
-0.9035409092903137,
27.071224212646484
] | [
0.28068462014198303,
0.018379108980298042,
0.18773400783538818,
2.98421573638916,
1.109073281288147,
3.041341543197632
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.781246 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-8.327192306518555,
-33.86892318725586,
33,
36.99956130981445,
-0.9035409092903137,
28.716888427734375
] | [
-7.35139274597168,
-33.787052154541016,
29.05153465270996,
34.69257354736328,
-0.9035409092903137,
28.716888427734375
] | [
0.28223833441734314,
0.018496118485927582,
0.18998895585536957,
2.9786550998687744,
1.1226612329483032,
3.036346197128296
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.812034 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-7.885040760040283,
-33.53065490722656,
32.3636360168457,
36.20765686035156,
-0.9035409092903137,
30.36234474182129
] | [
-7.10709285736084,
-33.473731994628906,
28.454940795898438,
33.90771484375,
-0.9035409092903137,
30.36234474182129
] | [
0.2841258943080902,
0.016369236633181572,
0.19325068593025208,
2.9707326889038086,
1.1407583951950073,
3.0199711322784424
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.845925 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-7.663964748382568,
-33.36152267456055,
31.909090042114258,
35.415748596191406,
-0.9035409092903137,
32.0078125
] | [
-6.854930400848389,
-33.15156555175781,
27.839143753051758,
33.09759521484375,
-0.9035409092903137,
32.0078125
] | [
0.2855534851551056,
0.015323493629693985,
0.19639384746551514,
2.9621596336364746,
1.1588298082351685,
3.0075442790985107
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.875085 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-7.369196891784668,
-32.854122161865234,
31.272727966308594,
34.623844146728516,
-0.9035409092903137,
33.65330505371094
] | [
-6.591094970703125,
-32.823760986328125,
27.194843292236328,
32.249977111816406,
-0.9035409092903137,
33.65330505371094
] | [
0.2875336706638336,
0.013913897797465324,
0.19902147352695465,
2.9544551372528076,
1.173867106437683,
2.9943251609802246
] | 1 | Approach the pot lid handle and open gripper | Is the gripper positioned above the pot lid handle and open? | move_and_open | 0.903845 | [
-6.359260559082031,
-32.660240173339844,
27.35091781616211,
31.505165100097656,
-0.9035409092903137,
35
] | [
0.291898638010025,
0.008824010379612446,
0.2231120467185974,
2.870323419570923,
1.287576675415039,
2.893855094909668
] | 35 | move pot lid to target | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-7.074429035186768,
-32.5158576965332,
30.636363983154297,
33.831939697265625,
-0.9035409092903137,
35
] | [
-7.36919641494751,
-32.72511672973633,
30.889802932739258,
34.62384033203125,
-0.9035409092903137,
35
] | [
0.28921636939048767,
0.012466354295611382,
0.20233069360256195,
2.9444472789764404,
1.1918816566467285,
2.9789247512817383
] | 1 | Pick up the pot lid by its handle | move | 0.013213 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | ||
[
-7.000736713409424,
-32.5158576965332,
30.636363983154297,
33.74394989013672,
-0.9035409092903137,
35
] | [
-7.345493793487549,
-32.61675262451172,
30.855201721191406,
34.540470123291016,
-0.9035409092903137,
35
] | [
0.2893258333206177,
0.012086572125554085,
0.2025354653596878,
2.943572521209717,
1.1933811902999878,
2.9765777587890625
] | 1 | Pick up the pot lid by its handle | move | 0.014628 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | ||
[
-7.000736713409424,
-32.5158576965332,
31.636363983154297,
34.271888732910156,
-0.9035409092903137,
35
] | [
-7.282660961151123,
-32.32805633544922,
30.76410484313965,
34.31932830810547,
-0.9035409092903137,
35
] | [
0.28835126757621765,
0.012040200643241405,
0.19687876105308533,
2.957602024078369,
1.1678547859191895,
2.9895541667938232
] | 1 | Pick up the pot lid by its handle | move | 0.007747 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
-7.000736713409424,
-32.43128967285156,
31.727272033691406,
34.35987854003906,
-0.9035409092903137,
35
] | [
-7.182243824005127,
-31.862504959106445,
30.620325088500977,
33.965538024902344,
-0.9035409092903137,
35
] | [
0.2883343994617462,
0.01203940063714981,
0.19593773782253265,
2.959904670715332,
1.1633431911468506,
2.9916701316833496
] | 1 | Pick up the pot lid by its handle | move | 0.009037 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
-7.000736713409424,
-31.92388916015625,
31.727272033691406,
34.35987854003906,
-0.9035409092903137,
35
] | [
-7.030008792877197,
-31.145410537719727,
29.882308959960938,
33.428165435791016,
-0.9035409092903137,
35
] | [
0.2890545129776001,
0.012073679827153683,
0.19391517341136932,
2.9643683433532715,
1.1543145179748535,
2.995760679244995
] | 1 | Pick up the pot lid by its handle | move | 0.024218 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
-6.927044868469238,
-31.247356414794922,
31.727272033691406,
34.35987854003906,
-0.9035409092903137,
35
] | [
-6.864523410797119,
-30.349905014038086,
29.65765380859375,
32.842586517333984,
-0.9035409092903137,
35
] | [
0.2900039255619049,
0.011732731945812702,
0.19120824337005615,
2.9700441360473633,
1.1422653198242188,
2.999403476715088
] | 1 | Pick up the pot lid by its handle | move | 0.044621 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-6.927044868469238,
-30.23255729675293,
31.727272033691406,
34.271888732910156,
-0.9035409092903137,
35
] | [
-6.679401874542236,
-29.43985366821289,
29.415098190307617,
32.18571472167969,
-0.9035409092903137,
35
] | [
0.2914429306983948,
0.011799019761383533,
0.18732494115829468,
2.9773764610290527,
1.1256790161132812,
3.006047487258911
] | 1 | Pick up the pot lid by its handle | move | 0.075966 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-6.927044868469238,
-29.5560245513916,
31.727272033691406,
33.831939697265625,
-0.9035409092903137,
35
] | [
-6.475131988525391,
-28.531492233276367,
29.160999298095703,
31.458101272583008,
-0.9035409092903137,
35
] | [
0.29282346367836,
0.011862610466778278,
0.1855754852294922,
2.979288339614868,
1.1211520433425903,
3.0077712535858154
] | 1 | Pick up the pot lid by its handle | move | 0.10242 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-6.927044868469238,
-28.54122543334961,
31.636363983154297,
33.040035247802734,
-0.9035409092903137,
35
] | [
-6.261744022369385,
-27.414047241210938,
28.911142349243164,
30.69478988647461,
-0.9035409092903137,
35
] | [
0.2950890362262726,
0.011966963298618793,
0.18361131846904755,
2.9805431365966797,
1.1181331872940063,
3.0089004039764404
] | 1 | Pick up the pot lid by its handle | move | 0.144003 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-6.779661178588867,
-27.44186019897461,
31.727272033691406,
32.248130798339844,
-0.9035409092903137,
35
] | [
-6.0423665046691895,
-26.222087860107422,
28.673023223876953,
29.906185150146484,
-0.9035409092903137,
35
] | [
0.29731863737106323,
0.011275053024291992,
0.1804511994123459,
2.9836130142211914,
1.1105836629867554,
3.0085880756378174
] | 1 | Pick up the pot lid by its handle | move | 0.18847 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-6.411201000213623,
-26.17336082458496,
31.636363983154297,
31.544214248657227,
-0.9035409092903137,
35
] | [
-5.821437835693359,
-24.96404457092285,
28.458271026611328,
29.106830596923828,
-0.9035409092903137,
35
] | [
0.2997705638408661,
0.00937597919255495,
0.1771382987499237,
2.987175703048706,
1.101519227027893,
3.004103183746338
] | 1 | Pick up the pot lid by its handle | move | 0.237572 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-6.190125465393066,
-24.904863357543945,
31.636363983154297,
30.752309799194336,
-0.9035409092903137,
35
] | [
-5.60343074798584,
-23.662343978881836,
28.27255630493164,
28.312639236450195,
-0.9035409092903137,
35
] | [
0.3021538257598877,
0.008247002959251404,
0.17355754971504211,
2.9906132221221924,
1.0924500226974487,
3.0025599002838135
] | 1 | Pick up the pot lid by its handle | move | 0.287287 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-6.116433143615723,
-23.636363983154297,
31.272727966308594,
29.87241554260254,
-0.9035409092903137,
35
] | [
-5.392285346984863,
-22.32895851135254,
28.124256134033203,
27.53692626953125,
-0.9035409092903137,
35
] | [
0.30491647124290466,
0.00792327057570219,
0.17170758545398712,
2.9911744594573975,
1.0909379720687866,
3.001523971557617
] | 1 | Pick up the pot lid by its handle | move | 0.33768 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-5.895357608795166,
-22.536998748779297,
31.272727966308594,
29.08051109313965,
-0.9035409092903137,
35
] | [
-5.191774845123291,
-20.977266311645508,
28.02056121826172,
26.79261589050293,
-0.9035409092903137,
35
] | [
0.30702704191207886,
0.006749709602445364,
0.16873010993003845,
2.993387222290039,
1.0848886966705322,
2.9988818168640137
] | 1 | Pick up the pot lid by its handle | move | 0.382093 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-5.526897430419922,
-21.099365234375,
31.363636016845703,
28.288604736328125,
-0.9035409092903137,
35
] | [
-5.003580093383789,
-19.60959815979004,
27.9616641998291,
26.086090087890625,
-0.9035409092903137,
35
] | [
0.3092932403087616,
0.004730053711682558,
0.16383367776870728,
2.998185396194458,
1.0712705850601196,
2.9954395294189453
] | 1 | Pick up the pot lid by its handle | move | 0.437141 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-5.305821895599365,
-19.661733627319336,
31.363636016845703,
27.496700286865234,
-0.9035409092903137,
35
] | [
-4.831902027130127,
-18.239444732666016,
27.954097747802734,
25.432039260864258,
-0.9035409092903137,
35
] | [
0.3115324378013611,
0.0035126525908708572,
0.1592651754617691,
3.002253532409668,
1.0591579675674438,
2.994396924972534
] | 1 | Pick up the pot lid by its handle | move | 0.491634 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-5.2321295738220215,
-18.224102020263672,
31.272727966308594,
26.880773544311523,
-0.9035409092903137,
35
] | [
-4.677445411682129,
-16.891544342041016,
27.99639320373535,
24.833459854125977,
-0.9035409092903137,
35
] | [
0.31353694200515747,
0.003115830011665821,
0.15464508533477783,
3.0066254138946533,
1.0455231666564941,
2.9966604709625244
] | 1 | Pick up the pot lid by its handle | move | 0.543525 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-5.2321295738220215,
-16.786468505859375,
31.18181800842285,
26.17685890197754,
-0.9035409092903137,
35
] | [
-4.540248870849609,
-15.574536323547363,
28.085002899169922,
24.29123306274414,
-0.9035409092903137,
35
] | [
0.31556370854377747,
0.0031376187689602375,
0.15014824271202087,
3.0103423595428467,
1.033396601676941,
2.9998650550842285
] | 1 | Pick up the pot lid by its handle | move | 0.596182 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-5.011053562164307,
-15.433403968811035,
31.18181800842285,
25.648921966552734,
-0.9035409092903137,
35
] | [
-4.423150539398193,
-14.305142402648926,
28.222579956054688,
23.81564712524414,
-0.9035409092903137,
35
] | [
0.3170819580554962,
0.0018733692122623324,
0.14520244300365448,
3.0147809982299805,
1.0182303190231323,
2.999058961868286
] | 1 | Pick up the pot lid by its handle | move | 0.644848 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-4.716285705566406,
-14.164904594421387,
31.18181800842285,
25.208974838256836,
-0.9035409092903137,
35
] | [
-4.3241119384765625,
-13.089875221252441,
28.399322509765625,
23.400943756103516,
-0.9035409092903137,
35
] | [
0.3183254599571228,
0.0001660651614656672,
0.140407994389534,
3.0190064907073975,
1.0030556917190552,
2.9965028762817383
] | 1 | Pick up the pot lid by its handle | move | 0.690026 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-4.78997802734375,
-12.727272987365723,
31.18181800842285,
24.769027709960938,
-0.9035409092903137,
35
] | [
-4.242558479309082,
-11.935991287231445,
28.61015510559082,
23.045974731445312,
-0.9035409092903137,
35
] | [
0.319522500038147,
0.0005966589669696987,
0.13480857014656067,
3.0238192081451416,
0.9848359823226929,
3.002070903778076
] | 1 | Pick up the pot lid by its handle | move | 0.739401 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-4.78997802734375,
-11.797039985656738,
31.090909957885742,
24.32908058166504,
-0.9035409092903137,
35
] | [
-4.183957099914551,
-10.95060920715332,
28.828256607055664,
22.77715492248535,
-0.9035409092903137,
35
] | [
0.32061871886253357,
0.0005983553128316998,
0.1318664401769638,
3.025747060775757,
0.9772413372993469,
3.0036733150482178
] | 1 | Pick up the pot lid by its handle | move | 0.773184 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-4.716285705566406,
-10.528541564941406,
31.18181800842285,
24.065113067626953,
-0.9035409092903137,
35
] | [
-4.156041145324707,
-10.288448333740234,
28.959142684936523,
22.643524169921875,
-0.9035409092903137,
35
] | [
0.3211512565612793,
0.00016612066247034818,
0.12622787058353424,
3.0305631160736084,
0.9574877023696899,
3.0061049461364746
] | 1 | Pick up the pot lid by its handle | move | 0.815569 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-4.49521017074585,
-9.852008819580078,
31.18181800842285,
24.065113067626953,
-0.9035409092903137,
35
] | [
-4.13063383102417,
-9.745770454406738,
29.102920532226562,
22.516813278198242,
-0.9035409092903137,
35
] | [
0.32124820351600647,
-0.0011335237650200725,
0.12313573807477951,
3.0333943367004395,
0.9453264474868774,
3.0038082599639893
] | 1 | Pick up the pot lid by its handle | move | 0.836621 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-4.49521017074585,
-9.260042190551758,
31.18181800842285,
23.801143646240234,
-0.9035409092903137,
35
] | [
-4.10805082321167,
-9.193449020385742,
29.260541915893555,
22.398027420043945,
-0.9035409092903137,
35
] | [
0.3217245042324066,
-0.0011357067851349711,
0.12095329910516739,
3.0347743034362793,
0.9392443895339966,
3.004924774169922
] | 1 | Pick up the pot lid by its handle | move | 0.857992 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-4.421517848968506,
-8.837209701538086,
31.18181800842285,
23.713153839111328,
-0.9035409092903137,
35
] | [
-4.088535785675049,
-8.631152153015137,
29.957942962646484,
22.287899017333984,
-0.9035409092903137,
35
] | [
0.32188940048217773,
-0.0015706727281212807,
0.11919061839580536,
3.0361316204071045,
0.9331614971160889,
3.004483938217163
] | 1 | Pick up the pot lid by its handle | move | 0.871954 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-4.421517848968506,
-8.160676956176758,
31.18181800842285,
23.713153839111328,
-0.9035409092903137,
35
] | [
-4.072239398956299,
-8.05689811706543,
30.14657974243164,
22.18671989440918,
-0.9035409092903137,
35
] | [
0.32190215587615967,
-0.0015707426937296987,
0.11608990281820297,
3.038780689239502,
0.9209930300712585,
3.0066027641296387
] | 1 | Pick up the pot lid by its handle | move | 0.891064 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-4.421517848968506,
-7.5687103271484375,
31.18181800842285,
23.53717613220215,
-0.9035409092903137,
35
] | [
-4.059226036071777,
-7.466137409210205,
30.353567123413086,
22.094287872314453,
-0.9035409092903137,
35
] | [
0.32217127084732056,
-0.0015723861288279295,
0.11371894925832748,
3.040393590927124,
0.9133860468864441,
3.007883310317993
] | 1 | Pick up the pot lid by its handle | move | 0.910221 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-4.421517848968506,
-7.230443954467773,
31.18181800842285,
23.53717613220215,
-0.9035409092903137,
35
] | [
-4.050210952758789,
-6.8619384765625,
30.580060958862305,
22.013097763061523,
-0.9035409092903137,
35
] | [
0.3221488296985626,
-0.0015722444513812661,
0.11216698586940765,
3.041661262512207,
0.9072996377944946,
3.0088844299316406
] | 1 | Pick up the pot lid by its handle | move | 0.918669 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-4.421517848968506,
-6.300211429595947,
31.18181800842285,
23.361196517944336,
-0.9035409092903137,
35
] | [
-4.045413970947266,
-6.234704494476318,
30.830890655517578,
21.942991256713867,
-0.9035409092903137,
35
] | [
0.322333961725235,
-0.0015733687905594707,
0.1082364171743393,
3.044442653656006,
0.8936023712158203,
3.011064052581787
] | 1 | Pick up the pot lid by its handle | move | 0.942236 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-4.421517848968506,
-5.961945056915283,
31.18181800842285,
23.185216903686523,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3225748538970947,
-0.0015748421428725123,
0.10701894015073776,
3.0450477600097656,
0.8905580043792725,
3.0115349292755127
] | 1 | Pick up the pot lid by its handle | move | 0.952023 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-4.421517848968506,
-5.285412311553955,
31.545454025268555,
23.185216903686523,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3216487765312195,
-0.0015691533917561173,
0.10244110971689224,
3.048585891723633,
0.8722883462905884,
3.014265298843384
] | 1 | Pick up the pot lid by its handle | move | 0.954548 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.09722900390625,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3213319182395935,
-0.0015672065783292055,
0.1007126048207283,
3.0497312545776367,
0.8661970496177673,
3.0151402950286865
] | 1 | Pick up the pot lid by its handle | move | 0.95411 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.009239196777344,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3214840888977051,
-0.0015681397635489702,
0.10087695717811584,
3.0494463443756104,
0.8677199482917786,
3.014923095703125
] | 1 | Pick up the pot lid by its handle | move | 0.956626 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.009239196777344,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3214840888977051,
-0.0015681397635489702,
0.10087695717811584,
3.0494463443756104,
0.8677199482917786,
3.014923095703125
] | 1 | Pick up the pot lid by its handle | move | 0.956626 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.009239196777344,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3214840888977051,
-0.0015681397635489702,
0.10087695717811584,
3.0494463443756104,
0.8677199482917786,
3.014923095703125
] | 1 | Pick up the pot lid by its handle | move | 0.956626 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.009239196777344,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3214840888977051,
-0.0015681397635489702,
0.10087695717811584,
3.0494463443756104,
0.8677199482917786,
3.014923095703125
] | 1 | Pick up the pot lid by its handle | move | 0.956626 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.009239196777344,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3214840888977051,
-0.0015681397635489702,
0.10087695717811584,
3.0494463443756104,
0.8677199482917786,
3.014923095703125
] | 1 | Pick up the pot lid by its handle | move | 0.956626 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.009239196777344,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3214840888977051,
-0.0015681397635489702,
0.10087695717811584,
3.0494463443756104,
0.8677199482917786,
3.014923095703125
] | 1 | Pick up the pot lid by its handle | move | 0.956626 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
-4.421517848968506,
-5.031712532043457,
31.727272033691406,
23.009239196777344,
-0.9035409092903137,
35
] | [
-4.045133113861084,
-5.68953800201416,
31.06230354309082,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.3214840888977051,
-0.0015681397635489702,
0.10087695717811584,
3.0494463443756104,
0.8677199482917786,
3.014923095703125
] | 1 | Pick up the pot lid by its handle | move | 0.956626 | [
-4.045133113861084,
-5.459456443786621,
31.352689743041992,
21.894140243530273,
-0.9035409092903137,
35
] | [
0.32426488399505615,
-0.003821728751063347,
0.10648004710674286,
3.042955160140991,
0.9009865522384644,
3.0020663738250732
] | 35 | move pot lid to target | [
0,
0,
0
] | 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": 20,
"total_frames": 6729,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:20"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"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",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.ee_pos.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.gripper_binary": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.verification_question": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.type": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.progress": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.goal_position.joint": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"skill.goal_position.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper.pos"
]
},
"subtask.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.object_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.target_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 80