observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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[
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32.40031051635742,
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[
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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32.40031051635742,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.905195 | [
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] | 20.700001 | 207 | 30 | 10,253 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.904819 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.799999 | 208 | 30 | 10,254 | 0 |
[
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.904577 | [
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32.40031051635742,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.9 | 209 | 30 | 10,255 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.904424 | [
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32.40031051635742,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 21 | 210 | 30 | 10,256 | 0 |
[
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] | [
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.904331 | [
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32.40031051635742,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
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] | 21.1 | 211 | 30 | 10,257 | 0 |
[
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] | [
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.904274 | [
7.650812149047852,
32.40031051635742,
-6.900996685028076,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 21.200001 | 212 | 30 | 10,258 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
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] | 21.299999 | 213 | 30 | 10,259 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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30
] | [
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3.1277430057525635,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 21.4 | 214 | 30 | 10,260 | 0 |
[
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27.63741111755371,
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0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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30
] | [
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0.04060386121273041,
3.1277430057525635,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
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] | 21.5 | 215 | 30 | 10,261 | 0 |
[
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27.63741111755371,
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0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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30
] | [
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0.04060386121273041,
3.1277430057525635,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
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] | 21.6 | 216 | 30 | 10,262 | 0 |
[
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27.63741111755371,
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60.159034729003906,
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0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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30
] | [
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0.04060386121273041,
3.1277430057525635,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 21.700001 | 217 | 30 | 10,263 | 0 |
[
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27.63741111755371,
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60.159034729003906,
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0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
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] | 21.799999 | 218 | 30 | 10,264 | 0 |
[
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27.63741111755371,
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60.159034729003906,
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27.63741111755371,
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0.1650291532278061,
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0.9857999086380005,
0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
0.6363822221755981,
30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
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] | 21.9 | 219 | 30 | 10,265 | 0 |
[
7.711223125457764,
27.63741111755371,
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27.63741111755371,
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0.1650291532278061,
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0.9857999086380005,
0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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] | [
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0.04060386121273041,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22 | 220 | 30 | 10,266 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.1 | 221 | 30 | 10,267 | 0 |
[
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27.63741111755371,
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] | [
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] | [
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] | [
0.1650291532278061,
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0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
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30
] | [
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0.04060386121273041,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.200001 | 222 | 30 | 10,268 | 0 |
[
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27.63741111755371,
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] | [
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27.63741111755371,
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] | [
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] | 1 | [
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] | [
0.1650291532278061,
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] | release object on box body | Is the object released? | gripper_open | 0.033404 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
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30
] | [
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0.04060386121273041,
3.1277430057525635,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.299999 | 223 | 30 | 10,269 | 0 |
[
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27.63741111755371,
-10.225529670715332,
60.159034729003906,
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] | [
7.711223125457764,
27.63741111755371,
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] | [
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] | 1 | [
0.1650291532278061,
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] | [
0.1650291532278061,
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] | release object on box body | Is the object released? | gripper_open | 0.132037 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
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] | [
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0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.4 | 224 | 30 | 10,270 | 0 |
[
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27.63741111755371,
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60.159034729003906,
0.6363822221755981,
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] | [
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27.63741111755371,
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] | [
0.33784744143486023,
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0.04060386121273041,
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] | 1 | [
0.1650291532278061,
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] | [
0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0.230669 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
0.6363822221755981,
30
] | [
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-0.04996176064014435,
0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.5 | 225 | 30 | 10,271 | 0 |
[
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27.63741111755371,
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60.159034729003906,
0.6363822221755981,
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] | [
7.711223125457764,
27.63741111755371,
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] | [
0.33784744143486023,
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] | 1 | [
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] | [
0.1650291532278061,
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] | release object on box body | Is the object released? | gripper_open | 0.329301 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
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] | [
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0.04060386121273041,
3.1277430057525635,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.6 | 226 | 30 | 10,272 | 0 |
[
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27.63741111755371,
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60.159034729003906,
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] | [
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27.63741111755371,
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] | [
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] | 1 | [
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] | [
0.1650291532278061,
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] | release object on box body | Is the object released? | gripper_open | 0.427933 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
0.6363822221755981,
30
] | [
0.33784744143486023,
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0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.700001 | 227 | 30 | 10,273 | 0 |
[
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27.63741111755371,
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] | [
7.711223125457764,
27.63741111755371,
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] | [
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] | 1 | [
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] | [
0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0.526565 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
0.6363822221755981,
30
] | [
0.33784744143486023,
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0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
2.9440202713012695
] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
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] | 22.799999 | 228 | 30 | 10,274 | 0 |
[
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27.63741111755371,
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60.159034729003906,
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] | [
7.711223125457764,
27.63741111755371,
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] | [
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] | 1 | [
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] | [
0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
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] | release object on box body | Is the object released? | gripper_open | 0.625198 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
0.6363822221755981,
30
] | [
0.33784744143486023,
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0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.013000023551285267
] | 22.9 | 229 | 30 | 10,275 | 0 |
[
7.711223125457764,
27.63741111755371,
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60.159034729003906,
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] | [
7.711223125457764,
27.63741111755371,
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] | [
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0.4391648471355438,
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] | 1 | [
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] | [
0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
0.5821073055267334
] | release object on box body | Is the object released? | gripper_open | 0.72383 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
0.6363822221755981,
30
] | [
0.33784744143486023,
-0.04996176064014435,
0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
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] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.013000023551285267
] | 23 | 230 | 30 | 10,276 | 0 |
[
7.711223125457764,
27.63741111755371,
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60.159034729003906,
0.6363822221755981,
27.299999237060547
] | [
7.711223125457764,
27.63741111755371,
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60.159034729003906,
0.6363822221755981,
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] | [
0.33784744143486023,
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0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
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] | 1 | [
0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
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] | [
0.1650291532278061,
0.49314916133880615,
-0.34751296043395996,
0.9857999086380005,
0.019220665097236633,
0.6148962378501892
] | release object on box body | Is the object released? | gripper_open | 0.822462 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
0.6363822221755981,
30
] | [
0.33784744143486023,
-0.04996176064014435,
0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
2.9440202713012695
] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.013000023551285267
] | 23.1 | 231 | 30 | 10,277 | 0 |
[
7.711223125457764,
27.63741111755371,
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60.159034729003906,
0.6363822221755981,
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] | [
7.711223125457764,
27.63741111755371,
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] | [
0.33784744143486023,
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0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
2.9440202713012695
] | 1 | [
0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
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] | [
0.1650291532278061,
0.49314916133880615,
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0.9857999086380005,
0.019220665097236633,
0.6476850509643555
] | release object on box body | Is the object released? | gripper_open | 0.921094 | [
7.711223125457764,
27.63741111755371,
-10.225529670715332,
60.159034729003906,
0.6363822221755981,
30
] | [
0.33784744143486023,
-0.04996176064014435,
0.04060386121273041,
3.1277430057525635,
0.4391648471355438,
2.9440202713012695
] | 30 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.013000023551285267
] | 23.200001 | 232 | 30 | 10,278 | 0 |
[
7.688278675079346,
27.708053588867188,
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30
] | [
7.689355373382568,
27.681224822998047,
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0.5790287852287292,
30
] | [
0.33784908056259155,
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3.1270153522491455,
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] | 1 | [
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] | [
0.16467861831188202,
0.49394187331199646,
-0.38479936122894287,
0.9857144355773926,
0.017419293522834778,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 23.299999 | 233 | 30 | 10,279 | 0 |
[
7.688798904418945,
27.72442054748535,
-11.092352867126465,
60.20626449584961,
0.579833447933197,
30
] | [
7.6900458335876465,
27.444416046142578,
-10.270090103149414,
60.22195053100586,
0.5790287852287292,
30
] | [
0.3399592339992523,
-0.050187986344099045,
0.04299942031502724,
3.1264376640319824,
0.4514186382293701,
2.9422147274017334
] | 1 | [
0.1646696925163269,
0.49472343921661377,
-0.3622126877307892,
0.9866388440132141,
0.017444567754864693,
0.6542428135871887
] | [
0.16468967497348785,
0.4896572232246399,
-0.34826862812042236,
0.9869174957275391,
0.017419293522834778,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 23.4 | 234 | 30 | 10,280 | 0 |
[
7.689252853393555,
27.60905647277832,
-11.323953628540039,
60.18179702758789,
0.5831734538078308,
30
] | [
7.691269397735596,
27.02484130859375,
-10.373441696166992,
60.34194564819336,
0.5790287852287292,
30
] | [
0.3407868444919586,
-0.050328608602285385,
0.04437626898288727,
3.1262400150299072,
0.45786580443382263,
2.9422147274017334
] | 1 | [
0.1646769642829895,
0.492636114358902,
-0.366140216588974,
0.9862042665481567,
0.01754947192966938,
0.6542428135871887
] | [
0.16470929980278015,
0.48206573724746704,
-0.35002127289772034,
0.9890490174293518,
0.017419293522834778,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 23.5 | 235 | 30 | 10,281 | 0 |
[
7.689981460571289,
27.42740821838379,
-11.442992210388184,
60.2508430480957,
0.579734742641449,
30
] | [
7.692931652069092,
26.45477867126465,
-10.513860702514648,
60.50497817993164,
0.5790287852287292,
30
] | [
0.3411557078361511,
-0.050392668694257736,
0.045605000108480453,
3.126028060913086,
0.4619404673576355,
2.942012071609497
] | 1 | [
0.16468864679336548,
0.48934951424598694,
-0.36815887689590454,
0.9874307513237,
0.017441466450691223,
0.6542428135871887
] | [
0.16473594307899475,
0.4717514216899872,
-0.35240253806114197,
0.9919450879096985,
0.017419293522834778,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 23.6 | 236 | 30 | 10,282 | 0 |
[
7.691029071807861,
27.09848403930664,
-11.576166152954102,
60.35038757324219,
0.5782013535499573,
30
] | [
7.695024490356445,
25.73710060119629,
-12.903141021728516,
60.71022415161133,
0.5790287852287292,
30
] | [
0.3416600227355957,
-0.05048132687807083,
0.047585152089595795,
3.1257517337799072,
0.4683772027492523,
2.941828489303589
] | 1 | [
0.16470544040203094,
0.4833981692790985,
-0.3704172670841217,
0.9891989827156067,
0.017393305897712708,
0.6542428135871887
] | [
0.1647694855928421,
0.45876625180244446,
-0.3929203152656555,
0.9955909252166748,
0.017419293522834778,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.005048 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 23.700001 | 237 | 30 | 10,283 | 0 |
[
7.6924896240234375,
26.305126190185547,
-11.694722175598145,
60.466644287109375,
0.5795639753341675,
30
] | [
7.697514057159424,
24.883407592773438,
-13.113425254821777,
60.95437240600586,
0.5790287852287292,
30
] | [
0.34261590242385864,
-0.05064786598086357,
0.05182991549372673,
3.1252083778381348,
0.4826688766479492,
2.941594123840332
] | 1 | [
0.16472885012626648,
0.46904370188713074,
-0.372427761554718,
0.9912641048431396,
0.017436103895306587,
0.6542428135871887
] | [
0.16480939090251923,
0.4433201253414154,
-0.3964863419532776,
0.9999278783798218,
0.017419293522834778,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.018269 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 23.799999 | 238 | 30 | 10,284 | 0 |
[
7.694298267364502,
25.495758056640625,
-11.99940013885498,
60.67090606689453,
0.5759999752044678,
29.749998092651367
] | [
7.700335502624512,
22.535873413085938,
-13.351751327514648,
61.231075286865234,
0.5790287852287292,
29
] | [
0.3437669277191162,
-0.05084739997982979,
0.056704893708229065,
3.124497413635254,
0.4988393485546112,
2.941131353378296
] | 1 | [
0.1647578477859497,
0.45439958572387695,
-0.377594530582428,
0.9948925375938416,
0.017324164509773254,
0.648777961730957
] | [
0.16485463082790375,
0.400845468044281,
-0.4005279242992401,
1.0048431158065796,
0.017419293522834778,
0.6323835849761963
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.036705 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 23.9 | 239 | 30 | 10,285 | 0 |
[
7.696584224700928,
24.380197525024414,
-12.209087371826172,
60.84819030761719,
0.5799245238304138,
28.5
] | [
7.703483581542969,
21.456323623657227,
-13.617669105529785,
61.539817810058594,
0.5790287852287292,
27.75
] | [
0.3449661433696747,
-0.051059309393167496,
0.06285224854946136,
3.123721122741699,
0.5194191932678223,
2.940823793411255
] | 1 | [
0.16479448974132538,
0.43421539664268494,
-0.3811504542827606,
0.9980416893959045,
0.01744742877781391,
0.6214539408683777
] | [
0.16490508615970612,
0.38131284713745117,
-0.40503740310668945,
1.0103274583816528,
0.017419293522834778,
0.6050595641136169
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.076084 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24 | 240 | 30 | 10,286 | 0 |
[
7.699094772338867,
23.42351722717285,
-12.508389472961426,
61.13588333129883,
0.5752257108688354,
27.25
] | [
7.706900596618652,
20.284521102905273,
-13.906310081481934,
61.87493896484375,
0.5790287852287292,
26.499998092651367
] | [
0.3458321690559387,
-0.051214855164289474,
0.06838863343000412,
3.122910261154175,
0.5366798043251038,
2.9402475357055664
] | 1 | [
0.16483473777770996,
0.41690587997436523,
-0.3862260580062866,
1.0031521320343018,
0.017299845814704895,
0.5941299200057983
] | [
0.1649598628282547,
0.3601110875606537,
-0.4099322259426117,
1.0162804126739502,
0.017419293522834778,
0.5777354836463928
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.113793 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.1 | 241 | 30 | 10,287 | 0 |
[
7.701937675476074,
22.237010955810547,
-12.751043319702148,
61.363677978515625,
0.5815376043319702,
26
] | [
7.710542678833008,
19.006818771362305,
-12.001465797424316,
62.232139587402344,
0.5790287852287292,
25.25
] | [
0.34677883982658386,
-0.05138835310935974,
0.07498887926340103,
3.1221070289611816,
0.5582054853439331,
2.939953088760376
] | 1 | [
0.16488030552864075,
0.3954380750656128,
-0.39034101366996765,
1.0071985721588135,
0.017498092725872993,
0.566805899143219
] | [
0.1650182455778122,
0.3369932174682617,
-0.3776295781135559,
1.02262544631958,
0.017419293522834778,
0.5504114627838135
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.154572 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.200001 | 242 | 30 | 10,288 | 0 |
[
7.705070495605469,
21.065441131591797,
-13.073911666870117,
61.701812744140625,
0.5784252882003784,
24.75
] | [
7.7143988609313965,
17.648183822631836,
-14.539709091186523,
62.6103401184082,
0.5790287852287292,
24
] | [
0.3474700450897217,
-0.051518525928258896,
0.08166645467281342,
3.121135950088501,
0.5788556933403015,
2.939297676086426
] | 1 | [
0.164930522441864,
0.374240517616272,
-0.39581626653671265,
1.0132050514221191,
0.017400339245796204,
0.5394818782806396
] | [
0.16508005559444427,
0.31241104006767273,
-0.4206734895706177,
1.029343605041504,
0.017419293522834778,
0.5230874419212341
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.195859 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.299999 | 243 | 30 | 10,289 | 0 |
[
7.708478927612305,
19.824132919311523,
-13.428122520446777,
62.04423904418945,
0.5774081349372864,
23.499998092651367
] | [
7.718405246734619,
16.236665725708008,
-14.878131866455078,
63.003257751464844,
0.5790287852287292,
22.75
] | [
0.34809234738349915,
-0.05163922533392906,
0.08882123231887817,
3.1200997829437256,
0.601222574710846,
2.9386398792266846
] | 1 | [
0.16498516499996185,
0.35178112983703613,
-0.4018230438232422,
1.0192877054214478,
0.017368393018841743,
0.5121577978134155
] | [
0.16514427959918976,
0.286871999502182,
-0.42641252279281616,
1.0363233089447021,
0.017419293522834778,
0.4957634210586548
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.238314 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.4 | 244 | 30 | 10,290 | 0 |
[
7.712121963500977,
18.516679763793945,
-13.797499656677246,
62.402774810791016,
0.5771272778511047,
22.25
] | [
7.722532749176025,
14.782487869262695,
-15.226781845092773,
63.40805435180664,
0.5790287852287292,
21.5
] | [
0.348549485206604,
-0.05173387750983238,
0.09635727852582932,
3.1189913749694824,
0.624756395816803,
2.937936305999756
] | 1 | [
0.16504356265068054,
0.328125,
-0.40808698534965515,
1.0256565809249878,
0.017359571531414986,
0.48483380675315857
] | [
0.16521044075489044,
0.26056113839149475,
-0.43232497572898865,
1.0435138940811157,
0.017419293522834778,
0.46843937039375305
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.281875 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.5 | 245 | 30 | 10,291 | 0 |
[
7.715950012207031,
17.1487979888916,
-14.169246673583984,
62.77424621582031,
0.5775713324546814,
21
] | [
7.726747512817383,
13.297584533691406,
-15.582798957824707,
63.82140350341797,
0.5790287852287292,
20.249998092651367
] | [
0.3487940728664398,
-0.05179429426789284,
0.10419730842113495,
3.117816686630249,
0.6491931676864624,
2.937187433242798
] | 1 | [
0.1651049256324768,
0.3033754825592041,
-0.4143911302089691,
1.0322551727294922,
0.017373519018292427,
0.45750975608825684
] | [
0.16527801752090454,
0.23369431495666504,
-0.43836238980293274,
1.050856351852417,
0.017419293522834778,
0.4411153197288513
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.326385 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.6 | 246 | 30 | 10,292 | 0 |
[
7.719918251037598,
15.738896369934082,
-14.544822692871094,
63.16337585449219,
0.5776016712188721,
19.75
] | [
7.73100471496582,
11.797624588012695,
-15.942425727844238,
64.23894500732422,
0.5790287852287292,
19
] | [
0.34879210591316223,
-0.05181426182389259,
0.11223721504211426,
3.1165616512298584,
0.6741400957107544,
2.9363534450531006
] | 1 | [
0.16516853868961334,
0.2778657078742981,
-0.42076021432876587,
1.0391675233840942,
0.017374470829963684,
0.4301857352256775
] | [
0.16534624993801117,
0.2065550833940506,
-0.44446098804473877,
1.058273434638977,
0.017419293522834778,
0.41379132866859436
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.371567 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.700001 | 247 | 30 | 10,293 | 0 |
[
7.7239990234375,
14.256518363952637,
-14.798314094543457,
63.519981384277344,
0.5825092196464539,
18.5
] | [
7.735270977020264,
10.294544219970703,
-16.30280113220215,
64.6573486328125,
0.5790287852287292,
17.75
] | [
0.3484289348125458,
-0.05177580192685127,
0.12022219598293304,
3.115394115447998,
0.6989091038703918,
2.935667037963867
] | 1 | [
0.16523395478725433,
0.2510446012020111,
-0.4250589609146118,
1.0455020666122437,
0.017528608441352844,
0.40286171436309814
] | [
0.16541464626789093,
0.17935939133167267,
-0.45057228207588196,
1.06570565700531,
0.017419293522834778,
0.3864672780036926
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.41731 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.799999 | 248 | 30 | 10,294 | 0 |
[
7.728152751922607,
12.786582946777344,
-15.182136535644531,
63.92595291137695,
0.582619309425354,
17.249998092651367
] | [
7.739505290985107,
8.802735328674316,
-14.447973251342773,
65.07262420654297,
0.5790287852287292,
16.5
] | [
0.34793734550476074,
-0.05171503871679306,
0.12854276597499847,
3.113990068435669,
0.7247807383537292,
2.934685707092285
] | 1 | [
0.16530053317546844,
0.22444860637187958,
-0.43156787753105164,
1.0527135133743286,
0.017532065510749817,
0.375537633895874
] | [
0.1654825210571289,
0.15236765146255493,
-0.41911783814430237,
1.073082447052002,
0.017419293522834778,
0.3591432571411133
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.463309 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 24.9 | 249 | 30 | 10,295 | 0 |
[
7.7323317527771,
11.324005126953125,
-15.522564888000488,
64.36426544189453,
0.5798789858818054,
16
] | [
7.743675231933594,
7.333518981933594,
-17.01272964477539,
65.48160552978516,
0.5790287852287292,
15.25
] | [
0.3470739722251892,
-0.05159156396985054,
0.1365697681903839,
3.112521171569824,
0.74920654296875,
2.933567762374878
] | 1 | [
0.16536752879619598,
0.19798575341701508,
-0.4373409152030945,
1.0604995489120483,
0.017445998266339302,
0.34821364283561707
] | [
0.1655493676662445,
0.12578466534614563,
-0.4626113772392273,
1.0803474187850952,
0.017419293522834778,
0.33181920647621155
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.509115 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 25 | 250 | 30 | 10,296 | 0 |
[
7.736518859863281,
9.857285499572754,
-15.896522521972656,
64.78303527832031,
0.5788769721984863,
14.750000953674316
] | [
7.7477335929870605,
5.918703556060791,
-17.355518341064453,
65.87959289550781,
0.5790287852287292,
13.999999046325684
] | [
0.3460652232170105,
-0.05144418776035309,
0.14474870264530182,
3.1109724044799805,
0.7746224999427795,
2.932408332824707
] | 1 | [
0.16543464362621307,
0.17144794762134552,
-0.44368255138397217,
1.0679383277893066,
0.017414527013897896,
0.3208896219730377
] | [
0.16561442613601685,
0.10018598288297653,
-0.4684244394302368,
1.0874170064926147,
0.017419293522834778,
0.3044951558113098
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.554782 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 25.1 | 251 | 30 | 10,297 | 0 |
[
7.74066162109375,
8.401227951049805,
-16.285236358642578,
65.1908950805664,
0.578679621219635,
13.499999046325684
] | [
7.751648902893066,
4.581582546234131,
-17.686269760131836,
66.26361083984375,
0.5790287852287292,
12.75
] | [
0.3448661267757416,
-0.05126485973596573,
0.15291158854961395,
3.1093525886535645,
0.8002887964248657,
2.931189775466919
] | 1 | [
0.16550105810165405,
0.14510305225849152,
-0.45027443766593933,
1.075183391571045,
0.017408328130841255,
0.2935655415058136
] | [
0.16567718982696533,
0.07599304616451263,
-0.4740333557128906,
1.094238519668579,
0.017419293522834778,
0.27717116475105286
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.600029 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 25.200001 | 252 | 30 | 10,298 | 0 |
[
7.744717597961426,
6.948568344116211,
-16.55222511291504,
65.5487289428711,
0.5827521681785583,
12.25
] | [
7.755391597747803,
3.3036015033721924,
-18.00239372253418,
66.6306381225586,
0.5790287852287292,
11.500000953674316
] | [
0.34340164065361023,
-0.05104166269302368,
0.160619854927063,
3.1078736782073975,
0.8247224688529968,
2.9301388263702393
] | 1 | [
0.1655660718679428,
0.11881963908672333,
-0.4548020660877228,
1.0815397500991821,
0.017536239698529243,
0.26624155044555664
] | [
0.16573718190193176,
0.05287015065550804,
-0.47939425706863403,
1.1007581949234009,
0.017419293522834778,
0.2498471438884735
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.644516 | [
7.774562358856201,
-1.6226648092269897,
-17.40578269958496,
68.51081085205078,
0.5790287852287292,
0
] | [
0.3287179470062256,
-0.04872991889715195,
0.19996829330921173,
3.098618268966675,
0.9415155649185181,
2.922421932220459
] | 0 | pick box lid and place on box body | box body | [
0.32875856757164,
-0.048736754804849625,
0.20000000298023224
] | 25.299999 | 253 | 30 | 10,299 | 0 |
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