Cache-SCA/Gr00t_MA_Real_PlaceSpoon_200ep_proj_action_aug
Robotics • 3B • Updated • 9
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 12
values | skill.verification_question stringclasses 8
values | skill.type stringclasses 6
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 -100 20 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 34.7 | frame_index int64 0 347 | episode_index int64 0 99 | index int64 0 33.9k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.007543 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.016478 | [
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[
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.046008 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.069529 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.097313 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.130268 | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.168409 | [
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] | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.209425 | [
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68.14083099365234,
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] | [
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[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.253407 | [
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] | [
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] | 1.1 | 11 | 0 | 11 | 0 | ||
[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.301024 | [
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68.14083099365234,
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-100
] | [
0.22601699829101562,
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] | 1.2 | 12 | 0 | 12 | 0 | ||
[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.350619 | [
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46.04904556274414,
68.14083099365234,
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-100
] | [
0.22601699829101562,
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0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.40071 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
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] | -100 | [
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0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
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] | [
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.451785 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
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] | 1.5 | 15 | 0 | 15 | 0 | ||
[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.503785 | [
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46.04904556274414,
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-100
] | [
0.22601699829101562,
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] | 1.6 | 16 | 0 | 16 | 0 | ||
[
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] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.555525 | [
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46.04904556274414,
68.14083099365234,
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] | 1.7 | 17 | 0 | 17 | 0 | ||
[
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] | [
0.19479984045028687,
0.030155139043927193,
0.07919077575206757,
3.0999867916107178,
0.5646839141845703,
-3.028996706008911
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.606139 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
-5.958132266998291,
-66.73755645751953,
69.9381103515625,
63.33906936645508,
-0.5128205418586731,
-69.9974136352539
] | [
-5.775373458862305,
-61.97772216796875,
61.91653823852539,
64.42627716064453,
-0.4096777141094208,
-69.9974136352539
] | [
0.19734953343868256,
0.0306460652500391,
0.0832471251487732,
3.1004080772399902,
0.5600957870483398,
-3.0287721157073975
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.655308 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-5.958132266998291,
-64.27052307128906,
67.10875701904297,
64.02754211425781,
-0.5128205418586731,
-74.72276306152344
] | [
-5.757935047149658,
-59.79170227050781,
59.41743850708008,
65.01131439208984,
-0.4028458595275879,
-74.72276306152344
] | [
0.19993574917316437,
0.031144028529524803,
0.08675119280815125,
3.101104736328125,
0.5524486899375916,
-3.0284042358398438
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.703663 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
-5.958132266998291,
-62.05869674682617,
64.63306427001953,
64.62995147705078,
-0.5128205418586731,
-79.16947937011719
] | [
-5.741525173187256,
-57.734580993652344,
57.065696716308594,
65.56185150146484,
-0.3964168429374695,
-79.16947937011719
] | [
0.20228950679302216,
0.03159723058342934,
0.08955177664756775,
3.101794958114624,
0.5448015332221985,
-3.0280444622039795
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.747695 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
-5.958132266998291,
-59.84687423706055,
62.15738296508789,
65.06024169921875,
-0.5128205418586731,
-83.28894805908203
] | [
-5.726322650909424,
-55.82884979248047,
54.88703155517578,
66.0718765258789,
-0.3904609680175781,
-83.28894805908203
] | [
0.20517516136169434,
0.032152850180864334,
0.09244722127914429,
3.102205991744995,
0.5402130484580994,
-3.027832269668579
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.789558 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
-5.958132266998291,
-57.80519104003906,
59.681697845458984,
65.57659149169922,
-0.5128205418586731,
-87.03590393066406
] | [
-5.712494850158691,
-54.0954475402832,
52.90537643432617,
66.53577423095703,
-0.3850436806678772,
-87.03590393066406
] | [
0.20801809430122375,
0.03270024433732033,
0.09551836550235748,
3.1024787425994873,
0.5371540784835815,
-3.0276923179626465
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.828692 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
-5.958132266998291,
-55.76350402832031,
57.47126388549805,
66.00688171386719,
-0.5128205418586731,
-90.36932373046875
] | [
-5.700193405151367,
-52.5533561706543,
51.142425537109375,
66.94847869873047,
-0.3802242577075958,
-90.36932373046875
] | [
0.21062922477722168,
0.03320300579071045,
0.09762189537286758,
3.1030211448669434,
0.5310359597206116,
-3.0274159908294678
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.864006 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
-5.958132266998291,
-54.06209945678711,
55.614501953125,
66.43717956542969,
-0.5128205418586731,
-93.25261688232422
] | [
-5.6895527839660645,
-51.21950149536133,
49.61753845214844,
67.30545043945312,
-0.37605565786361694,
-93.25261688232422
] | [
0.2127179056406021,
0.033605173230171204,
0.09923668205738068,
3.103559970855713,
0.5249175429344177,
-3.02714467048645
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.893556 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
-5.958132266998291,
-52.53083801269531,
53.75773620605469,
67.03958892822266,
-0.5128205418586731,
-95.65409088134766
] | [
-5.680690288543701,
-50.10853958129883,
48.347469329833984,
67.60277557373047,
-0.37258362770080566,
-95.65409088134766
] | [
0.2144775688648224,
0.033943984657526016,
0.10099734365940094,
3.1040947437286377,
0.5187992453575134,
-3.0268778800964355
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.919964 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
-5.958132266998291,
-51.169715881347656,
52.34305953979492,
67.21170043945312,
-0.5128205418586731,
-97.54742431640625
] | [
-5.673703193664551,
-49.2326545715332,
47.34613800048828,
67.8371810913086,
-0.36984628438949585,
-97.54742431640625
] | [
0.2165084332227707,
0.034335020929574966,
0.1021302118897438,
3.104360818862915,
0.515740156173706,
-3.0267465114593506
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.939871 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
-5.958132266998291,
-50.06380081176758,
51.01679992675781,
67.55593872070312,
-0.5128205418586731,
-98.91183471679688
] | [
-5.668668270111084,
-48.60145950317383,
46.62454605102539,
68.00611114501953,
-0.3678736388683319,
-98.91183471679688
] | [
0.21802468597888947,
0.03462696820497513,
0.10337183624505997,
3.104625940322876,
0.51268070936203,
-3.026616096496582
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.955875 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
-5.958132266998291,
-49.21310043334961,
50.132625579833984,
67.72805786132812,
-0.5128205418586731,
-99.73233032226562
] | [
-5.665640354156494,
-48.221885681152344,
46.190608978271484,
68.1076889038086,
-0.3666873574256897,
-99.73233032226562
] | [
0.2191639095544815,
0.03484632447361946,
0.10393659770488739,
3.1048901081085205,
0.5096214413642883,
-3.026486873626709
] | 1 | Move to initial position | Is the robot at initial position? | move_initial | 0.965667 | [
-5.664652347564697,
-48.09805679321289,
46.04904556274414,
68.14083099365234,
-0.3663003742694855,
-100
] | [
0.22601699829101562,
0.035044483840465546,
0.1148272454738617,
3.1039037704467773,
0.5530592203140259,
-3.0286123752593994
] | -100 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
-5.958132266998291,
-48.36240005493164,
49.425289154052734,
67.72805786132812,
-0.5128205418586731,
-100
] | [
-5.958141803741455,
-48.27383804321289,
49.179100036621094,
67.7280502319336,
-0.5128205418586731,
-100
] | [
0.2203904390335083,
0.035082489252090454,
0.10407127439975739,
3.1051533222198486,
0.5065621137619019,
-3.0263586044311523
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-5.958132266998291,
-48.36240005493164,
49.425289154052734,
67.72805786132812,
-0.5128205418586731,
-100
] | [
-6.066019058227539,
-48.27237319946289,
49.11616134643555,
67.66084289550781,
-0.5128205418586731,
-100
] | [
0.2203904390335083,
0.035082489252090454,
0.10407127439975739,
3.1051533222198486,
0.5065621137619019,
-3.0263586044311523
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-5.958132266998291,
-48.36240005493164,
49.77895736694336,
67.72805786132812,
-0.5128205418586731,
-100
] | [
-6.3538665771484375,
-48.26846694946289,
48.94822311401367,
67.48150634765625,
-0.5128205418586731,
-100
] | [
0.2196766883134842,
0.034945063292980194,
0.10282695293426514,
3.105677366256714,
0.5004433989524841,
-3.0261058807373047
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-5.958132266998291,
-48.36240005493164,
49.77895736694336,
67.72805786132812,
-0.5128205418586731,
-100
] | [
-6.816329002380371,
-48.26218795776367,
48.67840576171875,
67.19337463378906,
-0.5128205418586731,
-100
] | [
0.2196766883134842,
0.034945063292980194,
0.10282695293426514,
3.105677366256714,
0.5004433989524841,
-3.0261058807373047
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-6.280193328857422,
-48.36240005493164,
49.77895736694336,
67.72805786132812,
-0.5616605877876282,
-100
] | [
-7.449684143066406,
-48.25358963012695,
48.0250358581543,
66.79877471923828,
-0.5128205418586731,
-100
] | [
0.21945691108703613,
0.03606598824262619,
0.10282718390226364,
3.1048390865325928,
0.5003876686096191,
-3.021717071533203
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-6.924315452575684,
-48.36240005493164,
49.77895736694336,
67.55593872070312,
-0.5128205418586731,
-100
] | [
-8.224732398986816,
-48.24306869506836,
47.572845458984375,
66.3158950805664,
-0.5128205418586731,
-100
] | [
0.21943295001983643,
0.0383588969707489,
0.10304129123687744,
3.1054158210754395,
0.5035028457641602,
-3.007823944091797
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-7.729468822479248,
-48.36240005493164,
49.77895736694336,
67.29776000976562,
-0.5616605877876282,
-100
] | [
-9.138611793518066,
-48.23066329956055,
47.03965759277344,
65.74652099609375,
-0.5128205418586731,
-100
] | [
0.2194628119468689,
0.04128270596265793,
0.10336554795503616,
3.10416841506958,
0.5080352425575256,
-2.994429588317871
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-8.212560653686523,
-48.36240005493164,
49.77895736694336,
66.69535064697266,
-0.5128205418586731,
-100
] | [
-10.176311492919922,
-48.216575622558594,
46.434226989746094,
65.0999984741211,
-0.5128205418586731,
-100
] | [
0.22056621313095093,
0.0432850606739521,
0.10413310676813126,
3.1040947437286377,
0.5187994241714478,
-2.98392653465271
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-9.420289993286133,
-48.36240005493164,
49.6905403137207,
66.17900085449219,
-0.5128205418586731,
-100
] | [
-11.317455291748047,
-48.201087951660156,
45.7684440612793,
64.38903045654297,
-0.5128205418586731,
-100
] | [
0.22095799446105957,
0.047830887138843536,
0.1051209568977356,
3.103156328201294,
0.5295065641403198,
-2.9613864421844482
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-10.305957794189453,
-48.36240005493164,
49.33686828613281,
65.49053192138672,
-0.5128205418586731,
-99.97228240966797
] | [
-12.559370040893555,
-48.184226989746094,
45.04386520385742,
63.61528015136719,
-0.5128205418586731,
-99.97228240966797
] | [
0.2224704772233963,
0.0515538714826107,
0.10731722414493561,
3.1015195846557617,
0.5478607416152954,
-2.945352554321289
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-11.594202995300293,
-48.36240005493164,
48.806365966796875,
64.71600341796875,
-0.5128205418586731,
-94.25473022460938
] | [
-13.880305290222168,
-48.16629409790039,
44.27318572998047,
62.79229736328125,
-0.5128205418586731,
-94.25473022460938
] | [
0.2239803522825241,
0.056913066655397415,
0.11033088713884354,
3.099421501159668,
0.5708016753196716,
-2.921922206878662
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-12.801932334899902,
-48.36240005493164,
48.0106086730957,
63.94147872924805,
-0.5128205418586731,
-88.53704833984375
] | [
-15.26689338684082,
-48.1474723815918,
43.464202880859375,
61.928409576416016,
-0.5128205418586731,
-88.53704833984375
] | [
0.2258526086807251,
0.06223055347800255,
0.11440528929233551,
3.09682035446167,
0.5983280539512634,
-2.90034818649292
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-14.170692443847656,
-48.36240005493164,
47.12643814086914,
62.994834899902344,
-0.5128205418586731,
-82.81912994384766
] | [
-16.711944580078125,
-48.12785720825195,
42.62110900878906,
61.02809524536133,
-0.5128205418586731,
-82.81912994384766
] | [
0.22781796753406525,
0.06840504705905914,
0.11918182671070099,
3.0936591625213623,
0.630437970161438,
-2.8760929107666016
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-15.458937644958496,
-48.36240005493164,
46.33068084716797,
62.30636978149414,
-0.5128205418586731,
-77.10155487060547
] | [
-18.19502067565918,
-48.107723236083984,
41.755828857421875,
60.104095458984375,
-0.5128205418586731,
-77.10155487060547
] | [
0.2288866490125656,
0.07411397248506546,
0.12332663685083389,
3.090989828109741,
0.6564280986785889,
-2.8531508445739746
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-16.988727569580078,
-48.36240005493164,
45.5349235534668,
61.35972595214844,
-0.5128205418586731,
-71.38397216796875
] | [
-19.705524444580078,
-48.08721923828125,
40.87454605102539,
59.163002014160156,
-0.5128205418586731,
-71.38397216796875
] | [
0.22988057136535645,
0.0809897929430008,
0.12799057364463806,
3.0877089500427246,
0.6870001554489136,
-2.826047420501709
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-18.518518447875977,
-48.36240005493164,
44.56233596801758,
60.413082122802734,
-0.5128205418586731,
-65.66645050048828
] | [
-21.229755401611328,
-48.066524505615234,
39.98525619506836,
58.21335983276367,
-0.5128205418586731,
-65.66645050048828
] | [
0.23077607154846191,
0.08805112540721893,
0.13347184658050537,
3.083904266357422,
0.7206229567527771,
-2.7993643283843994
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-19.96779441833496,
-48.36240005493164,
43.67816162109375,
59.38037872314453,
-0.5128205418586731,
-59.94876480102539
] | [
-22.75385856628418,
-48.04583740234375,
39.086551666259766,
57.2637939453125,
-0.5128205418586731,
-59.94876480102539
] | [
0.23148329555988312,
0.09489627182483673,
0.1388862282037735,
3.0798680782318115,
0.7542381286621094,
-2.7744669914245605
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-21.49758529663086,
-48.27732849121094,
42.79398727416992,
58.43373489379883,
-0.5128205418586731,
-54.231258392333984
] | [
-24.264131546020508,
-48.025333404541016,
38.19339370727539,
56.32284927368164,
-0.5128205418586731,
-54.231258392333984
] | [
0.23154644668102264,
0.10200849175453186,
0.14397703111171722,
3.0759711265563965,
0.7847899198532104,
-2.748033285140991
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-23.027374267578125,
-48.27732849121094,
41.909812927246094,
57.573150634765625,
-0.5128205418586731,
-48.51350402832031
] | [
-25.746570587158203,
-48.005210876464844,
37.31669616699219,
55.39924240112305,
-0.5128205418586731,
-48.51350402832031
] | [
0.23105058073997498,
0.10903052985668182,
0.14929364621639252,
3.071828842163086,
0.8153336048126221,
-2.7218596935272217
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-24.557165145874023,
-48.1071891784668,
41.11405944824219,
56.62650680541992,
-0.5128205418586731,
-42.79603576660156
] | [
-27.190488815307617,
-47.98561096191406,
36.46277618408203,
54.499637603759766,
-0.5128205418586731,
-42.79603576660156
] | [
0.23034819960594177,
0.11613406985998154,
0.15391872823238373,
3.067864418029785,
0.8428151607513428,
-2.6956374645233154
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-26.006441116333008,
-48.192256927490234,
40.22988510131836,
55.76592254638672,
-0.5128205418586731,
-37.07870101928711
] | [
-28.57635498046875,
-47.966796875,
35.6431884765625,
53.636199951171875,
-0.5128205418586731,
-37.07870101928711
] | [
0.22927391529083252,
0.12279721349477768,
0.15972156822681427,
3.0629184246063232,
0.8748663663864136,
-2.6717710494995117
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-27.455717086791992,
-48.192256927490234,
39.43412780761719,
54.90533447265625,
-0.5128205418586731,
-31.36131477355957
] | [
-29.88825035095215,
-47.9489860534668,
34.867347717285156,
52.81884765625,
-0.5128205418586731,
-31.36131477355957
] | [
0.2278354912996292,
0.12939238548278809,
0.16493940353393555,
3.0581045150756836,
0.9038540720939636,
-2.6478984355926514
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-28.82447624206543,
-48.192256927490234,
38.63837432861328,
54.04475021362305,
-0.5128205418586731,
-25.643861770629883
] | [
-30.538578033447266,
-47.94015884399414,
34.482749938964844,
52.413673400878906,
-0.5128205418586731,
-25.643861770629883
] | [
0.22628244757652283,
0.13563905656337738,
0.17023685574531555,
3.0529229640960693,
0.9328294396400452,
-2.625938653945923
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-30.03220558166504,
-48.192256927490234,
37.931034088134766,
53.52840042114258,
-0.5128205418586731,
-19.925888061523438
] | [
-31.205402374267578,
-47.93110656738281,
34.08839797973633,
51.99821853637695,
-0.5128205418586731,
-19.925888061523438
] | [
0.22432772815227509,
0.1408378630876541,
0.17445215582847595,
3.0488383769989014,
0.9541710615158081,
-2.606235980987549
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.074565 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-30.676328659057617,
-48.192256927490234,
37.6657829284668,
53.35628128051758,
-0.5128205418586731,
-14.207779884338379
] | [
-31.888891220092773,
-47.92182922363281,
33.68418884277344,
51.572383880615234,
-0.5128205418586731,
-14.207779884338379
] | [
0.22299204766750336,
0.14341984689235687,
0.17599420249462128,
3.0473196506500244,
0.9617910981178284,
-2.5952064990997314
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.20228 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-31.159420013427734,
-48.192256927490234,
37.31211471557617,
52.66781234741211,
-0.5128205418586731,
-8.490257263183594
] | [
-32.589481353759766,
-47.91231918334961,
33.269866943359375,
51.135894775390625,
-0.5128205418586731,
-8.490257263183594
] | [
0.22280147671699524,
0.14601032435894012,
0.17910271883010864,
3.0435352325439453,
0.9800745248794556,
-2.5891265869140625
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.330737 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-32.12560272216797,
-48.192256927490234,
36.78160858154297,
52.32358169555664,
-0.5128205418586731,
-2.772148609161377
] | [
-33.30893325805664,
-47.902549743652344,
32.844390869140625,
50.68765640258789,
-0.5128205418586731,
-2.772148609161377
] | [
0.22082142531871796,
0.14997993409633636,
0.18222454190254211,
3.040220260620117,
0.9953053593635559,
-2.573486089706421
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.460326 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-32.60869598388672,
-48.192256927490234,
36.33952331542969,
51.807228088378906,
-0.5128205418586731,
2.945878267288208
] | [
-34.05194854736328,
-47.89246368408203,
32.40497970581055,
50.2247314453125,
-0.5128205418586731,
2.945878267288208
] | [
0.2203051894903183,
0.1523798704147339,
0.18537501990795135,
3.036389112472534,
1.0120532512664795,
-2.5675137042999268
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.587063 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-33.57487869262695,
-48.1071891784668,
35.89743423461914,
51.37693786621094,
-0.5128205418586731,
8.663250923156738
] | [
-34.827579498291016,
-47.881935119628906,
31.946279525756836,
49.74148941040039,
-0.5128205418586731,
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] | [
0.21827462315559387,
0.15639519691467285,
0.18802635371685028,
3.0330986976623535,
1.025750994682312,
-2.551908016204834
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.713426 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-34.21900177001953,
-48.1071891784668,
35.543766021728516,
50.8605842590332,
-0.5128205418586731,
14.381332397460938
] | [
-35.63138198852539,
-47.87102508544922,
31.470918655395508,
49.24069595336914,
-0.5128205418586731,
14.381332397460938
] | [
0.21709464490413666,
0.15925723314285278,
0.19082358479499817,
3.029263734817505,
1.0409647226333618,
-2.5429306030273438
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.830127 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-35.02415466308594,
-48.1071891784668,
34.92484664916992,
50.344234466552734,
-0.5128205418586731,
20
] | [
-36.475833892822266,
-47.859561920166016,
30.97151756286621,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21544106304645538,
0.16271863877773285,
0.194825679063797,
3.023969888687134,
1.0607322454452515,
-2.5321853160858154
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.909654 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
-35.829307556152344,
-48.1071891784668,
34.39434051513672,
50,
-0.5128205418586731,
20
] | [
-36.475833892822266,
-47.859561920166016,
30.97151756286621,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346555650234222,
0.16592222452163696,
0.19803772866725922,
3.019636392593384,
1.0759295225143433,
-2.520643472671509
] | 1 | Approach spoon handle and open gripper | Is the gripper above the spoon handle and open? | move_and_open | 0.928294 | [
-36.475833892822266,
-47.93274688720703,
31.547761917114258,
48.714576721191406,
-0.5128205418586731,
20
] | [
0.21346214413642883,
0.17005841434001923,
0.21340535581111908,
2.996593475341797,
1.1443238258361816,
-2.5289790630340576
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
-36.07085418701172,
-48.1071891784668,
34.39434051513672,
49.9139404296875,
-0.5128205418586731,
20
] | [
-35.90982437133789,
-48.02775955200195,
34.1329345703125,
50,
-0.5128205418586731,
20
] | [
0.21279089152812958,
0.1668110340833664,
0.1982475221157074,
3.0191895961761475,
1.077448844909668,
-2.516434907913208
] | 1 | Pick up the spoon by its handle | move | 0.003652 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
-36.23188400268555,
-48.1071891784668,
34.39434051513672,
49.9139404296875,
-0.5128205418586731,
20
] | [
-35.911827087402344,
-47.852291107177734,
34.19917297363281,
49.87451934814453,
-0.5128205418586731,
20
] | [
0.2122783064842224,
0.16734392940998077,
0.1982475370168686,
3.0191895961761475,
1.077448844909668,
-2.513366937637329
] | 1 | Pick up the spoon by its handle | move | 0.003664 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
-35.99033737182617,
-48.1071891784668,
34.748008728027344,
49.9139404296875,
-0.5128205418586731,
20
] | [
-35.91716766357422,
-47.38401794433594,
34.375938415527344,
49.53965377807617,
-0.5128205418586731,
20
] | [
0.21293707191944122,
0.16643941402435303,
0.19666020572185516,
3.0209617614746094,
1.0713711977005005,
-2.5164105892181396
] | 1 | Pick up the spoon by its handle | move | 0.005169 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
-35.99033737182617,
-48.1071891784668,
34.748008728027344,
49.9139404296875,
-0.5128205418586731,
20
] | [
-35.92574691772461,
-48.40592575073242,
34.659908294677734,
49.00171661376953,
-0.5128205418586731,
20
] | [
0.21293707191944122,
0.16643941402435303,
0.19666020572185516,
3.0209617614746094,
1.0713711977005005,
-2.5164105892181396
] | 1 | Pick up the spoon by its handle | move | 0.005169 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-35.99033737182617,
-47.937049865722656,
35.01326370239258,
49.9139404296875,
-0.5128205418586731,
20
] | [
-35.9375,
-47.37564468383789,
35.048828125,
48.264957427978516,
-0.5128205418586731,
20
] | [
0.2130245864391327,
0.16652299463748932,
0.19482463598251343,
3.0231223106384277,
1.063772439956665,
-2.5145177841186523
] | 1 | Pick up the spoon by its handle | move | 0.008354 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-35.99033737182617,
-47.85197830200195,
35.27851486206055,
49.48365020751953,
-0.5128205418586731,
20
] | [
-35.951881408691406,
-46.09077072143555,
35.52473831176758,
47.363407135009766,
-0.5128205418586731,
20
] | [
0.21348248422145844,
0.16696029901504517,
0.19435201585292816,
3.0226950645446777,
1.065292239189148,
-2.5148916244506836
] | 1 | Pick up the spoon by its handle | move | 0.014079 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-35.99033737182617,
-47.171417236328125,
35.45534896850586,
48.70912170410156,
-0.5128205418586731,
20
] | [
-35.96883773803711,
-44.53605270385742,
36.08591842651367,
46.30032730102539,
-0.5128205418586731,
20
] | [
0.21493588387966156,
0.16834832727909088,
0.19282647967338562,
3.0231223106384277,
1.063772439956665,
-2.5145177841186523
] | 1 | Pick up the spoon by its handle | move | 0.029492 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-35.99033737182617,
-45.81029510498047,
36.25110626220703,
47.76247787475586,
-0.5128205418586731,
20
] | [
-35.98809051513672,
-42.77077865600586,
36.72309875488281,
45.09327697753906,
-0.5128205418586731,
20
] | [
0.21693076193332672,
0.17025350034236908,
0.18624794483184814,
3.028869390487671,
1.0424857139587402,
-2.509523391723633
] | 1 | Pick up the spoon by its handle | move | 0.057189 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-35.99033737182617,
-44.279029846191406,
36.95844268798828,
46.64371871948242,
-0.5128205418586731,
20
] | [
-36.0092658996582,
-40.829551696777344,
37.42378616333008,
43.76591491699219,
-0.5128205418586731,
20
] | [
0.21915476024150848,
0.17237746715545654,
0.17970511317253113,
3.0338428020477295,
1.0227075815200806,
-2.5052528381347656
] | 1 | Pick up the spoon by its handle | move | 0.087996 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-36.07085418701172,
-42.23734664916992,
37.57736587524414,
45.352840423583984,
-0.5128205418586731,
20
] | [
-36.03230667114258,
-38.71689224243164,
38.18635559082031,
42.321327209472656,
-0.5128205418586731,
20
] | [
0.22158370912075043,
0.17523424327373505,
0.17179624736309052,
3.039538621902466,
0.9983510971069336,
-2.4988934993743896
] | 1 | Pick up the spoon by its handle | move | 0.126092 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-36.07085418701172,
-40.280731201171875,
38.46154022216797,
44.06196212768555,
-0.5128205418586731,
20
] | [
-36.05681610107422,
-36.469818115234375,
38.997440338134766,
40.78483581542969,
-0.5128205418586731,
20
] | [
0.22377870976924896,
0.17733697593212128,
0.16286475956439972,
3.045452833175659,
0.9709338545799255,
-2.4939658641815186
] | 1 | Pick up the spoon by its handle | move | 0.164225 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-36.07085418701172,
-38.06890869140625,
39.08045959472656,
42.512908935546875,
-0.5128205418586731,
20
] | [
-36.082542419433594,
-34.11101531982422,
39.84809112548828,
39.17194366455078,
-0.5128205418586731,
20
] | [
0.22639328241348267,
0.17984165251255035,
0.15449465811252594,
3.050030469894409,
0.9480746388435364,
-2.4902169704437256
] | 1 | Pick up the spoon by its handle | move | 0.20652 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-36.07085418701172,
-35.68694305419922,
39.96463394165039,
41.0499153137207,
-0.5128205418586731,
20
] | [
-36.10935592651367,
-31.70089340209961,
40.723426818847656,
37.491127014160156,
-0.5128205418586731,
20
] | [
0.22841297090053558,
0.18177646398544312,
0.14385603368282318,
3.0559709072113037,
0.9160561561584473,
-2.4854469299316406
] | 1 | Pick up the spoon by its handle | move | 0.25126 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-36.07085418701172,
-33.219905853271484,
40.7603874206543,
39.41480255126953,
-0.5128205418586731,
20
] | [
-36.136871337890625,
-29.256662368774414,
42.00033950805664,
35.765926361083984,
-0.5128205418586731,
20
] | [
0.23040702939033508,
0.18368671834468842,
0.13345062732696533,
3.0609335899353027,
0.8870735168457031,
-2.4815542697906494
] | 1 | Pick up the spoon by its handle | move | 0.298098 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-36.07085418701172,
-30.752870559692383,
41.909812927246094,
37.69363021850586,
-0.5128205418586731,
20
] | [
-36.16489791870117,
-26.767335891723633,
42.536903381347656,
34.0088996887207,
-0.5128205418586731,
20
] | [
0.23166032135486603,
0.1848873496055603,
0.12152029573917389,
3.0662567615509033,
0.8535007834434509,
-2.4774839878082275
] | 1 | Pick up the spoon by its handle | move | 0.347068 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-36.07085418701172,
-28.11569595336914,
42.79398727416992,
36.05852127075195,
-0.5128205418586731,
20
] | [
-36.193180084228516,
-24.25534439086914,
43.460262298583984,
32.23587417602539,
-0.5128205418586731,
20
] | [
0.23269936442375183,
0.18588273227214813,
0.10971876978874207,
3.0711851119995117,
0.8199149966239929,
-2.4738245010375977
] | 1 | Pick up the spoon by its handle | move | 0.39633 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-36.07085418701172,
-25.73373031616211,
43.589744567871094,
34.16523361206055,
-0.5128205418586731,
20
] | [
-36.221458435058594,
-21.743640899658203,
44.7619743347168,
30.463048934936523,
-0.5128205418586731,
20
] | [
0.23387198150157928,
0.18700607120990753,
0.09978891909122467,
3.0743460655212402,
0.7970089912414551,
-2.4715383052825928
] | 1 | Pick up the spoon by its handle | move | 0.444274 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-36.07085418701172,
-23.181625366210938,
44.56233596801758,
32.358001708984375,
-0.5128205418586731,
20
] | [
-36.249481201171875,
-19.23708152770996,
45.298404693603516,
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-0.5128205418586731,
20
] | [
0.23418323695659637,
0.1873042732477188,
0.08812779933214188,
3.0783374309539795,
0.7664604187011719,
-2.4687259197235107
] | 1 | Pick up the spoon by its handle | move | 0.494268 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
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] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-36.07085418701172,
-20.544448852539062,
45.5349235534668,
30.63683319091797,
-0.5128205418586731,
20
] | [
-36.27698516845703,
-16.747039794921875,
46.19638442993164,
26.981983184814453,
-0.5128205418586731,
20
] | [
0.2338588833808899,
0.18699359893798828,
0.07590776681900024,
3.082465648651123,
0.7328483462333679,
-2.4659125804901123
] | 1 | Pick up the spoon by its handle | move | 0.544583 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-36.07085418701172,
-17.99234390258789,
46.24226379394531,
29.001720428466797,
-0.5128205418586731,
20
] | [
-36.30377960205078,
-14.321521759033203,
47.44955825805664,
25.3023681640625,
-0.5128205418586731,
20
] | [
0.23352061212062836,
0.18666957318782806,
0.0649595633149147,
3.085834503173828,
0.7038132548332214,
-2.4636950492858887
] | 1 | Pick up the spoon by its handle | move | 0.592123 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-36.07085418701172,
-15.525308609008789,
47.2148551940918,
27.19449234008789,
-0.5128205418586731,
20
] | [
-36.32949447631836,
-11.993492126464844,
47.91065216064453,
23.690258026123047,
-0.5128205418586731,
20
] | [
0.2325528860092163,
0.1857425719499588,
0.053653888404369354,
3.089041233062744,
0.6747728586196899,
-2.461655378341675
] | 1 | Pick up the spoon by its handle | move | 0.641053 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-36.07085418701172,
-12.88813304901123,
48.0106086730957,
25.55937957763672,
-0.5128205418586731,
20
] | [
-36.35383605957031,
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48.705440521240234,
22.164104461669922,
-0.5128205418586731,
20
] | [
0.23111827671527863,
0.1843683123588562,
0.04206608235836029,
3.092416524887085,
0.6426700353622437,
-2.4595890045166016
] | 1 | Pick up the spoon by its handle | move | 0.68997 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-36.07085418701172,
-10.676307678222656,
48.71794891357422,
23.83820915222168,
-0.5128205418586731,
20
] | [
-36.365901947021484,
-8.697131156921387,
49.09941482543945,
21.407604217529297,
-0.5128205418586731,
20
] | [
0.2300816774368286,
0.1833753138780594,
0.032810308039188385,
3.0945777893066406,
0.621265172958374,
-2.4583120346069336
] | 1 | Pick up the spoon by its handle | move | 0.73404 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-36.07085418701172,
-8.634623527526855,
49.248451232910156,
22.633390426635742,
-0.5128205418586731,
20
] | [
-36.37827682495117,
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49.503326416015625,
20.632009506225586,
-0.5128205418586731,
20
] | [
0.2285027951002121,
0.18186283111572266,
0.024166429415345192,
3.096967935562134,
0.596799910068512,
-2.456944465637207
] | 1 | Pick up the spoon by its handle | move | 0.771086 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-36.07085418701172,
-7.783921718597412,
49.60212326049805,
21.68674659729004,
-0.5128205418586731,
20
] | [
-36.39095687866211,
-6.429086685180664,
49.91732406616211,
19.837059020996094,
-0.5128205418586731,
20
] | [
0.2282104641199112,
0.18158279359340668,
0.02078257128596306,
3.097407341003418,
0.5922123193740845,
-2.456698417663574
] | 1 | Pick up the spoon by its handle | move | 0.790655 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-36.07085418701172,
-6.763079643249512,
49.95579147338867,
20.998279571533203,
-0.5128205418586731,
20
] | [
-36.403953552246094,
-5.252167224884033,
50.34172058105469,
19.022132873535156,
-0.5128205418586731,
20
] | [
0.22719614207744598,
0.18061113357543945,
0.01632467843592167,
3.0985655784606934,
0.5799785256385803,
-2.4560577869415283
] | 1 | Pick up the spoon by its handle | move | 0.81021 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-36.07085418701172,
-5.487026691436768,
50.3094596862793,
20.137693405151367,
-0.5128205418586731,
20
] | [
-36.417301177978516,
-4.043692111968994,
50.777496337890625,
18.18535614013672,
-0.5128205418586731,
20
] | [
0.22607222199440002,
0.17953447997570038,
0.011082666926085949,
3.099846601486206,
0.5662147402763367,
-2.4553630352020264
] | 1 | Pick up the spoon by its handle | move | 0.834321 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-36.07085418701172,
-4.29604434967041,
50.8399658203125,
19.277109146118164,
-0.5128205418586731,
20
] | [
-36.431087493896484,
-2.7956197261810303,
51.22755432128906,
17.321163177490234,
-0.5128205418586731,
20
] | [
0.22449126839637756,
0.17802001535892487,
0.005651948507875204,
3.1012439727783203,
0.5509207248687744,
-2.454622507095337
] | 1 | Pick up the spoon by its handle | move | 0.857997 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-36.07085418701172,
-3.1050617694854736,
51.193634033203125,
18.502582550048828,
-0.5128205418586731,
20
] | [
-36.44548034667969,
-1.4925737380981445,
51.69743347167969,
16.418903350830078,
-0.5128205418586731,
20
] | [
0.2231491357088089,
0.1767343133687973,
0.0007207577000372112,
3.1024794578552246,
0.5371554493904114,
-2.4539830684661865
] | 1 | Pick up the spoon by its handle | move | 0.880341 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-36.07085418701172,
-2.084219455718994,
51.72413635253906,
17.555938720703125,
-0.5128205418586731,
20
] | [
-36.460391998291016,
-0.14239948987960815,
52.18430709838867,
15.48401165008545,
-0.5128205418586731,
20
] | [
0.22180098295211792,
0.17544284462928772,
-0.003806107910349965,
3.103426218032837,
0.526448667049408,
-2.453502893447876
] | 1 | Pick up the spoon by its handle | move | 0.902334 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-36.07085418701172,
-0.5529561638832092,
52.16622543334961,
16.609294891357422,
-0.5128205418586731,
20
] | [
-36.47606658935547,
1.2768062353134155,
52.69607162475586,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21979860961437225,
0.1735246777534485,
-0.010053795762360096,
3.105022668838501,
0.5080931782722473,
-2.4527134895324707
] | 1 | Pick up the spoon by its handle | move | 0.930508 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-36.1513671875,
0.8932369351387024,
52.519893646240234,
15.662651062011719,
-0.5128205418586731,
20
] | [
-36.47606658935547,
1.2768062353134155,
52.69607162475586,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21780644357204437,
0.17214377224445343,
-0.01563306152820587,
3.106328010559082,
0.4927962124347687,
-2.4505531787872314
] | 1 | Pick up the spoon by its handle | move | 0.957285 | [
-36.47606658935547,
3.3762552738189697,
52.95655822753906,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.21318961679935455,
0.16979540884494781,
-0.02513808384537697,
3.1089553833007812,
0.4612334668636322,
-2.44316029548645
] | 20 | pick spoon and place between bread and cereal | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-36.1513671875,
1.4036580324172974,
52.7851448059082,
15.490533828735352,
-0.5128205418586731,
20
] | [
-36.47606658935547,
1.2768062353134155,
52.69607162475586,
14.501320838928223,
-0.5128205418586731,
20
] | [
0.2164517045021057,
0.1708419919013977,
-0.018183821812272072,
3.107228994369507,
0.4820879399776459,
-2.4501309394836426
] | 1 | Pick up the spoon by its handle | move | 0.965807 | [
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End of preview. Expand in Data Studio
SO101 CAP Place Spoon Between Bread and Cereal
This dataset contains 100 LeRobot v3.0 demonstration episodes for an SO101 follower robot. The task is: Pick up the spoon and place it between bread and cereal on the table. The dataset was collected at 10 Hz and includes paired top-view and wrist-view RGB videos, robot state/action trajectories, and CAP skill annotations.
Dataset Details
| Field | Value |
|---|---|
| Repository | CoRL2026-CSI/SO101-cap_place_spoon_between_bread_and_cereal_100epi |
| LeRobot codebase version | v3.0 |
| Robot type | so101_follower |
| FPS | 10 |
| Episodes | 100 |
| Frames | 33870 |
| Tasks | 1 |
| Split | 0:100 train |
| Objects | spoon, bread, and cereal box |
| Parquet files | 2 |
| Video files | 4 |
Task And Annotations
Task: Pick up the spoon and place it between bread and cereal on the table.
Task indices: 0
Observed subtask annotations:
- pick spoon and place between bread and cereal
Representative skill types:
- move_initial
- move_and_open
- move
- gripper_close
- gripper_open
- move_free
Representative skill-language annotations:
- Move to initial position
- Approach spoon handle and open gripper
- Pick up the spoon by its handle
- grasp spoon
- Lift the spoon
- Move spoon above the space between cereal and bread
- Place spoon on the table between cereal and bread
- release object on between cereal and bread
- Retract from the placement area
- Close gripper after release
- Return to initial state
- Move to safe parking position
Observation And Action Space
| Feature | Shape | Names / Notes |
|---|---|---|
observation.state |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
action |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.images.top |
480x640x3 |
RGB video, 10 fps |
observation.images.left_wrist |
480x640x3 |
RGB video, 10 fps |
Raw camera keys are observation.images.top and observation.images.left_wrist. The local SmolVLA training scripts map them to observation.images.camera2 and observation.images.camera1, respectively.
Files
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-*/file-*.parquet
data/chunk-*/file-*.parquet
videos/{observation.images.top,observation.images.left_wrist}/chunk-*/file-*.mp4
The dataset uses the LeRobot v3.0 format. Episode metadata and frame-level trajectories are stored in parquet files; image observations are stored as H.264 MP4 videos referenced by the frame records.
Annotation Columns
| Column | Shape |
|---|---|
skill.natural_language |
1 |
skill.verification_question |
1 |
skill.type |
1 |
skill.progress |
1 |
skill.goal_position.joint |
6 |
skill.goal_position.robot_xyzrpy |
6 |
skill.goal_position.gripper |
1 |
subtask.natural_language |
1 |
subtask.object_name |
1 |
subtask.target_position |
3 |
Loading
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CoRL2026-CSI/SO101-cap_place_spoon_between_bread_and_cereal_100epi")
sample = dataset[0]
Intended Uses
This dataset is intended for robot imitation learning, action-chunking policy training, skill-conditioned behavior analysis, and reproducible LeRobot/SmolVLA experiments on the specified tabletop task.
Limitations
The dataset is task-specific and collected in a fixed workspace. It does not include an official validation or test split, nor does it include benchmark success-rate results. Downstream users should verify camera calibration, action normalization, and task-language assumptions before transferring policies to a different robot, workspace, or object set.
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