Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 ⌀ | observation.radian.state list | observation.radian.action list | observation.radian.state_urdf0 list | observation.radian.action_urdf0 list | skill.natural_language stringclasses 19
values | skill.verification_question stringclasses 14
values | skill.type stringclasses 5
values | skill.progress float32 0 0.97 ⌀ | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 -100 -50 ⌀ | timestamp float32 0 21.8 ⌀ | frame_index int64 0 654 ⌀ | episode_index int64 0 19 ⌀ | index int64 0 10.5k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.001855 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.010246 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.023775 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.030208 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.118544 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.167967 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.219311 | [
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46.86513137817383,
66.5169448852539,
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.249335 | [
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46.86513137817383,
66.5169448852539,
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.311782 | [
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] | -99.868767 | 0.433333 | 13 | 0 | 13 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.373416 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.466667 | 14 | 0 | 14 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.404365 | [
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] | -99.868767 | 0.5 | 15 | 0 | 15 | 0 |
[
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.466778 | [
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] | -99.868767 | 0.533333 | 16 | 0 | 16 | 0 |
[
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] | [
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] | 1 | [
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] | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.53093 | [
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] | -99.868767 | 0.566667 | 17 | 0 | 17 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.562852 | [
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] | -99.868767 | 0.6 | 18 | 0 | 18 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.62681 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.684712 | [
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.712097 | [
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66.5169448852539,
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.764788 | [
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46.86513137817383,
66.5169448852539,
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[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.812093 | [
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] | -99.868767 | 0.766667 | 23 | 0 | 23 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.834183 | [
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] | -99.868767 | 0.8 | 24 | 0 | 24 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.8722 | [
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] | -99.868767 | 0.833333 | 25 | 0 | 25 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.899851 | [
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] | -99.868767 | 0.866667 | 26 | 0 | 26 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.91004 | [
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] | -99.868767 | 0.9 | 27 | 0 | 27 | 0 |
[
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.923715 | [
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] | -99.868767 | 0.933333 | 28 | 0 | 28 | 0 |
[
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] | Move to initial position | Is the robot at the initial position? | move_initial | 0.932627 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.002768 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.014036 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.028119 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.04502 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.06192 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.073187 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.095721 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.109805 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.152056 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.163322 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.183039 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.202756 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.214023 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.233739 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.256273 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.267539 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.287256 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.306972 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.318239 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.340771 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.360488 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.371754 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.394286 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.416818 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.422451 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.4478 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.467515 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.47878 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.501311 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.521026 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.532291 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.588615 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.611143 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.630854 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.639302 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.659013 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.678722 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.687169 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.709692 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.740658 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.760361 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.780061 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.791317 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.813824 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.833511 | [
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[
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.841946 | [
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[
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] | 1 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.864431 | [
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] | 1 | [
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] | Open gripper to prepare for picking the yellow block | Is the gripper open? | gripper_open | 0.884088 | [
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[
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1.1919031143188477,
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] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.000154 | [
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] | [
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] | -50 | 3 | 90 | 0 | 90 | 0 |
[
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] | [
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] | [
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] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.000684 | [
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60.257598876953125,
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] | [
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] | [
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] | -50 | 3.033333 | 91 | 0 | 91 | 0 |
[
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] | [
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] | [
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] | 1 | [
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1.1897530555725098,
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] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.000848 | [
-81.85377502441406,
-74.00149536132812,
60.257598876953125,
35.615604400634766,
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] | [
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] | [
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] | -50 | 3.066667 | 92 | 0 | 92 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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0.7728522419929504,
1.188760757446289,
0.15033011138439178,
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] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.000898 | [
-81.85377502441406,
-74.00149536132812,
60.257598876953125,
35.615604400634766,
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] | [
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] | [
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] | -50 | 3.1 | 93 | 0 | 93 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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-0.9970595836639404,
0.7736615538597107,
1.1859662532806396,
0.15033011138439178,
-1.5707963705062866
] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.000898 | [
-81.85377502441406,
-74.00149536132812,
60.257598876953125,
35.615604400634766,
4.810744762420654,
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] | [
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] | [
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] | -50 | 3.133333 | 94 | 0 | 94 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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-0.9997822642326355,
0.7747437357902527,
1.182229995727539,
0.15033011138439178,
-1.5707963705062866
] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.000898 | [
-81.85377502441406,
-74.00149536132812,
60.257598876953125,
35.615604400634766,
4.810744762420654,
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] | [
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] | [
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] | -50 | 3.166667 | 95 | 0 | 95 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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-1.0013209581375122,
0.775355339050293,
1.1801183223724365,
0.15033011138439178,
-1.5707963705062866
] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.003798 | [
-81.85377502441406,
-74.00149536132812,
60.257598876953125,
35.615604400634766,
4.810744762420654,
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] | [
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1.4085098505020142,
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] | [
0.09088534861803055,
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1.4085098505020142,
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] | -50 | 3.2 | 96 | 0 | 96 | 0 |
[
-2.768334150314331,
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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-1.004846453666687,
0.7767565846443176,
1.1752800941467285,
0.15033011138439178,
-1.5707963705062866
] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.011633 | [
-81.85377502441406,
-74.00149536132812,
60.257598876953125,
35.615604400634766,
4.810744762420654,
-50
] | [
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1.4085098505020142,
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] | [
0.09088534861803055,
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] | -50 | 3.233333 | 97 | 0 | 97 | 0 |
[
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] | [
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-50
] | [
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] | 1 | [
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] | [
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] | [
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] | [
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-1.009034276008606,
0.7784211039543152,
1.169533133506775,
0.15033011138439178,
-1.5707963705062866
] | Move gripper above the yellow block's grasp center | Is the gripper positioned above the yellow block? | move | 0.018808 | [
-81.85377502441406,
-74.00149536132812,
60.257598876953125,
35.615604400634766,
4.810744762420654,
-50
] | [
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1.4085098505020142,
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] | [
0.09088534861803055,
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1.4085098505020142,
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] | -50 | 3.266667 | 98 | 0 | 98 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | -50 | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
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