ThinkingVLA
Collection
Datasets for ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation. • 30 items • Updated
observation.images.image image | observation.images.wrist_image image | observation.images.image_future image | observation.images.wrist_image_future image | observation.state list | action list | timestamp float32 | future_timestamp float32 | gen_cot string | action_cot string | frame_index int64 | future_frame_index int64 | episode_index int64 | index int64 | task_index int64 | task string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
0,
0,
0,
0,
0,
0,
0,
0.07655354589223862
] | [
-0.43309545516967773,
0.5886921286582947,
-0.004633448086678982,
0,
0,
0,
1
] | 0 | 0.5 | The robot arm is poised above the blue gear, which lies near the right peg. It will grasp the blue gear, lift it, and align it over the peg before releasing it. The gripper will then move to pick up the red gear, positioning it above the same peg to stack it atop the blue gear, completing the sequence. | The blue gear remains unattached to the right peg, and no progress is visible toward inserting it or the red gear. Since the current and future frames are identical, no action has occurred. subtask: finish | 0 | 10 | 0 | 0 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0,
0,
0,
0,
0,
0,
0,
0.07655354589223862
] | [
-0.451682984828949,
0.5856937170028687,
0.02445187419652939,
0,
0,
0,
1
] | 0.05 | 0.55 | The robot arm is poised above the blue gear, which lies near the red gear on the white surface. It will grasp the blue gear and lift it, then precisely lower it onto the right peg. The gripper will release, leaving the blue gear seated. The arm will then reposition to pick up the red gear for the next insertion. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the scene is static with both gears resting separately on the board. subtask: approach blue gear | 1 | 11 | 0 | 1 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.09791059046983719,
-0.19587178528308868,
-0.0146869495511055,
-2.468975067138672,
-0.005276934709399939,
2.29736328125,
0.8445366621017456,
0.07655354589223862
] | [
-0.5062839984893799,
0.6164748072624207,
0.022565215826034546,
0,
0,
0,
1
] | 0.1 | 0.6 | The robot arm is positioned above the blue gear, which lies near the red gear on the white surface. The gripper will descend, grasp the blue gear, lift it, and move rightward to align with the taller peg. Upon insertion, the blue gear will sit atop the peg, and the arm will reposition to pick up the red gear for subseq... | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: approach | 2 | 12 | 0 | 2 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.1019204780459404,
-0.19673790037631989,
-0.013102687895298004,
-2.4696149826049805,
-0.0012500687735155225,
2.291795253753662,
0.8470430374145508,
0.07655354589223862
] | [
-0.45129790902137756,
0.649955153465271,
-0.008159514516592026,
0,
0,
0,
1
] | 0.15 | 0.65 | The robot arm is positioned above the blue gear, which lies near the red gear and two empty pegs. It will grasp the blue gear, lift it, and place it onto the right peg. The gripper will then open, releasing the gear, and reposition to pick up the red gear for the next insertion step. | The blue gear remains unattached to the right peg, and no progress toward gear insertion is visible between frames; the scene is static. Since no physical change occurred, no action was executed. subtask: finish | 3 | 13 | 0 | 3 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.10848800837993622,
-0.19851870834827423,
-0.009855667129158974,
-2.4705052375793457,
-0.0006577202584594488,
2.285358190536499,
0.8546723127365112,
0.07655354589223862
] | [
-0.43398317694664,
0.6445590853691101,
0.02924964390695095,
0,
0,
0,
1
] | 0.2 | 0.7 | The robot arm is positioned above the blue gear, which lies near the red gear on the white surface. To complete the task, the arm must first grasp the blue gear and lower it onto the right peg, then pick up the red gear and place it atop the blue one. The future state will show both gears stacked on the right peg, with... | The blue gear remains unattached to the right peg, and no movement toward insertion is evident; the red gear is still separate. Since no progress is made toward gear placement, the next step is to approach the blue gear for insertion. subtask: approach | 4 | 14 | 0 | 4 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.11638080328702927,
-0.2007739543914795,
-0.005999667104333639,
-2.471266508102417,
-0.0006566139636561275,
2.2773053646087646,
0.8656224012374878,
0.07655354589223862
] | [
-0.4555576741695404,
0.6605144143104553,
0.023381132632493973,
0,
0,
0,
1
] | 0.25 | 0.75 | The robot arm is positioned above the blue gear, which lies near the red gear on the white surface. To complete the task, the arm will grasp the blue gear and move it vertically downward onto the right peg, securing it in place. The red gear remains untouched for now, awaiting its turn to be placed atop the blue gear. | The blue gear remains unattached to the right peg, and no motion toward assembly is evident; since the future frame shows no progress, the system may be idle or awaiting input. subtask: finish | 5 | 15 | 0 | 5 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.1244443729519844,
-0.2026950567960739,
-0.0019885541405528784,
-2.4720890522003174,
-0.0006552914856001735,
2.2724406719207764,
0.8761614561080933,
0.07655354589223862
] | [
-0.46286243200302124,
0.6417249441146851,
-0.006342253647744656,
0,
0,
0,
1
] | 0.3 | 0.8 | The robot arm is poised above the blue gear, which lies near the red gear and the pegboard. It will grasp the blue gear, lift it, and align it over the right peg, then release it to seat securely. The red gear remains untouched for now, awaiting the next step after the blue gear is in place. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: approach | 6 | 16 | 0 | 6 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.13189873099327087,
-0.20443342626094818,
0.002559642307460308,
-2.4730491638183594,
-0.0006541082984767854,
2.268556833267212,
0.8869480490684509,
0.07655354589223862
] | [
-0.4433617889881134,
0.6475932002067566,
0.011813784949481487,
0,
0,
0,
1
] | 0.35 | 0.85 | The robot arm is positioned above the blue gear, preparing to grasp it; once secured, it will move rightward and lower the gear onto the right peg. After placement, the arm will reposition to pick up the red gear and stack it atop the blue one, completing the sequence with both gears aligned vertically on the peg. | The blue gear remains unattached to the right peg, and no motion toward assembly is evident; the red gear is still separate. Since no progress is visible between frames, the required next step is to initiate contact. subtask: approach | 7 | 17 | 0 | 7 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.13950486481189728,
-0.2056984305381775,
0.007458394858986139,
-2.4738829135894775,
-0.0006565594812855124,
2.265354871749878,
0.8975143432617188,
0.07655354589223862
] | [
-0.43375933170318604,
0.6651673316955566,
0.0021146927028894424,
0,
0,
0,
1
] | 0.4 | 0.9 | The robot arm is positioned above the blue gear, preparing to grasp it; once lifted, it will move rightward and lower the gear onto the right peg, causing the blue gear to rest securely there while the red gear remains untouched nearby, awaiting its turn for placement. | The blue gear remains unmounted on the right peg while the red gear is still loose; no progress has been made toward gear insertion. The immediate action required is to grasp the blue gear positioned near the center and move it toward the right peg. subtask: grasp | 8 | 18 | 0 | 8 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.14625777304172516,
-0.2071053683757782,
0.012446990236639977,
-2.474689483642578,
-0.0006508966325782239,
2.2616665363311768,
0.9087520837783813,
0.07662380486726761
] | [
-0.43249115347862244,
0.6584822535514832,
0.023043649271130562,
0,
0,
0,
1
] | 0.45 | 0.95 | The robot arm is positioned above the blue gear, preparing to grasp it. It will lift the blue gear and move it toward the right peg, then lower and release it onto the peg. Afterward, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear remains unattached to the right peg, and no movement toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: approach | 9 | 19 | 0 | 9 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.153678759932518,
-0.20846602320671082,
0.017999494448304176,
-2.475276470184326,
-0.0006490185623988509,
2.258028030395508,
0.920543372631073,
0.07662380486726761
] | [
-0.3554503917694092,
0.6616292595863342,
-0.004835810046643019,
0,
0,
0,
1
] | 0.5 | 1 | The robot arm is positioned above the blue gear, preparing to grasp it; once secured, it will lift and move the gear toward the right peg, aligning it for insertion while the red gear remains untouched nearby, awaiting its turn after the blue gear is seated. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the scene is static. Since no progress is made toward the goal and no action is implied between frames, the task cannot advance. subtask: finish | 10 | 20 | 0 | 10 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.16090141236782074,
-0.20954415202140808,
0.023711109533905983,
-2.4760499000549316,
-0.0006483489996753633,
2.2557637691497803,
0.931825578212738,
0.07662380486726761
] | [
-0.3467037081718445,
0.6228092908859253,
-0.032955337315797806,
0,
0,
0,
1
] | 0.55 | 1.05 | The robot arm is positioned above the blue gear, which lies beside the red gear near the pegboard. It will grasp the blue gear, lift it, and align it over the right peg, then release it to settle into place. The red gear remains untouched for now, awaiting the next step after the blue gear is secured. | The blue gear remains unattached to the right peg, and no progress toward insertion is visible between frames; the scene is static. Since no physical change occurred, no manipulation action was executed. subtask: finish | 11 | 21 | 0 | 11 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.1679697185754776,
-0.21007943153381348,
0.028980564326047897,
-2.47672700881958,
-0.0006436145049519837,
2.255150556564331,
0.9440807700157166,
0.07662380486726761
] | [
-0.2835361957550049,
0.628890335559845,
-0.02174786850810051,
0,
0,
0,
1
] | 0.6 | 1.1 | The robot arm will move toward the blue gear, grasp it, and position it over the right peg; upon successful insertion, the gripper will release the blue gear, leaving it seated on the peg while preparing to pick up the red gear for the next step. | The blue gear remains unattached to the right peg, and no progress toward gear insertion is visible between frames. Since the goal requires inserting the blue gear first and no action has occurred, the system must initiate movement toward the blue gear. subtask: approach | 12 | 22 | 0 | 12 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.1751195192337036,
-0.21016715466976166,
0.03474247828125954,
-2.477149724960327,
-0.0006479123840108514,
2.255134344100952,
0.9559798240661621,
0.0765555128455162
] | [
-0.2626630365848541,
0.6239832639694214,
-0.015453577041625977,
0,
0,
0,
1
] | 0.65 | 1.15 | The robot arm will move toward the blue gear, grasp it, and lift it above the right peg before lowering it into place. Once seated, the arm will reposition to pick up the red gear, align it over the same peg, and press it down atop the blue gear, completing the stack while the gripper remains open afterward. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be grasped and aligned with the right peg. subtask: grasp blue gear | 13 | 23 | 0 | 13 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.18135730922222137,
-0.21013934910297394,
0.04079294577240944,
-2.47731876373291,
-0.000632591312751174,
2.255129098892212,
0.9666149616241455,
0.0765555128455162
] | [
-0.2455493062734604,
0.6149482131004333,
-0.10063634812831879,
0,
0,
0,
1
] | 0.7 | 1.2 | The robot arm is positioned above the blue gear, preparing to lift it. It will move the blue gear toward the right peg and place it on top. After securing the blue gear, the arm will reposition to pick up the red gear and place it atop the blue gear, completing the stacking sequence on the right peg. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the scene is static with both gears resting beside the pegboard. No progress has been made toward the goal. subtask: finish | 14 | 24 | 0 | 14 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.18603862822055817,
-0.21014875173568726,
0.04599982872605324,
-2.4774582386016846,
-0.0005849708686582744,
2.255129098892212,
0.9740604162216187,
0.0765555128455162
] | [
-0.14083516597747803,
0.6067787408828735,
-0.16602712869644165,
0,
0,
0,
1
] | 0.75 | 1.25 | The robot arm is positioned above the blue gear, preparing to grasp it. It will then move rightward and lower the gear onto the right peg. After securing the blue gear, the arm will reposition to pick up the red gear and place it atop the blue one, completing the stacking sequence as intended. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. Since no progress has occurred, the next step is to approach the blue gear for pickup. subtask: approach | 15 | 25 | 0 | 15 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.1920144110918045,
-0.2099907249212265,
0.05153920501470566,
-2.477663516998291,
-0.0005638591828756034,
2.255131721496582,
0.9843929409980774,
0.0765555128455162
] | [
-0.1204788088798523,
0.6062617897987366,
-0.15687903761863708,
0,
0,
0,
1
] | 0.8 | 1.3 | The robot arm is positioned above the blue gear, which lies near the red gear and the pegboard. It will grasp the blue gear, lift it, and align it over the right peg, then release it to settle onto the peg. The red gear remains untouched for now, awaiting the next step after the blue gear is secured. | The blue gear remains unattached to the right peg, and no gear is yet inserted; the scene is unchanged, indicating no progress toward the goal. Since no action has been executed and the task requires initiating placement, the next step is to approach the blue gear. subtask: approach | 16 | 26 | 0 | 16 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.19809411466121674,
-0.2092527598142624,
0.05693468824028969,
-2.4780642986297607,
-0.00047764412011019886,
2.2551488876342773,
0.9945024251937866,
0.07662118226289749
] | [
-0.0859551727771759,
0.5807207822799683,
-0.22338096797466278,
0,
0,
0,
1
] | 0.85 | 1.35 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move toward the right peg and lower the gear into place. After insertion, the arm will reposition to retrieve the red gear and stack it atop the blue one, completing the sequence with both gears aligned vertically on the rig... | The blue gear remains unattached to the right peg, and no progress toward gear insertion is visible between frames; since the goal requires inserting the blue gear first and no motion is detected, the system may be idle or awaiting input. subtask: approach | 17 | 27 | 0 | 17 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.20403727889060974,
-0.20790651440620422,
0.061927054077386856,
-2.478276252746582,
-0.0004624499997589737,
2.2553000450134277,
1.0040150880813599,
0.07662118226289749
] | [
-0.06733251363039017,
0.5318915843963623,
-0.2876299023628235,
0,
0,
0,
1
] | 0.9 | 1.4 | The robot arm is positioned above the blue gear, preparing to grasp it. It will then move the blue gear toward the right peg and insert it. Afterward, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the sequence. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: move_to | 18 | 28 | 0 | 18 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2093673050403595,
-0.20514465868473053,
0.06720078736543655,
-2.478308916091919,
-0.000414366542827338,
2.2559385299682617,
1.0129252672195435,
0.07662118226289749
] | [
-0.023510877043008804,
0.4861968755722046,
-0.337749719619751,
0,
0,
0,
1
] | 0.95 | 1.45 | The robot arm is positioned above the blue gear, which lies beside the red gear near the pegboard. It will grasp the blue gear, lift it, and align it over the right peg, then release it to settle into place. The red gear remains untouched for now, awaiting the next step after the blue gear is secured. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: approach | 19 | 29 | 0 | 19 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.21461628377437592,
-0.20136864483356476,
0.07175295054912567,
-2.478283166885376,
-0.00040683223051019013,
2.2578887939453125,
1.0223289728164673,
0.07662118226289749
] | [
-0.03646255284547806,
0.47949379682540894,
-0.3298669457435608,
0,
0,
0,
1
] | 1 | 1.5 | The robot arm is positioned above the blue gear, which lies near the red gear and the pegboard. It will grasp the blue gear, lift it, and align it over the right peg, then release it to settle into place. The red gear remains untouched for now, awaiting the next step. | The blue gear remains unattached to the right peg, and no movement toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: approach | 20 | 30 | 0 | 20 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2202225923538208,
-0.19550760090351105,
0.07540006935596466,
-2.4782822132110596,
-0.0004009302647318691,
2.2614336013793945,
1.0304608345031738,
0.07662118226289749
] | [
-0.05532561615109444,
0.47495439648628235,
-0.3378722071647644,
0,
0,
0,
1
] | 1.05 | 1.55 | The robot arm will grasp the blue gear, lift it, and align it over the right peg, then lower it to seat securely. Immediately after, it will reposition to pick up the red gear, lift and place it atop the blue gear on the same peg, completing the stacking sequence with both gears secured vertically. | The blue gear remains unmounted on the right peg while the red gear is still loose; no progress toward gear insertion is visible. Since the goal requires placing the blue gear first and no motion has occurred, the system must initiate movement toward the blue gear. subtask: approach | 21 | 31 | 0 | 21 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.22474920749664307,
-0.18863585591316223,
0.0790058970451355,
-2.4782826900482178,
-0.000405587546993047,
2.267167329788208,
1.0381149053573608,
0.07662118226289749
] | [
-0.0471213161945343,
0.4498453438282013,
-0.3492865562438965,
0,
0,
0,
1
] | 1.1 | 1.6 | The robot arm is positioned above the blue gear, preparing to grasp it. It will then move the blue gear toward the right peg and insert it. Afterward, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the sequence. | The blue gear remains unattached to the right peg, and no progress toward gear insertion is visible between frames; the scene is static. Since no physical change occurred, no action was executed. subtask: finish | 22 | 32 | 0 | 22 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.22904562950134277,
-0.18070390820503235,
0.08222083002328873,
-2.478304624557495,
-0.0004010098928119987,
2.2742061614990234,
1.0442719459533691,
0.07662118226289749
] | [
-0.06217747554183006,
0.4244762659072876,
-0.3765438199043274,
0,
0,
0,
1
] | 1.15 | 1.65 | The robot arm is positioned above the blue gear, which lies near the red gear and the two empty pegs. It will grasp the blue gear and move it to the right peg, securing it in place. Then, it will reposition to pick up the red gear and place it atop the blue gear, completing the stacking sequence. | The blue gear remains unattached to the right peg, and no movement toward insertion is evident; the red gear is still separate. To progress, the blue gear must be positioned onto the right peg first. subtask: approach blue gear | 23 | 33 | 0 | 23 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.23208534717559814,
-0.17440266907215118,
0.08438479900360107,
-2.4782509803771973,
-0.00039622222539037466,
2.279188394546509,
1.0483365058898926,
0.07662118226289749
] | [
-0.050135619938373566,
0.43745455145835876,
-0.36492612957954407,
0,
0,
0,
1
] | 1.2 | 1.7 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move rightward and lower the gear onto the right peg. After securing the blue gear, the arm will reposition to pick up the red gear and place it atop the blue one, completing the sequence with both gears stacked vertically o... | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: approach | 24 | 34 | 0 | 24 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.23497748374938965,
-0.16545000672340393,
0.08764488250017166,
-2.4782514572143555,
-0.0003914225089829415,
2.2852938175201416,
1.053869605064392,
0.07655616849660873
] | [
-0.09689517319202423,
0.46263688802719116,
-0.37774592638015747,
0,
0,
0,
1
] | 1.25 | 1.75 | The robot arm is positioned above the blue gear, preparing to grasp it; once lifted, it will move toward the right peg and lower the gear onto it, securing it in place before repositioning to pick up the red gear for subsequent insertion, altering the spatial arrangement of components on the board. | The blue gear remains unattached to the right peg, and no movement has occurred toward inserting it; the red gear is still separate. To progress, the blue gear must be picked up and aligned with the right peg. subtask: grasp blue gear | 25 | 35 | 0 | 25 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.23709061741828918,
-0.15730059146881104,
0.09121578931808472,
-2.4781954288482666,
-0.0003905960766132921,
2.291971445083618,
1.0602610111236572,
0.07661724090576172
] | [
-0.09113892912864685,
0.4105186462402344,
-0.38807329535484314,
0,
0,
0,
1
] | 1.3 | 1.8 | The robot arm is poised above the blue gear, which lies near the red gear on the white surface. It will grasp the blue gear, lift it, and align it with the right peg, then lower it into place. The gripper will open, releasing the blue gear onto the peg, leaving the red gear untouched for the next step. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: move_to | 26 | 36 | 0 | 26 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.23981547355651855,
-0.14863929152488708,
0.09449321776628494,
-2.4782161712646484,
-0.0003823531442321837,
2.299251079559326,
1.0656993389129639,
0.07661724090576172
] | [
-0.06488524377346039,
0.4270431697368622,
-0.4058026671409607,
0,
0,
0,
1
] | 1.35 | 1.85 | The robot arm is positioned above the blue gear, which lies near the red gear on the white surface. To proceed, the gripper will descend, grasp the blue gear, and lift it toward the right peg. Upon insertion, the blue gear will sit atop the peg, and the arm will reposition to pick up the red gear for subsequent placeme... | The blue gear remains unmounted on the right peg while the red gear is still loose; no progress toward insertion is visible. Since the goal requires sequential gear placement and no gear is yet mounted, the immediate action is to approach the blue gear. subtask: approach | 27 | 37 | 0 | 27 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2434816062450409,
-0.13977324962615967,
0.09673235565423965,
-2.478266716003418,
-0.00037991549470461905,
2.3068783283233643,
1.0719115734100342,
0.07661724090576172
] | [
-0.02017735317349434,
0.3891812562942505,
-0.39766693115234375,
0,
0,
0,
1
] | 1.4 | 1.9 | The robot arm will grasp the blue gear, lift it, and align it over the right peg, then lower it into place. The gripper will open to release the blue gear, which will now sit securely on the peg. The red gear remains untouched nearby, awaiting the next insertion step. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be moved toward the right peg. subtask: approach | 28 | 38 | 0 | 28 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.24728453159332275,
-0.13033612072467804,
0.09873148053884506,
-2.478240489959717,
-0.0003801778075285256,
2.3157105445861816,
1.0784889459609985,
0.07655616849660873
] | [
-0.02315244823694229,
0.39184117317199707,
-0.4741895794868469,
0,
0,
0,
1
] | 1.45 | 1.95 | The robot arm is poised above the blue gear, which lies beside the red gear near the dual-peg base. It will grasp the blue gear, lift it, and align it over the right peg, then release it to settle into place. The gripper will then reposition to pick up the red gear for subsequent placement atop the blue one. | The blue gear remains unattached to the right peg while the red gear is still separate; no insertion has occurred yet. To progress, the blue gear must be picked up and aligned with the right peg. subtask: grasp blue gear | 29 | 39 | 0 | 29 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.25092440843582153,
-0.12164414674043655,
0.10049476474523544,
-2.4782183170318604,
-0.0003801602579187602,
2.322136163711548,
1.083328366279602,
0.07655616849660873
] | [
-0.04624214768409729,
0.34590744972229004,
-0.4338270425796509,
0,
0,
0,
1
] | 1.5 | 2 | The robot arm is positioned above the blue gear, preparing to grasp it; once secured, it will lift and move the blue gear toward the right peg, aligning and inserting it. After successful placement, the arm will retract slightly, reposition over the red gear, and repeat the motion to stack it atop the blue gear on the ... | The blue gear remains unmounted on the right peg while the red gear is still separate; no progress has been made toward the goal. The robot arm must first approach the blue gear to initiate assembly. subtask: approach | 30 | 40 | 0 | 30 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.25437140464782715,
-0.11200430989265442,
0.10220730304718018,
-2.47822904586792,
-0.000381440797355026,
2.3306596279144287,
1.0882095098495483,
0.07655616849660873
] | [
-0.058836206793785095,
0.29738643765449524,
-0.492340624332428,
0,
0,
0,
1
] | 1.55 | 2.05 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once secured, the arm will reposition to grasp the red gear, lift it, and place it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear remains unmounted on the right peg while the red gear sits nearby; no progress toward insertion is visible. The robotic arm must first approach the blue gear to initiate placement. subtask: approach | 31 | 41 | 0 | 31 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.25785791873931885,
-0.10081920772790909,
0.10392792522907257,
-2.4782397747039795,
-0.00037976138992235065,
2.3414814472198486,
1.0945593118667603,
0.07655616849660873
] | [
-0.0827685222029686,
0.23770402371883392,
-0.5121173858642578,
0,
0,
0,
1
] | 1.6 | 2.1 | The robot arm is poised above the blue gear, which lies near the red gear and the dual-peg base. It will grasp the blue gear, lift and rotate it, then lower it precisely onto the right peg. The gripper will open, releasing the blue gear, which will now sit securely on the peg, ready for the red gear to be placed atop i... | The blue gear remains unattached on the table while the red gear is still separate; no gear is yet on the right peg. To progress, the blue gear must be picked up and placed onto the right peg first. subtask: grasp blue gear | 32 | 42 | 0 | 32 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2602798044681549,
-0.08913641422986984,
0.1060352548956871,
-2.4783408641815186,
-0.0003816890239249915,
2.353712797164917,
1.1011193990707397,
0.07658112049102783
] | [
-0.13584955036640167,
0.2123178243637085,
-0.5342556834220886,
0,
0,
0,
1
] | 1.65 | 2.15 | The robot arm is positioned above the blue gear, preparing to lift it. It will move the blue gear toward the right peg and insert it, then reposition to grasp the red gear. After picking up the red gear, it will place it atop the blue gear on the same peg, completing the stacking sequence as intended. | The blue gear remains unmounted on the right peg while the red gear lies nearby; no insertion has occurred yet. To progress, the blue gear must be grasped and aligned with the right peg. subtask: grasp blue gear | 33 | 43 | 0 | 33 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2627548575401306,
-0.07683628052473068,
0.10748541355133057,
-2.4782512187957764,
-0.0003769908507820219,
2.364017963409424,
1.1058706045150757,
0.07658112049102783
] | [
-0.07886882871389389,
0.12128977477550507,
-0.5148072242736816,
0,
0,
0,
1
] | 1.7 | 2.2 | The robot arm is poised above the blue gear, which lies near the red gear and the dual-peg base. It will grasp the blue gear, lift it, and align it with the right peg, then lower it into place. The gripper will open, releasing the blue gear onto the peg, leaving the red gear still on the table, ready for the next inser... | The blue gear remains unmounted on the right peg while the red gear sits nearby; no progress toward insertion is visible. To begin the task, the robot must first grasp the blue gear. subtask: grasp | 34 | 44 | 0 | 34 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2652491331100464,
-0.06479272246360779,
0.10804545879364014,
-2.4783663749694824,
-0.00038141582626849413,
2.3743584156036377,
1.1101953983306885,
0.07658112049102783
] | [
-0.0880018025636673,
0.05257970839738846,
-0.506538450717926,
0,
0,
0,
1
] | 1.75 | 2.25 | The robot arm is poised above the blue gear, which lies near the red gear on the white surface. It will grasp the blue gear, lift it, and precisely place it onto the right peg. The gripper will then open, releasing the gear, leaving the red gear untouched as the next target for insertion. | The blue gear remains unmounted on the right peg while the red gear is still loose; no progress has been made toward the goal. The robot must first approach the blue gear to initiate assembly. subtask: approach | 35 | 45 | 0 | 35 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2678688168525696,
-0.05248154699802399,
0.10807470977306366,
-2.4785754680633545,
-0.0003776660014409572,
2.384101629257202,
1.1144448518753052,
0.07658112049102783
] | [
-0.10332322120666504,
-0.021270381286740303,
-0.5021665692329407,
0,
0,
0,
1
] | 1.8 | 2.3 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move toward the right peg and insert the gear, causing the blue gear to shift from the table to the peg while the arm repositions slightly above the red gear, ready for the next insertion. | The blue gear remains unmounted on the right peg while the red gear is still separate; no progress is made toward gear insertion. The robotic arm must first grasp the blue gear near the center and move it to the right peg. subtask: move_to | 36 | 46 | 0 | 36 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2698746621608734,
-0.04117346927523613,
0.10812199115753174,
-2.478653907775879,
-0.0003815863747149706,
2.393536329269409,
1.1172407865524292,
0.07655682414770126
] | [
-0.09766685962677002,
-0.03685696795582771,
-0.5315861701965332,
0,
0,
0,
1
] | 1.85 | 2.35 | The robot arm is positioned above the blue gear, preparing to grasp it. It will lift the blue gear and move it toward the right peg, then lower and insert it. Afterward, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 37 | 47 | 0 | 37 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2707834243774414,
-0.03190802037715912,
0.10813893377780914,
-2.478830575942993,
-0.00038291976670734584,
2.399801731109619,
1.1190301179885864,
0.07655682414770126
] | [
-0.17147809267044067,
-0.06503067910671234,
-0.5037658214569092,
0,
0,
0,
1
] | 1.9 | 2.4 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once seated, the arm will reposition to grasp the red gear, lift it, and place it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 38 | 48 | 0 | 38 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2708827555179596,
-0.021624324843287468,
0.10812035948038101,
-2.478790760040283,
-0.00038263536407612264,
2.407219886779785,
1.1201331615447998,
0.07655682414770126
] | [
-0.17351575195789337,
-0.07355998456478119,
-0.5132230520248413,
0,
0,
0,
1
] | 1.95 | 2.45 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move rightward and lower the gear onto the right peg, causing the blue gear to sit securely atop the peg while the arm retracts slightly, ready to approach the red gear next. | The blue gear remains unmounted on the right peg while the red gear is still separate; no progress toward insertion is visible. The robot arm must first grasp the blue gear before placement. subtask: grasp | 39 | 49 | 0 | 39 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27067863941192627,
-0.01084966491907835,
0.10798297077417374,
-2.4791641235351562,
-0.0003893618704751134,
2.416080951690674,
1.1204066276550293,
0.07656930387020111
] | [
-0.19102837145328522,
-0.1995636522769928,
-0.5138360857963562,
0,
0,
0,
1
] | 2 | 2.5 | The robot arm is poised above the blue gear, which lies near the right peg; it will grasp and lift the blue gear, then lower it precisely onto the peg. Once seated, the arm will reposition to pick up the red gear nearby, preparing to stack it atop the blue gear, completing the sequence as intended. | The blue gear is now seated on the right peg, indicating successful placement after being lifted and aligned. The red gear remains on the table, awaiting its turn. The robotic arm has retracted slightly post-insertion.
subtask: place | 40 | 50 | 0 | 40 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2704663574695587,
-0.00019109397544525564,
0.10779346525669098,
-2.4794301986694336,
-0.0003882555174641311,
2.4245593547821045,
1.1206783056259155,
0.07656930387020111
] | [
-0.19349205493927002,
-0.2005852907896042,
-0.5215905904769897,
0,
0,
0,
1
] | 2.05 | 2.55 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once secured, the arm will reposition to pick up the red gear, aligning it above the same peg to stack it atop the blue gear, completing the sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the peg. subtask: grasp blue gear | 41 | 51 | 0 | 41 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.270246297121048,
0.010365564376115799,
0.1072998046875,
-2.480181932449341,
-0.000397782918298617,
2.433868169784546,
1.1207579374313354,
0.07656930387020111
] | [
-0.16028554737567902,
-0.20190998911857605,
-0.5147494077682495,
0,
0,
0,
1
] | 2.1 | 2.6 | The robot arm is poised above the blue gear, which lies near the pegs; it will grasp and lift the blue gear, then lower it onto the right peg. Once seated, the arm will reposition to pick up the red gear and place it atop the blue gear, completing the stacking sequence with both gears aligned vertically on the right pe... | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 42 | 52 | 0 | 42 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2699020206928253,
0.020249515771865845,
0.10629139840602875,
-2.4811418056488037,
-0.00040976094896905124,
2.4397003650665283,
1.1207749843597412,
0.07656930387020111
] | [
-0.18452580273151398,
-0.20121484994888306,
-0.5098139643669128,
0,
0,
0,
1
] | 2.15 | 2.65 | The robot arm is positioned above the blue gear, preparing to lift it; once grasped, it will move rightward and lower the gear onto the right peg. After placement, the arm will retract slightly, then shift left to pick up the red gear, preparing to stack it atop the blue gear on the same peg. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 43 | 53 | 0 | 43 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.269542932510376,
0.029190558940172195,
0.10479140281677246,
-2.481682062149048,
-0.00041050720028579235,
2.444946765899658,
1.120784878730774,
0.07656930387020111
] | [
-0.158782497048378,
-0.17902632057666779,
-0.4973669946193695,
0,
0,
0,
1
] | 2.2 | 2.7 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. After securing the blue gear, the arm will reposition to grasp the red gear and place it atop the blue gear, completing the stacking sequence. | The blue gear remains unmounted on the right peg while the red gear is still separate; to progress, the blue gear must be positioned onto the right peg first. subtask: place | 44 | 54 | 0 | 44 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26904839277267456,
0.03831944242119789,
0.10290955752134323,
-2.4829907417297363,
-0.0004156811337452382,
2.4524292945861816,
1.1207760572433472,
0.07655747979879379
] | [
-0.16396301984786987,
-0.18978916108608246,
-0.5097107291221619,
0,
0,
0,
1
] | 2.25 | 2.75 | The robot arm is poised above the blue gear, which lies near the right peg; it will grasp and lift the blue gear, then lower it precisely onto the peg. Once seated, the arm will reposition to pick up the red gear and place it atop the blue one, completing the stacking sequence with both gears aligned vertically on the ... | The blue gear remains unmounted while the red gear is still separate; no gear is yet on the right peg. To progress, the blue gear must be picked up and placed onto the right peg first. subtask: grasp blue gear | 45 | 55 | 0 | 45 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2685808837413788,
0.047244735062122345,
0.10096689313650131,
-2.484361171722412,
-0.00041530095040798187,
2.4605600833892822,
1.1207778453826904,
0.07655747979879379
] | [
-0.12171165645122528,
-0.2391892969608307,
-0.4889412224292755,
0,
0,
0,
1
] | 2.3 | 2.8 | The robot arm is poised above the blue gear, which lies near the right peg. It will grasp the blue gear, lift it, and align it over the peg, then lower it into place. The gripper will release, leaving the blue gear seated. The arm will then reposition to pick up the red gear for the next insertion. | The blue gear remains unattached near the right peg while the red gear sits nearby; no gear is yet mounted. To progress, the blue gear must be picked up and aligned with the right peg. subtask: grasp blue gear | 46 | 56 | 0 | 46 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26816368103027344,
0.05613164231181145,
0.09921295940876007,
-2.4866559505462646,
-0.00041841890197247267,
2.4717185497283936,
1.120779275894165,
0.07655747979879379
] | [
-0.12408830970525742,
-0.2280302196741104,
-0.48043566942214966,
0,
0,
0,
1
] | 2.35 | 2.85 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. After securing it, the arm will reposition to grasp the red gear, lifting and placing it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear is near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 47 | 57 | 0 | 47 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26789456605911255,
0.0644054189324379,
0.09746131300926208,
-2.488954782485962,
-0.0004229939659126103,
2.4809718132019043,
1.1207828521728516,
0.07655747979879379
] | [
-0.1265389770269394,
-0.2484823614358902,
-0.4608660340309143,
0,
0,
0,
1
] | 2.4 | 2.9 | The robot arm is positioned above the blue gear, preparing to grasp it; once secured, it will lift and move the blue gear toward the right peg, aligning and inserting it before releasing. The red gear remains untouched nearby, awaiting its turn after the blue gear is seated on the peg. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 48 | 58 | 0 | 48 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26749086380004883,
0.07351578772068024,
0.09538207948207855,
-2.4914448261260986,
-0.0004346917266957462,
2.4920430183410645,
1.120782732963562,
0.07657718658447266
] | [
-0.10481889545917511,
-0.229582279920578,
-0.4389459192752838,
0,
0,
0,
1
] | 2.45 | 2.95 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the gear onto the right peg. After securing the blue gear, the arm will reposition to grasp the red gear and place it atop the blue one, completing the stacking sequence as intended. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 49 | 59 | 0 | 49 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2672785818576813,
0.07985220104455948,
0.09351591020822525,
-2.493527412414551,
-0.0004405257059261203,
2.500711679458618,
1.120776653289795,
0.07657718658447266
] | [
-0.14754822850227356,
-0.10090016573667526,
-0.4217459559440613,
0,
0,
0,
1
] | 2.5 | 3 | The robot arm is poised above the blue gear, which lies near the right peg; it will grasp and lift the gear, then lower it precisely onto the peg. Once seated, the arm will reposition to pick up the red gear and place it atop the blue one, completing the stacking sequence with both gears aligned vertically on the right... | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 50 | 60 | 0 | 50 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2667592763900757,
0.08813134580850601,
0.09085999429225922,
-2.496643304824829,
-0.00045337044866755605,
2.513484239578247,
1.1207772493362427,
0.07657718658447266
] | [
-0.13802550733089447,
-0.18485507369041443,
-0.4093518555164337,
0,
0,
0,
1
] | 2.55 | 3.05 | The robot arm is poised above the blue gear, which lies beside the red gear near the dual-peg base. It will grasp the blue gear, lift and align it over the right peg, then lower it into place. Immediately after, it will reposition to pick up the red gear and stack it atop the blue one, completing the sequence with both... | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 51 | 61 | 0 | 51 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26648077368736267,
0.09560389816761017,
0.08830728381872177,
-2.5000147819519043,
-0.00045970265637151897,
2.523667812347412,
1.120774745941162,
0.07657718658447266
] | [
-0.19455645978450775,
-0.22255359590053558,
-0.40929487347602844,
0,
0,
0,
1
] | 2.6 | 3.1 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. After securing it, the arm will reposition to grasp the red gear, lifting and placing it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 52 | 62 | 0 | 52 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26633191108703613,
0.10287366062402725,
0.08636829257011414,
-2.503195285797119,
-0.0004698245320469141,
2.5352940559387207,
1.120776891708374,
0.0766257792711258
] | [
-0.22698917984962463,
-0.11529713869094849,
-0.3748827278614044,
0,
0,
0,
1
] | 2.65 | 3.15 | The robot arm is positioned above the blue gear, preparing to grasp it. It will lift the blue gear and move it toward the right peg, then lower and release it onto the peg. The gripper will then reposition to pick up the red gear, preparing to place it atop the blue gear on the same peg. | The blue gear is positioned near the right peg but not yet inserted; the red gear remains untouched. To progress, the robot must first secure the blue gear onto the right peg. subtask: grasp blue gear | 53 | 63 | 0 | 53 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2662317454814911,
0.10962682217359543,
0.08482345938682556,
-2.5067193508148193,
-0.0004747958155348897,
2.546950340270996,
1.120776891708374,
0.0766257792711258
] | [
-0.29390621185302734,
-0.2055724561214447,
-0.2930637001991272,
0,
0,
0,
1
] | 2.7 | 3.2 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once secured, the arm will reposition to grasp the red gear, lifting and placing it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched nearby. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 54 | 64 | 0 | 54 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2661551535129547,
0.11631305515766144,
0.08379001915454865,
-2.509991407394409,
-0.0004867419775109738,
2.5574331283569336,
1.1207772493362427,
0.0766257792711258
] | [
-0.3123163878917694,
-0.08946750313043594,
-0.23518449068069458,
0,
0,
0,
1
] | 2.75 | 3.25 | The robot arm is positioned above the blue gear, preparing to grasp it. It will lift the blue gear and move it toward the right peg, then lower and release it onto the peg. The gripper will then reposition to pick up the red gear, aligning it above the same peg for insertion after the blue gear is secured. | The blue gear remains unattached to the right peg while the red gear is still separate; no insertion has occurred yet. The robot arm is positioned above the blue gear, indicating readiness to pick it up. subtask: grasp | 55 | 65 | 0 | 55 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26613739132881165,
0.1223018616437912,
0.08289635926485062,
-2.5132036209106445,
-0.0006780390394851565,
2.565960645675659,
1.1207762956619263,
0.0766257792711258
] | [
-0.09564010798931122,
-0.008240951225161552,
-0.012712612748146057,
0,
0,
0,
1
] | 2.8 | 3.3 | The robot arm is positioned above the blue gear, which lies near the red gear and the dual-peg base. It will grasp the blue gear and move it vertically downward to fit onto the right peg. Once seated, the arm will reposition to pick up the red gear, preparing to stack it atop the blue gear on the same peg. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 56 | 66 | 0 | 56 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2660754919052124,
0.12614524364471436,
0.08217574656009674,
-2.5168423652648926,
-0.0006873709498904645,
2.572258234024048,
1.120779037475586,
0.0766257792711258
] | [
-0.024859504774212837,
0.018930314108729362,
0.01262093335390091,
0,
0,
0,
1
] | 2.85 | 3.35 | The robot arm is positioned above the blue gear, preparing to grasp it. It will then move the blue gear downward to align with the right peg and insert it. Afterward, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 57 | 67 | 0 | 57 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26611799001693726,
0.1280793696641922,
0.08208029717206955,
-2.5206282138824463,
-0.0006904239999130368,
2.5763778686523438,
1.1207741498947144,
0.0766257792711258
] | [
-0.02365434356033802,
0.008022858761250973,
0.010860534384846687,
0,
0,
0,
1
] | 2.9 | 3.4 | The robot arm is positioned above the blue gear, preparing to lift it. It will soon grasp the blue gear and move it toward the right peg, aligning and inserting it. Once secured, the arm will reposition to pick up the red gear, preparing for its placement atop the blue gear on the same peg. | The blue gear is not yet on the right peg, and the red gear remains unplaced; the robot arm is positioned above the blue gear, indicating readiness to grasp it. The immediate action is to pick up the blue gear for insertion. subtask: grasp | 58 | 68 | 0 | 58 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2661765515804291,
0.1278996765613556,
0.0820782482624054,
-2.523759603500366,
-0.0006920674350112677,
2.5808980464935303,
1.120775818824768,
0.0766257792711258
] | [
-0.01376178115606308,
0.009095503948628902,
0.006173568312078714,
0,
0,
0,
1
] | 2.95 | 3.45 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move toward the right peg and insert the gear, causing the blue gear to disappear from its current location and appear mounted on the peg, while the red gear remains untouched nearby. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the robot must first grasp the blue gear. subtask: grasp | 59 | 69 | 0 | 59 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26629936695098877,
0.12776580452919006,
0.08207970857620239,
-2.5251948833465576,
-0.0006897605489939451,
2.584899663925171,
1.1207743883132935,
0.07655879855155945
] | [
-0.02857142873108387,
0,
0,
0,
0,
0,
1
] | 3 | 3.5 | The robot arm is poised above the blue gear, which lies beside the red gear near the pegboard. It will grasp the blue gear, lift it, and align it over the right peg before releasing it. The red gear remains untouched for now, awaiting the next step after the blue gear is secured on the peg. | The blue gear is not yet on the right peg, and the red gear remains untouched; the robot must first grasp the blue gear near the center and move it toward the right peg. subtask: move_to | 60 | 70 | 0 | 60 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0,
0,
0,
0,
0,
0,
0,
0.076614610850811
] | [
-0.23428571224212646,
0,
0,
0,
0,
0,
1
] | 3.05 | 3.55 | The robot arm is poised above the blue gear, which lies near the right peg. It will grasp the blue gear and lower it onto the peg, securing it in place. The gripper will then release and reposition to pick up the red gear, preparing to stack it atop the blue gear on the same peg. | The blue gear is not yet on the right peg, and the red gear remains untouched; the robot arm is positioned above the blue gear. To progress, the arm must first grasp the blue gear before placing it on the right peg. subtask: grasp | 61 | 71 | 0 | 61 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2664119005203247,
0.1274264007806778,
0.08209332823753357,
-2.525043487548828,
-0.0006900158477947116,
2.5874788761138916,
1.1207793951034546,
0.076614610850811
] | [
-0.3685714304447174,
0,
-0.0657142847776413,
0,
0,
0,
1
] | 3.1 | 3.6 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move rightward and lower the gear onto the right peg. After securing the blue gear, the arm will reposition to retrieve the red gear and place it atop the blue one, completing the stacking sequence. | The blue gear is not yet on the right peg, and no gear is currently mounted; the red gear remains unplaced. To progress, the robot must first grasp and position the blue gear onto the right peg. subtask: place | 62 | 72 | 0 | 62 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2664080262184143,
0.12732762098312378,
0.08208514004945755,
-2.5250563621520996,
-0.0006913383258506656,
2.5880024433135986,
1.120780348777771,
0.076614610850811
] | [
-0.5514285564422607,
0,
-0.12285714596509933,
0,
0,
0,
1
] | 3.15 | 3.65 | The robot arm is positioned above the blue gear, preparing to lift it. It will soon grasp the blue gear and move it toward the right peg, where it will be inserted. The red gear remains untouched nearby, awaiting its turn. The gripper will open after placing the blue gear, readying for the next step. | The blue gear is not yet on the right peg, and the red gear remains untouched; no insertion has occurred. The robot arm is positioned above the gears, suggesting preparation. To progress, the arm must first grasp the blue gear.
subtask: grasp | 63 | 73 | 0 | 63 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2665672302246094,
0.12715467810630798,
0.0821133479475975,
-2.5250561237335205,
-0.0006919486331753433,
2.588010787963867,
1.1207795143127441,
0.076614610850811
] | [
-0.5400000214576721,
0,
-0.15142856538295746,
0,
0,
0,
1
] | 3.2 | 3.7 | The robot arm is positioned above the blue gear, which lies beside the red gear near the pegboard. It will grasp the blue gear, lift it, and align it over the right peg, then lower it into place. The gripper will open, releasing the blue gear onto the peg, preparing for the next step of picking up the red gear. | The blue gear remains unattached to the right peg, and no progress toward gear insertion is visible between frames. Since the goal requires inserting the blue gear first and no motion or placement is evident, the system may be awaiting input. subtask: approach | 64 | 74 | 0 | 64 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2671022117137909,
0.12694278359413147,
0.08226323872804642,
-2.525712013244629,
-0.0006919486331753433,
2.5880026817321777,
1.1207795143127441,
0.07655814290046692
] | [
-0.5771428346633911,
0,
-0.16571427881717682,
0,
0,
0,
1
] | 3.25 | 3.75 | The robot arm is positioned above the blue gear, preparing to grasp it. It will then move the blue gear downward to insert it onto the right peg. Once secured, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the scene is static. Since no progress is made toward the goal and no action is captured between frames, the task cannot advance. subtask: finish | 65 | 75 | 0 | 65 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2679544687271118,
0.12634707987308502,
0.08276203274726868,
-2.528080463409424,
-0.0006932710530236363,
2.5879275798797607,
1.120779275894165,
0.07655814290046692
] | [
-0.5771428346633911,
0,
-0.18000000715255737,
0,
0,
0,
1
] | 3.3 | 3.8 | The robot arm is poised above the blue gear, which lies near the right peg; it will grasp and lift the blue gear, then lower it precisely onto the peg. Once seated, the arm will reposition to pick up the red gear and place it atop the blue one, completing the sequence with both gears stacked vertically on the right peg... | The blue gear is not yet placed on the right peg, and the red gear remains unattached. The robot arm is positioned above the gears, ready to act. To progress, the arm must first grasp the blue gear. subtask: grasp | 66 | 76 | 0 | 66 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.26909786462783813,
0.1255694031715393,
0.08360099047422409,
-2.5316309928894043,
-0.00069214723771438,
2.587926149368286,
1.120781421661377,
0.07655814290046692
] | [
-0.5771428346633911,
0,
-0.19142857193946838,
0,
0,
0,
1
] | 3.35 | 3.85 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move rightward and lower the gear onto the right peg. After securing the blue gear, the arm will reposition to retrieve the red gear and place it atop the blue one, completing the stacking sequence as intended. | The blue gear is positioned near the right peg but not yet inserted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 67 | 77 | 0 | 67 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2702328860759735,
0.12419237941503525,
0.0847393199801445,
-2.5360541343688965,
-0.0006896790000610054,
2.587998390197754,
1.120784878730774,
0.07655814290046692
] | [
-0.5714285969734192,
0,
-0.20000000298023224,
0,
0,
0,
1
] | 3.4 | 3.9 | The robot arm is positioned above the blue gear, which lies near the red gear and the dual-peg base. It will grasp the blue gear, lift it, and align it over the right peg, then release it onto the peg. The gripper will then move to pick up the red gear, preparing to place it atop the blue gear on the same peg. | The blue gear remains unattached to the right peg while the red gear is still separate; no insertion has occurred yet. To progress, the robot must first grasp the blue gear near the connector(right) and align it with the right peg. subtask: grasp | 68 | 78 | 0 | 68 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.270795613527298,
0.12219347059726715,
0.0856981873512268,
-2.5389020442962646,
-0.0006888326024636626,
2.5885043144226074,
1.1208058595657349,
0.07655814290046692
] | [
-0.545714259147644,
0,
-0.20000000298023224,
0,
0,
0,
1
] | 3.45 | 3.95 | The robot arm is positioned above the blue gear, preparing to grasp it. It will then move the gear toward the right peg, aligning and inserting it. Once secured, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear remains unmounted on the right peg while the red gear is still separate; no progress toward insertion is visible. The robot must first grasp the blue gear before placement.
subtask: grasp | 69 | 79 | 0 | 69 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2709698975086212,
0.12082233279943466,
0.08672595024108887,
-2.541186571121216,
-0.0006878802087157965,
2.5885770320892334,
1.1208159923553467,
0.07662052661180496
] | [
-0.4114285707473755,
0,
-0.16571427881717682,
0,
0,
0,
1
] | 3.5 | 4 | The robot arm is positioned above the blue gear, preparing to grasp it. It will lift the blue gear and align it with the right peg, then lower it into place. After securing the blue gear, the arm will move to pick up the red gear and place it atop the blue one, completing the sequence. | The blue gear is not yet on the right peg, and no gear is currently mounted. The red gear remains untouched nearby. To progress, the blue gear must be grasped and placed onto the right peg first.
subtask: grasp blue gear | 70 | 80 | 0 | 70 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27097287774086,
0.12005315721035004,
0.08744168281555176,
-2.542064666748047,
-0.0006885168259032071,
2.588585615158081,
1.1208196878433228,
0.07662052661180496
] | [
-0.008571428246796131,
-0.0057142856530845165,
0,
0,
0,
0,
1
] | 3.55 | 4.05 | The robot arm is positioned above the blue gear, preparing to grasp it. It will lift the blue gear and move it toward the right peg, aligning and inserting it. Once secured, the arm will reposition to pick up the red gear and place it atop the blue gear on the same peg, completing the sequence. | The blue gear remains unattached to the right peg, and no progress is visible toward inserting it or the red gear; the scene is unchanged. subtask: finish | 71 | 81 | 0 | 71 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2709822654724121,
0.11976416409015656,
0.08802985399961472,
-2.5425469875335693,
-0.000686544575728476,
2.588587760925293,
1.1208196878433228,
0.07662052661180496
] | [
-0.34492045640945435,
-0.013229470700025558,
-0.13245481252670288,
0,
0,
0,
0
] | 3.6 | 4.1 | The robot arm is poised above the blue gear, which lies near the right peg. It will grasp the blue gear, lift it, and align it over the peg before releasing. The gripper will then retract, preparing to pick up the red gear for subsequent placement atop the blue gear on the same peg. | The blue gear is not yet on the right peg, and the red gear remains unplaced; no visible progress has occurred between frames. Since the goal requires inserting the blue gear first, the robot must approach and grasp it. subtask: approach | 72 | 82 | 0 | 72 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27098485827445984,
0.1196407750248909,
0.08814069628715515,
-2.542630672454834,
-0.0006882264860905707,
2.5886240005493164,
1.1208218336105347,
0.07662052661180496
] | [
-0.45131081342697144,
-0.10228688269853592,
-0.13303682208061218,
0,
0,
0,
0.00013494491577148438
] | 3.65 | 4.15 | The robot arm is positioned above the blue gear, ready to grasp it; the gripper will close, lift the gear, and move it toward the right peg. Upon alignment, it will lower and release the blue gear onto the peg. The arm will then reposition to pick up the red gear, preparing to place it atop the blue gear on the same pe... | The blue gear is not yet on the right peg, and the red gear remains unplaced; no visible progress has occurred between frames. Since the goal requires inserting the blue gear first and no action has been taken, the robot must initiate movement toward the blue gear. subtask: approach | 73 | 83 | 0 | 73 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27089807391166687,
0.11958695948123932,
0.08814886212348938,
-2.542745590209961,
-0.0006901483284309506,
2.589221477508545,
1.12082040309906,
0.07662052661180496
] | [
-0.2674202024936676,
-0.08364463597536087,
-0.047497138381004333,
0,
0,
0,
0.000016510486602783203
] | 3.7 | 4.2 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once seated, the arm will retract, reposition over the red gear, grasp it, and place it atop the blue gear on the same peg, completing the sequence. | The blue gear remains unattached to the right peg, and no progress toward gear insertion is visible between frames; the scene is static. Since no motion or placement occurred, the robot must first approach the blue gear. subtask: approach | 74 | 84 | 0 | 74 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27085238695144653,
0.11958254873752594,
0.08817307651042938,
-2.542762517929077,
-0.000690727902110666,
2.589718818664551,
1.1208211183547974,
0.07662052661180496
] | [
-0.23171371221542358,
-0.023738833144307137,
-0.08684253692626953,
0,
0,
0,
0
] | 3.75 | 4.25 | The robot arm is positioned above the blue gear, preparing to grasp it. It will lift and move the blue gear toward the right peg, then lower it to insert it securely. Once the blue gear is placed, the arm will reposition to pick up the red gear and align it above the same peg for sequential stacking, completing the tas... | The blue gear remains unattached to the right peg, and no motion toward insertion is evident; the red gear is still separate. To progress, the blue gear must be positioned onto the right peg first. subtask: grasp blue gear | 75 | 85 | 0 | 75 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2708533704280853,
0.11956653743982315,
0.0881868302822113,
-2.542924165725708,
-0.000690727902110666,
2.589743137359619,
1.120822548866272,
0.07662052661180496
] | [
-0.32744643092155457,
-0.03238996863365173,
-0.039994075894355774,
0,
0,
0,
0.00006628036499023438
] | 3.8 | 4.3 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once secured, the arm will reposition to grasp the red gear, lift it, and place it atop the blue gear on the same peg, completing the sequence. | The blue gear is positioned near the right peg but not yet inserted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 76 | 86 | 0 | 76 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27082255482673645,
0.11934617161750793,
0.0881691575050354,
-2.543074131011963,
-0.0006880830624140799,
2.5897326469421387,
1.1208232641220093,
0.07662052661180496
] | [
-0.21570760011672974,
-0.020095113664865494,
-0.021882731467485428,
0,
0,
0,
0.00010794401168823242
] | 3.85 | 4.35 | The robot arm is poised above the blue gear, which lies near the red gear and the dual-peg base. It will grasp the blue gear, lift and align it over the right peg, then release it securely. The red gear remains untouched for now, awaiting the next step after the blue gear is seated. | The blue gear remains unmounted on the right peg while the red gear is still separate; no progress toward gear insertion is visible. The robot must first grasp the blue gear to begin assembly. subtask: grasp | 77 | 87 | 0 | 77 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27080073952674866,
0.11917684227228165,
0.08815570920705795,
-2.543104648590088,
-0.000689405482262373,
2.5897233486175537,
1.12082040309906,
0.07655945420265198
] | [
-0.2820078134536743,
0.0025808149948716164,
-0.02198977954685688,
0,
0,
0,
0.00010478496551513672
] | 3.9 | 4.4 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward to align with the right peg and lower the gear onto it. After securing the blue gear, the arm will reposition to grasp the red gear and place it atop the blue one, completing the stacking sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg before handling the red gear.
subtask: place | 78 | 88 | 0 | 78 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27079370617866516,
0.11915178596973419,
0.08814986795186996,
-2.5431082248687744,
-0.000690727902110666,
2.589724540710449,
1.1208182573318481,
0.07662118226289749
] | [
-0.28417280316352844,
-0.009694846346974373,
-0.035866547375917435,
0,
0,
0,
0
] | 3.95 | 4.45 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. After securing it, the arm will reposition to grasp the red gear, lift it, and place it atop the blue gear on the same peg, completing the sequence. | The blue gear is near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 79 | 89 | 0 | 79 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2708025872707367,
0.11914219707250595,
0.08815182000398636,
-2.5431065559387207,
-0.000689405482262373,
2.589724540710449,
1.1208246946334839,
0.07662118226289749
] | [
-0.2556563913822174,
-0.014885634183883667,
-0.04238487780094147,
0,
0,
0,
0.00006961822509765625
] | 4 | 4.5 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. After securing it, the arm will reposition to grasp the red gear, lift it, and place it atop the blue gear on the same peg, completing the sequence. | The blue gear is positioned near the right peg but not yet inserted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 80 | 90 | 0 | 80 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.270800918340683,
0.11913303285837173,
0.08815710991621017,
-2.543109893798828,
-0.0006913382676430047,
2.5897209644317627,
1.1208239793777466,
0.07662118226289749
] | [
-0.21835839748382568,
-0.023300159722566605,
-0.05237568914890289,
0,
0,
0,
0
] | 4.05 | 4.55 | The robot arm is positioned above the blue gear, preparing to grasp it; once picked up, it will move toward the right peg and insert the gear. After securing the blue gear, the arm will reposition to retrieve the red gear and place it atop the blue one, completing the stacking sequence on the right peg. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 81 | 91 | 0 | 81 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27079877257347107,
0.1191355437040329,
0.08815182000398636,
-2.543109893798828,
-0.0006919486331753433,
2.589724063873291,
1.1208218336105347,
0.07662118226289749
] | [
-0.2587786316871643,
-0.10417957603931427,
-0.18219241499900818,
0,
0,
0,
0.0001895427703857422
] | 4.1 | 4.6 | The robot arm is poised above the blue gear, which lies beside the red gear near the pegboard. It will grasp the blue gear, lift and align it with the right peg, then lower it into place. The gripper will open, releasing the blue gear onto the peg, leaving the red gear untouched and ready for the next insertion step. | The blue gear is near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be lifted and aligned with the right peg. subtask: grasp blue gear | 82 | 92 | 0 | 82 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2708025872707367,
0.1191277876496315,
0.08815710991621017,
-2.5431082248687744,
-0.000689405482262373,
2.589723825454712,
1.1208232641220093,
0.07662118226289749
] | [
-0.31523141264915466,
-0.03096991404891014,
-0.04139437898993492,
0,
0,
0,
0
] | 4.15 | 4.65 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. After securing it, the arm will reposition to grasp the red gear, lift it, and place it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear is not yet on the right peg, and the red gear remains unplaced; no visible progress has occurred between frames. Since the goal requires inserting the blue gear first and no action appears initiated, the robot must begin by approaching the blue gear. subtask: approach | 83 | 93 | 0 | 83 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2708320617675781,
0.11914172023534775,
0.08818280696868896,
-2.543109178543091,
-0.0006867606425657868,
2.5897343158721924,
1.1208246946334839,
0.07662118226289749
] | [
-0.2849690020084381,
-0.032577596604824066,
-0.06569898128509521,
0,
0,
0,
0
] | 4.2 | 4.7 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once secured, the arm will reposition to grasp the red gear, lifting and placing it atop the blue gear on the same peg, completing the stacking sequence. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg before handling the red gear. subtask: place | 84 | 94 | 0 | 84 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2709616422653198,
0.11916796118021011,
0.08836967498064041,
-2.543125867843628,
-0.0006873708334751427,
2.5897481441497803,
1.1208168268203735,
0.07662118226289749
] | [
-0.3041718006134033,
-0.06517490744590759,
-0.13884682953357697,
0,
0,
0,
0.00004357099533081055
] | 4.25 | 4.75 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. The gripper will open to release it, then reposition to pick up the red gear nearby, preparing for the next insertion step. | The blue gear is positioned near the right peg but not yet mounted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 85 | 95 | 0 | 85 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.271016389131546,
0.11911578476428986,
0.08862441778182983,
-2.543294906616211,
-0.0006939831073395908,
2.5897274017333984,
1.1208243370056152,
0.07655945420265198
] | [
-0.24605336785316467,
-0.017579209059476852,
-0.02933511510491371,
0,
0,
0,
0
] | 4.3 | 4.8 | The robot arm is poised above the blue gear, which lies beside the red gear near the pegboard. It will grasp the blue gear and lower it onto the right peg, securing it in place. The gripper will then release and reposition to pick up the red gear, preparing to stack it atop the blue gear on the same peg. | The blue gear is positioned near the right peg but not yet inserted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 86 | 96 | 0 | 86 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0,
0,
0,
0,
0,
0,
0,
0.06748957186937332
] | [
-0.3243500292301178,
0.03355938568711281,
-0.10295659303665161,
0,
0,
0,
0.00006854534149169922
] | 4.35 | 4.85 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once seated, the arm will reposition to grasp the red gear, lifting and placing it atop the blue gear, completing the stacking sequence. | The blue gear is positioned near the right peg but not yet inserted; the red gear remains untouched. To progress, the blue gear must be placed onto the right peg first. subtask: place | 87 | 97 | 0 | 87 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2710593044757843,
0.11880733072757721,
0.08915167301893234,
-2.5435266494750977,
-0.0006900114240124822,
2.589728593826294,
1.1208196878433228,
0.06748957186937332
] | [
-0.2699224650859833,
-0.028094958513975143,
-0.030834883451461792,
0,
0,
0,
0
] | 4.4 | 4.9 | The robot arm is positioned above the blue gear, preparing to grasp it. It will then move rightward and lower the gear onto the right peg. After securing the blue gear, the arm will reposition to pick up the red gear and place it atop the blue one, completing the stacking sequence as intended. | The blue gear is not yet on the right peg, and the red gear remains untouched; no insertion has occurred. The robot must first grasp the blue gear and position it over the right peg. subtask: approach | 88 | 98 | 0 | 88 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27107882499694824,
0.11871259659528732,
0.08920852094888687,
-2.5435495376586914,
-0.000689405482262373,
2.5897226333618164,
1.1208254098892212,
0.06748957186937332
] | [
-0.22934994101524353,
-0.025799207389354706,
-0.01991250365972519,
0,
0,
0,
0.000019371509552001953
] | 4.45 | 4.95 | The robot arm is poised above the blue gear, which lies near the pegs; it will grasp the blue gear and lower it onto the right peg, securing it in place. Immediately after, the arm will reposition to pick up the red gear and align it above the same peg, preparing to stack it atop the blue gear, completing the sequence. | The blue gear is not yet on the right peg, and the red gear remains unplaced; no insertion has occurred yet. The robot must first grasp the blue gear and align it with the right peg. subtask: approach | 89 | 99 | 0 | 89 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.2710801959037781,
0.11816202104091644,
0.08926347643136978,
-2.5437328815460205,
-0.0006913382676430047,
2.5897018909454346,
1.120819091796875,
0.052691590040922165
] | [
-0.1732819378376007,
-0.046862706542015076,
-0.005424337461590767,
0,
0,
0,
0
] | 4.5 | 5 | The robot arm is positioned above the blue gear, preparing to grasp it; once secured, it will lift and move the gear toward the right peg, aligning and inserting it before releasing. The red gear remains untouched nearby, awaiting its turn as the arm retracts slightly and repositions for the next insertion. | The blue gear is not yet placed on the right peg, and no gear is currently mounted. The red gear remains idle nearby. To progress, the robot must first grasp the blue gear and position it over the right peg. subtask: grasp blue gear | 90 | 100 | 0 | 90 | 0 | Insert the blue gear onto the right peg, followed by the red gear | ||||
[
0.27108097076416016,
0.11814431101083755,
0.08927103132009506,
-2.5438122749328613,
-0.000690727902110666,
2.5897066593170166,
1.1208221912384033,
0.052691590040922165
] | [
-0.14503972232341766,
-0.02155512198805809,
0.06391716748476028,
0,
0,
0,
0.00011843442916870117
] | 4.55 | 5.05 | The robot arm is positioned above the blue gear, preparing to lift it. It will then move rightward and lower the blue gear onto the right peg. Once seated, the arm will reposition to grasp the red gear, lifting and aligning it above the same peg to stack it atop the blue gear, completing the sequence. | The blue gear is not yet on the right peg, and no insertion has occurred; the red gear remains untouched. To progress, the robot must first grasp the blue gear and align it with the right peg. subtask: grasp blue gear | 91 | 101 | 0 | 91 | 0 | Insert the blue gear onto the right peg, followed by the red gear |
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