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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[
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.056726 | [
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[
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[
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[
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.187058 | [
31.198348999023438,
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.799999 | 178 | 33 | 11,210 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.222859 | [
31.198348999023438,
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] | 0 | pick box lid and place on box body | box body | [
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[
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31.198348999023438,
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[
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[
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[
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31.198348999023438,
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[
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31.198348999023438,
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[
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31.198348999023438,
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10.448508262634277,
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[
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[
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[
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.923044 | [
31.198348999023438,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.941892 | [
31.198348999023438,
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] | 0 | pick box lid and place on box body | box body | [
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[
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[
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31.04698371887207,
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[
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31.04698371887207,
21.979053497314453,
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.200001 | 202 | 33 | 11,234 | 0 |
[
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31.04698371887207,
21.979053497314453,
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.299999 | 203 | 33 | 11,235 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.022757 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.4 | 204 | 33 | 11,236 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.0343 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.5 | 205 | 33 | 11,237 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.052339 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 20.6 | 206 | 33 | 11,238 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.075931 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
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[
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31.04698371887207,
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21.979053497314453,
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21.979053497314453,
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[
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21.979053497314453,
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[
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21.979053497314453,
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31.04698371887207,
21.979053497314453,
54.38839340209961,
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] | 0 | pick box lid and place on box body | box body | [
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31.04698371887207,
21.979053497314453,
54.38839340209961,
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[
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31.04698371887207,
21.979053497314453,
54.38839340209961,
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] | [
0.5391036868095398,
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0.7434595823287964,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.896867 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 23.4 | 234 | 33 | 11,266 | 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 | 0.89527 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
-32.30741500854492,
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] | [
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3.0435268878936768,
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 23.5 | 235 | 33 | 11,267 | 0 |
[
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] | [
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20.223054885864258,
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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 | 0.894355 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
-32.30741500854492,
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] | [
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3.0435268878936768,
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 23.6 | 236 | 33 | 11,268 | 0 |
[
31.156200408935547,
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] | [
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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 | 0.893868 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
-32.30741500854492,
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] | [
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3.0435268878936768,
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
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] | 23.700001 | 237 | 33 | 11,269 | 0 |
[
31.15302085876465,
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] | [
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20.223054885864258,
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] | [
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] | [
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0.7434595823287964,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.893626 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
-32.30741500854492,
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0
] | [
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0.007918310351669788,
3.0435268878936768,
1.0860120058059692,
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 23.799999 | 238 | 33 | 11,270 | 0 |
[
31.15174102783203,
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] | [
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20.223054885864258,
54.107669830322266,
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] | [
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] | [
0.5391036868095398,
0.35899895429611206,
0.7434595823287964,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.893394 | [
31.04698371887207,
21.979053497314453,
54.38839340209961,
-32.30741500854492,
-0.06598960608243942,
0
] | [
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0.007918310351669788,
3.0435268878936768,
1.0860120058059692,
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 23.9 | 239 | 33 | 11,271 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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0.5407493114471436,
0.3346322476863861,
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0.01933296024799347,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
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0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 24 | 240 | 33 | 11,272 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
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18.87632942199707,
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] | [
0.307082861661911,
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3.0472428798675537,
1.2687057256698608,
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] | 1 | [
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0.5407493114471436,
0.3346322476863861,
0.7345137596130371,
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0.01933296024799347,
0.05092819035053253
] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
-0.1612575501203537,
0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 24.1 | 241 | 33 | 11,273 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
31.149641036987305,
18.87632942199707,
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0.307082861661911,
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3.0472428798675537,
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] | 1 | [
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0.5407493114471436,
0.3346322476863861,
0.7345137596130371,
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0.01933296024799347,
0.0837169960141182
] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
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0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 24.200001 | 242 | 33 | 11,274 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
31.149641036987305,
18.87632942199707,
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] | [
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3.0472428798675537,
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] | 1 | [
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0.3346322476863861,
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] | [
0.5407493114471436,
0.3346322476863861,
0.7345137596130371,
-0.7684332728385925,
0.01933296024799347,
0.11650580912828445
] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
-0.1612575501203537,
0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
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0.013000023551285267
] | 24.299999 | 243 | 33 | 11,275 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
0.307082861661911,
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3.0472428798675537,
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] | 1 | [
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0.3346322476863861,
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0.5407493114471436,
0.3346322476863861,
0.7345137596130371,
-0.7684332728385925,
0.01933296024799347,
0.1492946892976761
] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
-0.1612575501203537,
0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 24.4 | 244 | 33 | 11,276 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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7.5
] | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
0.307082861661911,
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0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
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] | 1 | [
0.5407493114471436,
0.3346322476863861,
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0.5407493114471436,
0.3346322476863861,
0.7345137596130371,
-0.7684332728385925,
0.01933296024799347,
0.18208351731300354
] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
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0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
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0.013000023551285267
] | 24.5 | 245 | 33 | 11,277 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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0.6399575471878052,
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] | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
0.307082861661911,
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3.0472428798675537,
1.2687057256698608,
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] | 1 | [
0.5407493114471436,
0.3346322476863861,
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0.5407493114471436,
0.3346322476863861,
0.7345137596130371,
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0.01933296024799347,
0.21487239003181458
] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
-0.1612575501203537,
0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 24.6 | 246 | 33 | 11,278 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
0.307082861661911,
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3.0472428798675537,
1.2687057256698608,
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] | 1 | [
0.5407493114471436,
0.3346322476863861,
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0.5407493114471436,
0.3346322476863861,
0.7345137596130371,
-0.7684332728385925,
0.01933296024799347,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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30
] | [
0.307082861661911,
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3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 24.700001 | 247 | 33 | 11,279 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 24.799999 | 248 | 33 | 11,280 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
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] | 24.9 | 249 | 33 | 11,281 | 0 |
[
31.149641036987305,
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15
] | [
31.149641036987305,
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] | [
0.307082861661911,
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0.5407493114471436,
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] | release object on box body | Is the object released? | gripper_open | 0.03889 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 25 | 250 | 33 | 11,282 | 0 |
[
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] | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.135001 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
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] | 25.1 | 251 | 33 | 11,283 | 0 |
[
31.149641036987305,
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18
] | [
31.149641036987305,
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53.58014678955078,
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] | [
0.307082861661911,
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.231112 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 25.200001 | 252 | 33 | 11,284 | 0 |
[
31.149641036987305,
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19.5
] | [
31.149641036987305,
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.327223 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
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] | 25.299999 | 253 | 33 | 11,285 | 0 |
[
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.423334 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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30
] | [
0.307082861661911,
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 25.4 | 254 | 33 | 11,286 | 0 |
[
31.149641036987305,
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22.5
] | [
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] | [
0.307082861661911,
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] | 1 | [
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0.5407493114471436,
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] | release object on box body | Is the object released? | gripper_open | 0.519445 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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30
] | [
0.307082861661911,
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
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] | 25.5 | 255 | 33 | 11,287 | 0 |
[
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] | [
31.149641036987305,
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] | [
0.307082861661911,
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] | 1 | [
0.5407493114471436,
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0.5407493114471436,
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] | release object on box body | Is the object released? | gripper_open | 0.615556 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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30
] | [
0.307082861661911,
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1.2687057256698608,
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
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] | 25.6 | 256 | 33 | 11,288 | 0 |
[
31.149641036987305,
18.87632942199707,
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25.5
] | [
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] | [
0.307082861661911,
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] | 1 | [
0.5407493114471436,
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0.5407493114471436,
0.3346322476863861,
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] | release object on box body | Is the object released? | gripper_open | 0.711667 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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0.6399575471878052,
30
] | [
0.307082861661911,
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0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
2.5020575523376465
] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 25.700001 | 257 | 33 | 11,289 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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0.6399575471878052,
27
] | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
0.307082861661911,
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] | 1 | [
0.5407493114471436,
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0.5407493114471436,
0.3346322476863861,
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] | release object on box body | Is the object released? | gripper_open | 0.807778 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
-0.1612575501203537,
0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
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] | 25.799999 | 258 | 33 | 11,290 | 0 |
[
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
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] | [
0.307082861661911,
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] | 1 | [
0.5407493114471436,
0.3346322476863861,
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0.5407493114471436,
0.3346322476863861,
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0.01933296024799347,
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] | release object on box body | Is the object released? | gripper_open | 0.903889 | [
31.149641036987305,
18.87632942199707,
53.58014678955078,
-38.595909118652344,
0.6399575471878052,
30
] | [
0.307082861661911,
-0.1612575501203537,
0.04324055090546608,
3.0472428798675537,
1.2687057256698608,
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] | 30 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.013000023551285267
] | 25.9 | 259 | 33 | 11,291 | 0 |
[
31.146413803100586,
18.875083923339844,
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30
] | [
31.146459579467773,
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30
] | [
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] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
31.184471130371094,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
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] | 26 | 260 | 33 | 11,292 | 0 |
[
31.146562576293945,
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] | [
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] | [
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] | [
0.540702760219574,
0.3306475579738617,
0.73079514503479,
-0.7697163224220276,
0.01914234459400177,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
31.184471130371094,
-12.309106826782227,
59.41055679321289,
-46.29115295410156,
0.6338886022567749,
0
] | [
0.2962420880794525,
-0.15494263172149658,
0.19999414682388306,
0.0947321206331253,
1.2680319547653198,
-0.44208091497421265
] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.20000000298023224
] | 26.1 | 261 | 33 | 11,293 | 0 |
[
31.146562576293945,
18.815942764282227,
53.431278228759766,
-38.614139556884766,
0.6326474547386169,
30
] | [
31.147228240966797,
18.24197006225586,
53.43491744995117,
-38.76751708984375,
0.6338886022567749,
30
] | [
0.30754324793815613,
-0.16151383519172668,
0.04415222629904747,
3.0451760292053223,
1.2726051807403564,
2.5000650882720947
] | 1 | [
0.5406999588012695,
0.3335396349430084,
0.7319892048835754,
-0.768757164478302,
0.019103363156318665,
0.6542428135871887
] | [
0.5407106280326843,
0.32315459847450256,
0.7320509552955627,
-0.7714816331863403,
0.01914234459400177,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
31.184471130371094,
-12.309106826782227,
59.41055679321289,
-46.29115295410156,
0.6338886022567749,
0
] | [
0.2962420880794525,
-0.15494263172149658,
0.19999414682388306,
0.0947321206331253,
1.2680319547653198,
-0.44208091497421265
] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.20000000298023224
] | 26.200001 | 262 | 33 | 11,294 | 0 |
[
31.146799087524414,
18.623592376708984,
53.43101501464844,
-38.655174255371094,
0.631804883480072,
30
] | [
31.147930145263672,
17.651704788208008,
53.540462493896484,
-38.9091682434082,
0.6338886022567749,
30
] | [
0.307791531085968,
-0.16166405379772186,
0.04524841159582138,
3.0436253547668457,
1.2767945528030396,
2.498570442199707
] | 1 | [
0.5407037734985352,
0.33005937933921814,
0.7319847345352173,
-0.7694860696792603,
0.01907689869403839,
0.6542428135871887
] | [
0.5407218933105469,
0.31247472763061523,
0.7338407635688782,
-0.7739979028701782,
0.01914234459400177,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
31.184471130371094,
-12.309106826782227,
59.41055679321289,
-46.29115295410156,
0.6338886022567749,
0
] | [
0.2962420880794525,
-0.15494263172149658,
0.19999414682388306,
0.0947321206331253,
1.2680319547653198,
-0.44208091497421265
] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.20000000298023224
] | 26.299999 | 263 | 33 | 11,295 | 0 |
[
31.14739418029785,
18.285938262939453,
53.47101974487305,
-38.731475830078125,
0.6310989260673523,
30
] | [
31.148832321166992,
15.474802017211914,
53.67620086669922,
-39.09133529663086,
0.6338886022567749,
30
] | [
0.3081229329109192,
-0.16186630725860596,
0.04703492298722267,
3.0411040782928467,
1.283542275428772,
2.49613881111145
] | 1 | [
0.5407133102416992,
0.3239501118659973,
0.7326631546020508,
-0.7708414196968079,
0.019054725766181946,
0.6542428135871887
] | [
0.5407363772392273,
0.27308738231658936,
0.736142635345459,
-0.7772337794303894,
0.01914234459400177,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.000175 | [
31.184471130371094,
-12.309106826782227,
59.41055679321289,
-46.29115295410156,
0.6338886022567749,
0
] | [
0.2962420880794525,
-0.15494263172149658,
0.19999414682388306,
0.0947321206331253,
1.2680319547653198,
-0.44208091497421265
] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.20000000298023224
] | 26.4 | 264 | 33 | 11,296 | 0 |
[
31.14798927307129,
17.558731079101562,
53.54553985595703,
-38.85105514526367,
0.6306814551353455,
30
] | [
31.149900436401367,
15.992914199829102,
53.837074279785156,
-39.30723571777344,
0.6338886022567749,
30
] | [
0.30879876017570496,
-0.16227546334266663,
0.05081361532211304,
3.035627841949463,
1.297478199005127,
2.490863084793091
] | 1 | [
0.5407228469848633,
0.3107925355434418,
0.7339268922805786,
-0.7729656100273132,
0.01904161460697651,
0.6542428135871887
] | [
0.5407534837722778,
0.2824617326259613,
0.7388707995414734,
-0.7810689210891724,
0.01914234459400177,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.01234 | [
31.184471130371094,
-12.309106826782227,
59.41055679321289,
-46.29115295410156,
0.6338886022567749,
0
] | [
0.2962420880794525,
-0.15494263172149658,
0.19999414682388306,
0.0947321206331253,
1.2680319547653198,
-0.44208091497421265
] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.20000000298023224
] | 26.5 | 265 | 33 | 11,297 | 0 |
[
31.148595809936523,
16.676837921142578,
53.662784576416016,
-38.9693717956543,
0.627451479434967,
30
] | [
31.151134490966797,
13.536949157714844,
54.02271270751953,
-39.556373596191406,
0.6338886022567749,
29.249998092651367
] | [
0.3094785809516907,
-0.162686288356781,
0.055232953280210495,
3.028313159942627,
1.3134335279464722,
2.4837677478790283
] | 1 | [
0.5407325625419617,
0.294836163520813,
0.7359151244163513,
-0.7750673294067383,
0.018940167501568794,
0.6542428135871887
] | [
0.5407732725143433,
0.2380252182483673,
0.7420188784599304,
-0.7854945063591003,
0.01914234459400177,
0.6378483176231384
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.026882 | [
31.184471130371094,
-12.309106826782227,
59.41055679321289,
-46.29115295410156,
0.6338886022567749,
0
] | [
0.2962420880794525,
-0.15494263172149658,
0.19999414682388306,
0.0947321206331253,
1.2680319547653198,
-0.44208091497421265
] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.20000000298023224
] | 26.6 | 266 | 33 | 11,298 | 0 |
[
31.149633407592773,
15.625837326049805,
53.79652786254883,
-39.16853332519531,
0.6281840205192566,
28.75
] | [
31.152509689331055,
12.379105567932129,
54.22975158691406,
-39.834224700927734,
0.6338886022567749,
28
] | [
0.31026366353034973,
-0.16316403448581696,
0.06069271266460419,
3.0183234214782715,
1.3335717916488647,
2.4740703105926514
] | 1 | [
0.540749192237854,
0.2758201062679291,
0.7381832003593445,
-0.7786051034927368,
0.018963174894452095,
0.6269187927246094
] | [
0.5407953262329102,
0.21707600355148315,
0.74552983045578,
-0.7904301285743713,
0.01914234459400177,
0.6105243563652039
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.064264 | [
31.184471130371094,
-12.309106826782227,
59.41055679321289,
-46.29115295410156,
0.6338886022567749,
0
] | [
0.2962420880794525,
-0.15494263172149658,
0.19999414682388306,
0.0947321206331253,
1.2680319547653198,
-0.44208091497421265
] | 0 | pick box lid and place on box body | box body | [
0.29626739025115967,
-0.1549578756093979,
0.20000000298023224
] | 26.700001 | 267 | 33 | 11,299 | 0 |
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