episode_id int64 | episode_name int64 | keystep_type string | change_point int64 | idx_first int64 | idx_before int64 | idx_keystep int64 | step_first int64 | step_before int64 | step_keystep int64 | gripper_before int64 | gripper_after int64 | action_first string | action_before string | action_keystep string | pos_delta_keystep float64 | rot_delta_keystep float64 | lookahead_used int64 | binarize_mode string | found_premove bool | flip_enter_pos float64 | flip_enter_rot float64 | still_pos_thr float64 | still_rot_thr float64 | img_main_first float64 | img_main_before float64 | img_main_keystep float64 | img_grip_first float64 | img_grip_before float64 | img_grip_keystep float64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
3,376 | 3,376 | flip | 36 | 545,776 | 545,811 | 545,814 | 0 | 35 | 38 | 0 | 1 | [0.09984990041827646, -0.04000000575280893, -0.01123082317763835, -0.06929065514591337, -0.13480718503103017, -0.19896603551400038, -0.99999999989998] | [-0.25582458195325364, -0.04000000575280893, -0.39702226295244447, -0.06929065514591337, 0.14754292413336523, -0.19896603551400038, -0.99999999989998] | [-0.14161718202151863, -0.05926164395879474, -0.12553939869853636, -0.06929065514591337, 0.05743118305516215, -0.3943285791099572, 1.0] | 0.198312 | 0.404468 | 2 | gt05 | true | 0.993709 | 0.36546 | 0.534656 | 0.256836 | null | null | null | null | null | null |
3,376 | 3,376 | flip | 81 | 545,776 | 545,856 | 545,863 | 0 | 80 | 87 | 1 | 0 | [0.09984990041827646, -0.04000000575280893, -0.01123082317763835, -0.06929065514591337, -0.13480718503103017, -0.19896603551400038, -0.99999999989998] | [-0.611499064324784, -0.04000000575280893, -0.41702627636196254, -0.06929065514591337, -0.08074014351723724, -0.1491677381289197, 1.0] | [0.02153624126588083, -0.04000000575280893, 0.5003000519554575, -0.06929065514591337, 0.15355036448731751, -0.19896603551400038, -0.99999999989998] | 0.502358 | 0.260704 | 6 | gt05 | false | 0.993709 | 0.36546 | 0.534656 | 0.256836 | null | null | null | null | null | null |
3,377 | 3,377 | flip | 36 | 545,864 | 545,899 | 545,902 | 0 | 35 | 38 | 0 | 1 | [0.09984990041827646, -0.04000000575280893, -0.01123082317763835, -0.06929065514591337, -0.13480718503103017, -0.19896603551400038, -0.99999999989998] | [-0.25582458195325364, -0.04000000575280893, -0.39702226295244447, -0.06929065514591337, 0.14754292413336523, -0.19896603551400038, -0.99999999989998] | [-0.14161718202151863, -0.05926164395879474, -0.12553939869853636, -0.06929065514591337, 0.05743118305516215, -0.3943285791099572, 1.0] | 0.198312 | 0.404468 | 2 | gt05 | true | 0.993709 | 0.36546 | 0.534656 | 0.256836 | null | null | null | null | null | null |
3,377 | 3,377 | flip | 81 | 545,864 | 545,944 | 545,951 | 0 | 80 | 87 | 1 | 0 | [0.09984990041827646, -0.04000000575280893, -0.01123082317763835, -0.06929065514591337, -0.13480718503103017, -0.19896603551400038, -0.99999999989998] | [-0.611499064324784, -0.04000000575280893, -0.41702627636196254, -0.06929065514591337, -0.08074014351723724, -0.1491677381289197, 1.0] | [0.02153624126588083, -0.04000000575280893, 0.5003000519554575, -0.06929065514591337, 0.15355036448731751, -0.19896603551400038, -0.99999999989998] | 0.502358 | 0.260704 | 6 | gt05 | false | 0.993709 | 0.36546 | 0.534656 | 0.256836 | null | null | null | null | null | null |
3,378 | 3,378 | flip | 41 | 545,952 | 545,992 | 546,005 | 0 | 40 | 53 | 0 | 1 | [-0.05677739973373763, -0.04000000575280893, 0.00020003467253437712, -0.06929065514591337, 0.33377384664372367, -0.19896603551400038, -0.99999999989998] | [-0.46466095795223616, -0.12346709943651901, -0.6056354184696928, -0.06929065514591337, -0.19488167734253847, -0.2832400731444784, -0.99999999989998] | [-0.1122495643775645, -0.04000000575280893, 0.35741433727398, -0.2953754390779658, -0.08074014351723724, -0.3330383771890041, 1.0] | 0.376756 | 0.452416 | 12 | gt05 | false | 0.836444 | 0.565775 | 0.588215 | 0.336938 | null | null | null | null | null | null |
3,378 | 3,378 | flip | 96 | 545,952 | 546,047 | 546,055 | 0 | 95 | 103 | 1 | 0 | [-0.05677739973373763, -0.04000000575280893, 0.00020003467253437712, -0.06929065514591337, 0.33377384664372367, -0.19896603551400038, -0.99999999989998] | [-0.25582458195325364, 0.12693418161461145, -0.23699026696055991, -0.06929065514591337, 0.04541629190349439, -0.19896603551400038, 1.0] | [-0.14161718202151863, -0.04000000575280893, 0.5574543123916462, -0.06929065514591337, 0.05743118305516215, -0.45178816172432457, -0.99999999989998] | 0.576551 | 0.460665 | 7 | gt05 | false | 0.836444 | 0.565775 | 0.588215 | 0.336938 | null | null | null | null | null | null |
3,379 | 3,379 | flip | 41 | 546,056 | 546,096 | 546,109 | 0 | 40 | 53 | 0 | 1 | [-0.05677739973373763, -0.04000000575280893, 0.00020003467253437712, -0.06929065514591337, 0.33377384664372367, -0.19896603551400038, -0.99999999989998] | [-0.46466095795223616, -0.12346709943651901, -0.6056354184696928, -0.06929065514591337, -0.19488167734253847, -0.2832400731444784, -0.99999999989998] | [-0.1122495643775645, -0.04000000575280893, 0.35741433727398, -0.2953754390779658, -0.08074014351723724, -0.3330383771890041, 1.0] | 0.376756 | 0.452416 | 12 | gt05 | false | 0.836444 | 0.565775 | 0.588215 | 0.336938 | null | null | null | null | null | null |
3,379 | 3,379 | flip | 96 | 546,056 | 546,151 | 546,159 | 0 | 95 | 103 | 1 | 0 | [-0.05677739973373763, -0.04000000575280893, 0.00020003467253437712, -0.06929065514591337, 0.33377384664372367, -0.19896603551400038, -0.99999999989998] | [-0.25582458195325364, 0.12693418161461145, -0.23699026696055991, -0.06929065514591337, 0.04541629190349439, -0.19896603551400038, 1.0] | [-0.14161718202151863, -0.04000000575280893, 0.5574543123916462, -0.06929065514591337, 0.05743118305516215, -0.45178816172432457, -0.99999999989998] | 0.576551 | 0.460665 | 7 | gt05 | false | 0.836444 | 0.565775 | 0.588215 | 0.336938 | null | null | null | null | null | null |
3,380 | 3,380 | flip | 36 | 546,160 | 546,195 | 546,198 | 0 | 35 | 38 | 0 | 1 | [0.028062382554043364, -0.04000000575280893, -0.03409253987159311, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.5723422165958088, -0.04000000575280893, -0.5599119592479374, -0.5214602230100183, -0.08074014351723724, -0.48243324936591114, -0.99999999989998] | [-0.14161718202151863, -0.04000000575280893, -0.17412054232614882, -0.5214602230100183, -0.08074014351723724, -0.38666730054011567, 1.0] | 0.227977 | 0.65418 | 2 | gt05 | true | 1.007186 | 0.640583 | 0.453145 | 0.277451 | null | null | null | null | null | null |
3,380 | 3,380 | flip | 88 | 546,160 | 546,247 | 546,250 | 0 | 87 | 90 | 1 | 0 | [0.028062382554043364, -0.04000000575280893, -0.03409253987159311, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.42224107588473436, -0.1298876492258204, 0.00020003467253437712, -0.06929065514591337, -1.0, -0.19896603551400038, 1.0] | [-0.14161718202151863, 0.008154086413580286, 0.35169890487126043, -0.06929065514591337, -0.6334254498068347, -0.10703071931368069, -0.99999999989998] | 0.379228 | 0.64613 | 2 | gt05 | true | 1.007186 | 0.640583 | 0.453145 | 0.277451 | null | null | null | null | null | null |
3,381 | 3,381 | flip | 36 | 546,263 | 546,298 | 546,301 | 0 | 35 | 38 | 0 | 1 | [0.028062382554043364, -0.04000000575280893, -0.03409253987159311, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.5723422165958088, -0.04000000575280893, -0.5599119592479374, -0.5214602230100183, -0.08074014351723724, -0.48243324936591114, -0.99999999989998] | [-0.14161718202151863, -0.04000000575280893, -0.17412054232614882, -0.5214602230100183, -0.08074014351723724, -0.38666730054011567, 1.0] | 0.227977 | 0.65418 | 2 | gt05 | true | 1.007186 | 0.640583 | 0.453145 | 0.277451 | null | null | null | null | null | null |
3,381 | 3,381 | flip | 88 | 546,263 | 546,350 | 546,353 | 0 | 87 | 90 | 1 | 0 | [0.028062382554043364, -0.04000000575280893, -0.03409253987159311, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.42224107588473436, -0.1298876492258204, 0.00020003467253437712, -0.06929065514591337, -1.0, -0.19896603551400038, 1.0] | [-0.14161718202151863, 0.008154086413580286, 0.35169890487126043, -0.06929065514591337, -0.6334254498068347, -0.10703071931368069, -0.99999999989998] | 0.379228 | 0.64613 | 2 | gt05 | true | 1.007186 | 0.640583 | 0.453145 | 0.277451 | null | null | null | null | null | null |
3,382 | 3,382 | still | -1 | 546,366 | 546,387 | 546,388 | 0 | 21 | 22 | 0 | 0 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [0.4522613121457255, -0.2839807370146379, -0.1769782585275086, -0.06929065514591337, -0.06271779634597285, -0.3521915669541632, -0.99999999989998] | [0.39678914750189853, -0.22619582462906396, -0.23413255075920014, -0.06929065514591337, -0.08074014351723724, -0.38283666791463977, -0.99999999989998] | 0.604295 | 0.346147 | 0 | gt05 | false | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,382 | 3,382 | still | -1 | 546,366 | 546,416 | 546,417 | 0 | 50 | 51 | 1 | 1 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [-0.2460353790973986, -0.17804173692744218, -0.33701025451939315, -0.06929065514591337, -0.11077738967299133, -0.19896603551400038, 1.0] | [-0.14161718202151863, -0.13630819008558714, -0.21698625355104184, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, 1.0] | 0.517838 | 0.320639 | 0 | gt05 | false | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,382 | 3,382 | flip | 81 | 546,366 | 546,446 | 546,459 | 0 | 80 | 93 | 0 | 1 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [-0.29171833180898166, -0.04000000575280893, -0.5284771128284833, -0.06929065514591337, -0.24294127328049753, -0.19896603551400038, -0.99999999989998] | [-0.21993083209752573, -0.04000000575280893, 0.32597945905902304, -0.06929065514591337, -0.08074014351723724, -0.2832400731444784, 1.0] | 0.395262 | 0.302564 | 12 | gt05 | false | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,382 | 3,382 | flip | 153 | 546,366 | 546,518 | 546,521 | 0 | 152 | 155 | 1 | 0 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [-0.14161718202151863, 0.04346708793090115, -0.2884291108917807, -0.06929065514591337, -0.2609636256736433, -0.5322315667293267, 1.0] | [0.08353454719787012, -0.04000000575280893, 0.20024004158570352, -0.20841974481034398, 0.3998557949748285, -0.5437234779246443, -0.99999999989998] | 0.220622 | 0.70637 | 2 | gt05 | true | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,383 | 3,383 | still | -1 | 546,527 | 546,548 | 546,549 | 0 | 21 | 22 | 0 | 0 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [0.4522613121457255, -0.2839807370146379, -0.1769782585275086, -0.06929065514591337, -0.06271779634597285, -0.3521915669541632, -0.99999999989998] | [0.39678914750189853, -0.22619582462906396, -0.23413255075920014, -0.06929065514591337, -0.08074014351723724, -0.38283666791463977, -0.99999999989998] | 0.604295 | 0.346147 | 0 | gt05 | false | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,383 | 3,383 | still | -1 | 546,527 | 546,577 | 546,578 | 0 | 50 | 51 | 1 | 1 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [-0.2460353790973986, -0.17804173692744218, -0.33701025451939315, -0.06929065514591337, -0.11077738967299133, -0.19896603551400038, 1.0] | [-0.14161718202151863, -0.13630819008558714, -0.21698625355104184, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, 1.0] | 0.517838 | 0.320639 | 0 | gt05 | false | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,383 | 3,383 | flip | 81 | 546,527 | 546,607 | 546,620 | 0 | 80 | 93 | 0 | 1 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [-0.29171833180898166, -0.04000000575280893, -0.5284771128284833, -0.06929065514591337, -0.24294127328049753, -0.19896603551400038, -0.99999999989998] | [-0.21993083209752573, -0.04000000575280893, 0.32597945905902304, -0.06929065514591337, -0.08074014351723724, -0.2832400731444784, 1.0] | 0.395262 | 0.302564 | 12 | gt05 | false | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,383 | 3,383 | flip | 153 | 546,527 | 546,679 | 546,682 | 0 | 152 | 155 | 1 | 0 | [0.11616523548590552, -0.04000000575280893, 0.00020003467253437712, -0.09537736040280509, 0.21963231281842255, -0.19896603551400038, -0.99999999989998] | [-0.14161718202151863, 0.04346708793090115, -0.2884291108917807, -0.06929065514591337, -0.2609636256736433, -0.5322315667293267, 1.0] | [0.08353454719787012, -0.04000000575280893, 0.20024004158570352, -0.20841974481034398, 0.3998557949748285, -0.5437234779246443, -0.99999999989998] | 0.220622 | 0.70637 | 2 | gt05 | true | 0.847568 | 0.566041 | 0.428084 | 0.288271 | null | null | null | null | null | null |
3,384 | 3,384 | flip | 42 | 546,688 | 546,729 | 546,737 | 0 | 41 | 49 | 0 | 1 | [-0.12856490738703363, 0.020995177062648418, 0.00020003467253437712, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.5592899703250382, -0.10099518856826617, -0.7256594353357956, -0.06929065514591337, -0.2669710660275957, -0.19896603551400038, -0.99999999989998] | [-0.0600404703778189, -0.04000000575280893, 0.05735432292978815, -0.36493997635169384, -0.08074014351723724, -0.2832400731444784, 1.0] | 0.092165 | 0.468962 | 7 | gt05 | true | 0.879774 | 0.486612 | 0.49922 | 0.246134 | null | null | null | null | null | null |
3,384 | 3,384 | flip | 114 | 546,688 | 546,801 | 546,804 | 0 | 113 | 116 | 1 | 0 | [-0.12856490738703363, 0.020995177062648418, 0.00020003467253437712, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.14161718202151863, -0.04000000575280893, -0.465607419989575, 0.3828789127181913, 0.23765465476780534, -0.3292077312446383, 1.0] | [-0.02740978208978362, 0.11409309989507799, -0.3141485567040182, 0.00896946062476145, -0.04469544917470858, -0.4939251871990086, -0.99999999989998] | 0.335347 | 0.496024 | 2 | gt05 | true | 0.879774 | 0.486612 | 0.49922 | 0.246134 | null | null | null | null | null | null |
3,385 | 3,385 | flip | 42 | 546,809 | 546,850 | 546,858 | 0 | 41 | 49 | 0 | 1 | [-0.12856490738703363, 0.020995177062648418, 0.00020003467253437712, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.5592899703250382, -0.10099518856826617, -0.7256594353357956, -0.06929065514591337, -0.2669710660275957, -0.19896603551400038, -0.99999999989998] | [-0.0600404703778189, -0.04000000575280893, 0.05735432292978815, -0.36493997635169384, -0.08074014351723724, -0.2832400731444784, 1.0] | 0.092165 | 0.468962 | 7 | gt05 | true | 0.879774 | 0.486612 | 0.49922 | 0.246134 | null | null | null | null | null | null |
3,385 | 3,385 | flip | 114 | 546,809 | 546,922 | 546,925 | 0 | 113 | 116 | 1 | 0 | [-0.12856490738703363, 0.020995177062648418, 0.00020003467253437712, -0.06929065514591337, -0.08074014351723724, -0.19896603551400038, -0.99999999989998] | [-0.14161718202151863, -0.04000000575280893, -0.465607419989575, 0.3828789127181913, 0.23765465476780534, -0.3292077312446383, 1.0] | [-0.02740978208978362, 0.11409309989507799, -0.3141485567040182, 0.00896946062476145, -0.04469544917470858, -0.4939251871990086, -0.99999999989998] | 0.335347 | 0.496024 | 2 | gt05 | true | 0.879774 | 0.486612 | 0.49922 | 0.246134 | null | null | null | null | null | null |
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