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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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.059533 | [
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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 | 0.077564 | [
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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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] | 19.4 | 194 | 35 | 11,908 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.220605 | [
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6.536562919616699,
47.36375427246094,
13.34880256652832,
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] | [
0.15630237758159637,
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
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] | 19.5 | 195 | 35 | 11,909 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.260247 | [
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6.536562919616699,
47.36375427246094,
13.34880256652832,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
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] | 19.6 | 196 | 35 | 11,910 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.302254 | [
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6.536562919616699,
47.36375427246094,
13.34880256652832,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
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] | 19.700001 | 197 | 35 | 11,911 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.346167 | [
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6.536562919616699,
47.36375427246094,
13.34880256652832,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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0.25243136286735535,
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] | 19.799999 | 198 | 35 | 11,912 | 0 |
[
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[
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[
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6.536562919616699,
47.36375427246094,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.848119 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
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] | 21.200001 | 212 | 35 | 11,926 | 0 |
[
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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 | 0.866413 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
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] | 21.299999 | 213 | 35 | 11,927 | 0 |
[
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0
] | [
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] | [
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] | [
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0.012968377210199833,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87675 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 21.4 | 214 | 35 | 11,928 | 0 |
[
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0
] | [
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] | [
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] | [
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0.1542864590883255,
0.012968377210199833,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880152 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
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] | [
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0.24031522870063782,
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3.112955331802368,
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 21.5 | 215 | 35 | 11,929 | 0 |
[
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0
] | [
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] | [
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] | [
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0.07313909381628036,
0.6748859882354736,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.879054 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
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] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
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] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 21.6 | 216 | 35 | 11,930 | 0 |
[
-76.84380340576172,
2.0375983715057373,
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0
] | [
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] | [
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0.03922325372695923,
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] | [
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0.07313909381628036,
0.6250620484352112,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.876067 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 21.700001 | 217 | 35 | 11,931 | 0 |
[
-76.85444641113281,
2.2579891681671143,
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0
] | [
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4.423847198486328,
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] | [
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0.03904686123132706,
-3.121060609817505,
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] | [
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0.07313909381628036,
0.6748859882354736,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.871934 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 21.799999 | 218 | 35 | 11,932 | 0 |
[
-76.86228942871094,
2.391639232635498,
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0
] | [
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4.423847198486328,
50.0639762878418,
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] | [
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0.039066899567842484,
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] | [
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0.07313909381628036,
0.6748859882354736,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.871708 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 21.9 | 219 | 35 | 11,933 | 0 |
[
-76.86653137207031,
2.4492781162261963,
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0
] | [
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4.423847198486328,
47.12592697143555,
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] | [
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] | [
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0.07313909381628036,
0.6250620484352112,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.869244 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 22 | 220 | 35 | 11,934 | 0 |
[
-76.8676986694336,
2.4836456775665283,
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0
] | [
-76.90367126464844,
4.423847198486328,
47.12592697143555,
13.34880256652832,
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] | [
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0.03903883695602417,
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0.03803444281220436,
0.6124267578125,
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] | [
-1.1913559436798096,
0.07313909381628036,
0.6250620484352112,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.867695 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 22.1 | 221 | 35 | 11,935 | 0 |
[
-76.87218475341797,
2.5304837226867676,
46.41266632080078,
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0
] | [
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4.423847198486328,
50.0639762878418,
13.34880256652832,
0.4373171031475067,
0
] | [
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0.039042312651872635,
-3.1181468963623047,
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] | 0 | [
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0.038881897926330566,
0.6129664778709412,
0.07099143415689468,
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-0.0015339808305725455
] | [
-1.1913559436798096,
0.07313909381628036,
0.6748859882354736,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.865892 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 22.200001 | 222 | 35 | 11,936 | 0 |
[
-76.87513732910156,
2.588500738143921,
46.27279281616211,
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0
] | [
-76.90367126464844,
4.423847198486328,
50.0639762878418,
13.34880256652832,
0.4373171031475067,
0
] | [
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0.2667597234249115,
0.03905512019991875,
-3.118889331817627,
0.8468726873397827,
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] | 0 | [
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0.03993161395192146,
0.6105945110321045,
0.07318136096000671,
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] | [
-1.1913559436798096,
0.07313909381628036,
0.6748859882354736,
0.1542864590883255,
0.012968377210199833,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.868117 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 22.299999 | 223 | 35 | 11,937 | 0 |
[
-76.8751220703125,
2.592142343521118,
46.30653762817383,
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2.210749626159668,
0
] | [
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2.5800302028656006,
46.38294982910156,
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2.230095148086548,
0.5999994277954102
] | [
0.14595770835876465,
0.2667914927005768,
0.0390605628490448,
-3.118950128555298,
0.8475584983825684,
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-1.1908982992172241,
0.03999750316143036,
0.6111667156219482,
0.07185891270637512,
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] | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.011581542901694775
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.867191 | [
-76.90367126464844,
6.536562919616699,
47.36375427246094,
13.34880256652832,
0.4373171031475067,
0
] | [
0.15630237758159637,
0.24031522870063782,
0.008596118539571762,
3.112955331802368,
0.6755496859550476,
-1.9959994554519653
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 22.4 | 224 | 35 | 11,938 | 0 |
[
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
1.1999988555908203
] | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
2.0999979972839355
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
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] | 1 | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
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] | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.04437034949660301
] | release object on box body | Is the object released? | gripper_open | 0 | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 30 | pick box lid and place on box body | box body | [
0.14005987346172333,
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[
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[
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] | [
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[
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[
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] | [
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[
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] | [
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[
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[
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] | [
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[
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] | [
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[
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] | [
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[
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0.06996200233697891,
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0.4837408661842346
] | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.5034140944480896
] | release object on box body | Is the object released? | gripper_open | 0.498095 | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 30 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 23.9 | 239 | 35 | 11,953 | 0 |
[
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
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2.230095148086548,
23.69999885559082
] | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
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2.230095148086548,
24.599998474121094
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
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] | 1 | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
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] | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.5362029671669006
] | release object on box body | Is the object released? | gripper_open | 0.594615 | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 30 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 24 | 240 | 35 | 11,954 | 0 |
[
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
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2.230095148086548,
25.199996948242188
] | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
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2.230095148086548,
26.100000381469727
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 1 | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.5493184328079224
] | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.5689918398857117
] | release object on box body | Is the object released? | gripper_open | 0.691135 | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 30 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 24.1 | 241 | 35 | 11,955 | 0 |
[
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
26.69999885559082
] | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
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2.230095148086548,
27.599998474121094
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 1 | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.5821073055267334
] | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.6017806529998779
] | release object on box body | Is the object released? | gripper_open | 0.787656 | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 30 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 24.200001 | 242 | 35 | 11,956 | 0 |
[
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
28.19999885559082
] | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
29.09999656677246
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 1 | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.6148961782455444
] | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.6345694065093994
] | release object on box body | Is the object released? | gripper_open | 0.884176 | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 30 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 24.299999 | 243 | 35 | 11,957 | 0 |
[
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
29.700000762939453
] | [
-76.8757553100586,
2.283263683319092,
46.15424346923828,
8.601917266845703,
2.229818105697632,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 1 | [
-1.1909099817276,
0.03977835550904274,
0.61246258020401,
0.06996200233697891,
0.06927640736103058,
0.6476850509643555
] | [
-1.1909085512161255,
0.03440886735916138,
0.6085841059684753,
0.0699651762843132,
0.06926771253347397,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.980696 | [
-76.87584686279297,
2.5800302028656006,
46.38294982910156,
8.601738929748535,
2.230095148086548,
30
] | [
0.14595288038253784,
0.2667754888534546,
0.03904266282916069,
-3.1182234287261963,
0.8483644127845764,
-1.9195243120193481
] | 30 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.013000025413930416
] | 24.4 | 244 | 35 | 11,958 | 0 |
[
-76.87572479248047,
2.4887609481811523,
46.320770263671875,
8.623111724853516,
2.227924108505249,
30
] | [
-76.8759536743164,
2.0485007762908936,
46.19236373901367,
8.601680755615234,
2.229818105697632,
30
] | [
0.1460583209991455,
0.2670395076274872,
0.03966107964515686,
-3.1181912422180176,
0.850691020488739,
-1.919547200202942
] | 1 | [
-1.1909080743789673,
0.03812699392437935,
0.6114081144332886,
0.07034166157245636,
0.06920821964740753,
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] | [
-1.1909116506576538,
0.030161231756210327,
0.6092305779457092,
0.06996097415685654,
0.06926771253347397,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 24.5 | 245 | 35 | 11,959 | 0 |
[
-76.87572479248047,
2.334460735321045,
46.26753234863281,
8.614814758300781,
2.2286641597747803,
30
] | [
-76.87637329101562,
1.5714672803878784,
46.26982498168945,
8.60119915008545,
2.229818105697632,
30
] | [
0.14620663225650787,
0.26741042733192444,
0.040600597858428955,
-3.1179823875427246,
0.8545306324958801,
-1.9193745851516724
] | 1 | [
-1.1909080743789673,
0.03533519431948662,
0.6105052828788757,
0.07019428163766861,
0.06923146545886993,
0.6542428135871887
] | [
-1.1909184455871582,
0.021530121564865112,
0.6105441451072693,
0.06995242089033127,
0.06926771253347397,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 24.6 | 246 | 35 | 11,960 | 0 |
[
-76.87572479248047,
2.0689284801483154,
46.26844024658203,
8.61739730834961,
2.228379487991333,
30
] | [
-76.87699890136719,
0.8532339334487915,
46.386451721191406,
8.600475311279297,
2.229818105697632,
30
] | [
0.14633791148662567,
0.2677394449710846,
0.04183105751872063,
-3.117765426635742,
0.8592715859413147,
-1.919216513633728
] | 1 | [
-1.1909080743789673,
0.030530836433172226,
0.6105206608772278,
0.07024015486240387,
0.06922252476215363,
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] | [
-1.1909284591674805,
0.008534906432032585,
0.6125219464302063,
0.06993956118822098,
0.06926771253347397,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.000694 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 24.700001 | 247 | 35 | 11,961 | 0 |
[
-76.87600708007812,
1.6431714296340942,
46.31485366821289,
8.62297534942627,
2.2278292179107666,
30
] | [
-76.87779235839844,
-0.06438679993152618,
46.535457611083984,
8.599549293518066,
2.229818105697632,
30
] | [
0.14648936688899994,
0.26812267303466797,
0.04363059997558594,
-3.117454767227173,
0.8660857677459717,
-1.9189871549606323
] | 1 | [
-1.1909124851226807,
0.02282748557627201,
0.6113077402114868,
0.07033924013376236,
0.06920523941516876,
0.6542428135871887
] | [
-1.1909412145614624,
-0.008067883551120758,
0.6150488257408142,
0.06992311030626297,
0.06926771253347397,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.007468 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 24.799999 | 248 | 35 | 11,962 | 0 |
[
-76.87689208984375,
0.8125779628753662,
46.43208694458008,
8.67480754852295,
2.22324800491333,
30
] | [
-76.8787612915039,
-1.1780202388763428,
46.71628952026367,
8.59842586517334,
2.229818105697632,
30
] | [
0.146709606051445,
0.2686884105205536,
0.04695728048682213,
-3.1170268058776855,
0.8782025575637817,
-1.9187378883361816
] | 1 | [
-1.1909266710281372,
0.0077993059530854225,
0.61329585313797,
0.07125996053218842,
0.06906135380268097,
0.6542428135871887
] | [
-1.190956711769104,
-0.028217190876603127,
0.6181153655052185,
0.06990315765142441,
0.06926771253347397,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.020678 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 24.9 | 249 | 35 | 11,963 | 0 |
[
-76.87789154052734,
-0.31969577074050903,
46.528560638427734,
8.639026641845703,
2.226409673690796,
30
] | [
-76.8798828125,
-3.8427772521972656,
46.92584991455078,
8.597124099731445,
2.229818105697632,
29.500001907348633
] | [
0.14713208377361298,
0.2697569727897644,
0.0519738495349884,
-3.1159048080444336,
0.8976759910583496,
-1.9177887439727783
] | 1 | [
-1.1909427642822266,
-0.012687265872955322,
0.6149318218231201,
0.07062436640262604,
0.06916065514087677,
0.6542428135871887
] | [
-1.1909747123718262,
-0.07643144577741623,
0.6216691136360168,
0.06988003104925156,
0.06926771253347397,
0.6433132290840149
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.038361 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25 | 250 | 35 | 11,964 | 0 |
[
-76.87863159179688,
-1.6188048124313354,
46.67750549316406,
8.633605003356934,
2.2266032695770264,
29.000001907348633
] | [
-76.88113403320312,
-5.281676769256592,
47.15949630737305,
8.595671653747559,
2.229818105697632,
28.25
] | [
0.14750774204730988,
0.2707071304321289,
0.05752073973417282,
-3.1147561073303223,
0.9187397956848145,
-1.9168674945831299
] | 1 | [
-1.190954566001892,
-0.03619243949651718,
0.6174576878547668,
0.0705280601978302,
0.06916673481464386,
0.6323836445808411
] | [
-1.1909947395324707,
-0.10246589034795761,
0.6256313323974609,
0.06985422968864441,
0.06926771253347397,
0.6159891486167908
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.0707 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.1 | 251 | 35 | 11,965 | 0 |
[
-76.87934875488281,
-2.9662859439849854,
46.85158920288086,
8.618180274963379,
2.2278823852539062,
27.75
] | [
-76.88251495361328,
-6.866173267364502,
47.41679000854492,
8.594073295593262,
2.229818105697632,
27.000001907348633
] | [
0.14783740043640137,
0.2715410590171814,
0.06323007494211197,
-3.1134581565856934,
0.9404281377792358,
-1.9157918691635132
] | 1 | [
-1.1909661293029785,
-0.060572825372219086,
0.6204097867012024,
0.07025406509637833,
0.06920690834522247,
0.6050595641136169
] | [
-1.1910169124603271,
-0.13113467395305634,
0.6299945712089539,
0.06982583552598953,
0.06926771253347397,
0.5886651873588562
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.106857 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.200001 | 252 | 35 | 11,966 | 0 |
[
-76.88050079345703,
-4.39616060256958,
47.058956146240234,
8.6116943359375,
2.228318691253662,
26.500001907348633
] | [
-76.88399505615234,
-8.56733512878418,
47.69304656982422,
8.592357635498047,
2.229818105697632,
25.75
] | [
0.14810532331466675,
0.2722265124320984,
0.06918352097272873,
-3.1120688915252686,
0.9628835320472717,
-1.9146337509155273
] | 1 | [
-1.1909846067428589,
-0.08644398301839828,
0.6239264011383057,
0.0701388493180275,
0.06922061741352081,
0.5777355432510376
] | [
-1.1910406351089478,
-0.16191430389881134,
0.63467937707901,
0.06979536265134811,
0.06926771253347397,
0.5613411068916321
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.144356 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.299999 | 253 | 35 | 11,967 | 0 |
[
-76.8819808959961,
-5.925167560577393,
47.293121337890625,
8.60853385925293,
2.228466749191284,
25.25
] | [
-76.88555908203125,
-10.366207122802734,
47.98516845703125,
8.590542793273926,
2.229818105697632,
24.5
] | [
0.14832067489624023,
0.27278468012809753,
0.0754939466714859,
-3.11051344871521,
0.986617386341095,
-1.9133201837539673
] | 1 | [
-1.1910083293914795,
-0.11410877108573914,
0.6278973817825317,
0.07008270919322968,
0.0692252665758133,
0.5504114627838135
] | [
-1.1910656690597534,
-0.19446183741092682,
0.6396332383155823,
0.06976312398910522,
0.06926771253347397,
0.5340170860290527
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.183447 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.4 | 254 | 35 | 11,968 | 0 |
[
-76.8835678100586,
-7.555180549621582,
47.54909133911133,
8.60570240020752,
2.228576898574829,
24
] | [
-76.88719940185547,
-12.255263328552246,
48.29193878173828,
8.58863639831543,
2.229818105697632,
23.250001907348633
] | [
0.14848209917545319,
0.27320921421051025,
0.08219262957572937,
-3.1087379455566406,
1.0118008852005005,
-1.9117995500564575
] | 1 | [
-1.1910337209701538,
-0.14360108971595764,
0.6322381496429443,
0.07003241032361984,
0.06922872364521027,
0.5230874419212341
] | [
-1.1910920143127441,
-0.2286411076784134,
0.6448354721069336,
0.0697292611002922,
0.06926771253347397,
0.5066930651664734
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.224148 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.5 | 255 | 35 | 11,969 | 0 |
[
-76.88516998291016,
-9.28100299835205,
47.82341766357422,
8.602365493774414,
2.228728771209717,
22.750001907348633
] | [
-76.8888931274414,
-14.20556640625,
48.60865783691406,
8.586668968200684,
2.229818105697632,
22
] | [
0.148581862449646,
0.2734794318675995,
0.08926551043987274,
-3.1066970825195312,
1.0384129285812378,
-1.9100269079208374
] | 1 | [
-1.1910594701766968,
-0.17482692003250122,
0.6368902325630188,
0.06997313350439072,
0.0692334920167923,
0.4957634508609772
] | [
-1.1911190748214722,
-0.26392853260040283,
0.650206446647644,
0.06969431042671204,
0.06926771253347397,
0.47936898469924927
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.266371 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.6 | 256 | 35 | 11,970 | 0 |
[
-76.88674926757812,
-11.091880798339844,
48.113037109375,
8.598377227783203,
2.2289071083068848,
21.5
] | [
-76.89063262939453,
-16.20330810546875,
48.933074951171875,
8.5846529006958,
2.229818105697632,
20.750001907348633
] | [
0.14861033856868744,
0.27357080578804016,
0.0966678336262703,
-3.1043481826782227,
1.0663127899169922,
-1.9079583883285522
] | 1 | [
-1.1910847425460815,
-0.2075916826725006,
0.641801655292511,
0.06990229338407516,
0.06923909485340118,
0.46843937039375305
] | [
-1.191146969795227,
-0.3000742793083191,
0.6557079553604126,
0.06965849548578262,
0.06926771253347397,
0.4520449936389923
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.309933 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.700001 | 257 | 35 | 11,971 | 0 |
[
-76.88835144042969,
-12.973888397216797,
48.4149055480957,
8.59366512298584,
2.229153871536255,
20.250001907348633
] | [
-76.89239501953125,
-18.230981826782227,
49.26235580444336,
8.58260726928711,
2.229818105697632,
19.5
] | [
0.14855846762657166,
0.2734610438346863,
0.10433848202228546,
-3.101637840270996,
1.0953011512756348,
-1.9055372476577759
] | 1 | [
-1.191110372543335,
-0.24164341390132904,
0.6469208002090454,
0.06981858611106873,
0.06924684345722198,
0.4411153793334961
] | [
-1.1911752223968506,
-0.33676159381866455,
0.6612919569015503,
0.06962215900421143,
0.06926771253347397,
0.4247209429740906
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.354602 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.799999 | 258 | 35 | 11,972 | 0 |
[
-76.88994598388672,
-14.911768913269043,
48.72631072998047,
8.588519096374512,
2.2294347286224365,
19
] | [
-76.8941650390625,
-20.266952514648438,
49.593292236328125,
8.580551147460938,
2.229818105697632,
18.25
] | [
0.1484190821647644,
0.2731318473815918,
0.11220696568489075,
-3.098506450653076,
1.1251418590545654,
-1.9027024507522583
] | 1 | [
-1.1911360025405884,
-0.2767060697078705,
0.6522016525268555,
0.06972717493772507,
0.06925566494464874,
0.41379132866859436
] | [
-1.1912035942077637,
-0.37359902262687683,
0.6669040322303772,
0.0695856362581253,
0.06926771253347397,
0.39739689230918884
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.40012 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 25.9 | 259 | 35 | 11,973 | 0 |
[
-76.89158630371094,
-16.887956619262695,
49.044063568115234,
8.582710266113281,
2.2297420501708984,
17.75
] | [
-76.89592742919922,
-22.25943374633789,
49.923095703125,
8.578502655029297,
2.229818105697632,
17.000001907348633
] | [
0.14818793535232544,
0.2725731134414673,
0.12019503861665726,
-3.0948798656463623,
1.1555747985839844,
-1.8993760347366333
] | 1 | [
-1.1911622285842896,
-0.31246182322502136,
0.6575901508331299,
0.06962399184703827,
0.06926532089710236,
0.3864672780036926
] | [
-1.1912318468093872,
-0.4096496105194092,
0.6724969148635864,
0.06954924762248993,
0.06926771253347397,
0.3700729012489319
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.446191 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26 | 260 | 35 | 11,974 | 0 |
[
-76.89321899414062,
-18.874588012695312,
49.365142822265625,
8.575993537902832,
2.2301063537597656,
16.500001907348633
] | [
-76.89767456054688,
-24.226245880126953,
50.24864959716797,
8.5764799118042,
2.229818105697632,
15.75
] | [
0.14786502718925476,
0.2717842161655426,
0.12817546725273132,
-3.090688467025757,
1.1861504316329956,
-1.8954843282699585
] | 1 | [
-1.1911884546279907,
-0.3484065532684326,
0.6630350351333618,
0.06950467824935913,
0.06927676498889923,
0.35914328694343567
] | [
-1.1912598609924316,
-0.4452357292175293,
0.6780176758766174,
0.06951331347227097,
0.06926771253347397,
0.34274882078170776
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.492366 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.1 | 261 | 35 | 11,975 | 0 |
[
-76.89485168457031,
-20.855636596679688,
49.687828063964844,
8.570347785949707,
2.2303760051727295,
15.25
] | [
-76.89938354492188,
-26.152996063232422,
50.567569732666016,
8.574498176574707,
2.229818105697632,
14.500000953674316
] | [
0.147452250123024,
0.27076995372772217,
0.13606712222099304,
-3.0858445167541504,
1.2165721654891968,
-1.8909375667572021
] | 1 | [
-1.191214680671692,
-0.384250283241272,
0.6685072183609009,
0.06940438598394394,
0.06928522884845734,
0.33181920647621155
] | [
-1.1912872791290283,
-0.4800969958305359,
0.683426022529602,
0.0694781169295311,
0.06926771253347397,
0.3154248297214508
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.53838 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.200001 | 262 | 35 | 11,976 | 0 |
[
-76.89649200439453,
-22.817829132080078,
50.00883102416992,
8.565266609191895,
2.2306113243103027,
14.000001907348633
] | [
-76.90103149414062,
-28.015409469604492,
50.8758430480957,
8.572583198547363,
2.229818105697632,
13.249999046325684
] | [
0.1469561606645584,
0.26954683661460876,
0.14381739497184753,
-3.080200433731079,
1.246662974357605,
-1.8855857849121094
] | 1 | [
-1.191240906715393,
-0.4197528064250946,
0.6739507913589478,
0.0693141296505928,
0.06929261982440948,
0.3044952154159546
] | [
-1.1913137435913086,
-0.5137942433357239,
0.6886537671089172,
0.06944409757852554,
0.06926771253347397,
0.2881007492542267
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.584009 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.299999 | 263 | 35 | 11,977 | 0 |
[
-76.89812469482422,
-24.746034622192383,
50.325103759765625,
8.560547828674316,
2.2308123111724854,
12.75
] | [
-76.9026107788086,
-29.801189422607422,
51.17143249511719,
8.570747375488281,
2.229818105697632,
12.000000953674316
] | [
0.14638566970825195,
0.2681368887424469,
0.15136541426181793,
-3.0735814571380615,
1.2762024402618408,
-1.8792521953582764
] | 1 | [
-1.1912671327590942,
-0.4546404182910919,
0.6793141961097717,
0.06923031061887741,
0.06929893791675568,
0.27717116475105286
] | [
-1.1913390159606934,
-0.5461048483848572,
0.693666398525238,
0.06941148638725281,
0.06926771253347397,
0.2607767581939697
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.629003 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.4 | 264 | 35 | 11,978 | 0 |
[
-76.8997573852539,
-26.623600006103516,
50.63336181640625,
8.555841445922852,
2.2310097217559814,
11.500000953674316
] | [
-76.90382385253906,
-31.165176391601562,
51.3972053527832,
8.569344520568848,
2.229818105697632,
10.750001907348633
] | [
0.1457524597644806,
0.26656946539878845,
0.15864762663841248,
-3.0657687187194824,
1.3049490451812744,
-1.8717154264450073
] | 1 | [
-1.1912932395935059,
-0.48861178755760193,
0.6845417022705078,
0.06914670765399933,
0.06930513679981232,
0.2498471438884735
] | [
-1.1913584470748901,
-0.5707839131355286,
0.6974951028823853,
0.0693865641951561,
0.06926771253347397,
0.23345273733139038
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.673098 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.5 | 265 | 35 | 11,979 | 0 |
[
-76.90135955810547,
-28.35207176208496,
50.90690994262695,
8.536408424377441,
2.23220157623291,
10.250001907348633
] | [
-76.90458679199219,
-32.02326202392578,
51.53923797607422,
8.568461418151855,
2.229818105697632,
9.5
] | [
0.14511121809482574,
0.26498064398765564,
0.1653793603181839,
-3.056668758392334,
1.3318334817886353,
-1.862868070602417
] | 1 | [
-1.1913189888000488,
-0.5198855400085449,
0.6891806125640869,
0.06880150735378265,
0.06934256851673126,
0.22252312302589417
] | [
-1.1913707256317139,
-0.5863094925880432,
0.6999037265777588,
0.06937088072299957,
0.06926771253347397,
0.20612867176532745
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.714861 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.6 | 266 | 35 | 11,980 | 0 |
[
-76.90282440185547,
-29.748130798339844,
51.13034439086914,
8.5238676071167,
2.2329189777374268,
9
] | [
-76.90536499023438,
-32.90367126464844,
51.684967041015625,
8.567556381225586,
2.229818105697632,
8.250000953674316
] | [
0.14454339444637299,
0.2635743021965027,
0.17074935138225555,
-3.0477871894836426,
1.353433609008789,
-1.8541877269744873
] | 1 | [
-1.1913424730300903,
-0.5451448559761047,
0.6929696202278137,
0.06857873499393463,
0.06936509907245636,
0.19519905745983124
] | [
-1.1913831233978271,
-0.6022390127182007,
0.7023749947547913,
0.06935480237007141,
0.06926771253347397,
0.1788046509027481
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.751863 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.700001 | 267 | 35 | 11,981 | 0 |
[
-76.90380859375,
-30.937211990356445,
51.33009338378906,
8.526999473571777,
2.2325849533081055,
7.750001430511475
] | [
-76.90616607666016,
-32.4592170715332,
51.83454132080078,
8.566627502441406,
2.229818105697632,
6.999999046325684
] | [
0.14402127265930176,
0.2622772455215454,
0.17520424723625183,
-3.039088487625122,
1.371415376663208,
-1.8456631898880005
] | 1 | [
-1.191358208656311,
-0.5666592717170715,
0.696357011795044,
0.06863436847925186,
0.06935460865497589,
0.16787505149841309
] | [
-1.1913959980010986,
-0.5941973924636841,
0.7049115300178528,
0.06933830678462982,
0.06926771253347397,
0.15148058533668518
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.785991 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.799999 | 268 | 35 | 11,982 | 0 |
[
-76.90457916259766,
-31.899534225463867,
51.50874328613281,
8.525480270385742,
2.2326531410217285,
6.5
] | [
-76.90699005126953,
-33.394371032714844,
51.98827362060547,
8.565671920776367,
2.229818105697632,
5.750000476837158
] | [
0.1435738354921341,
0.26116448640823364,
0.1787123680114746,
-3.0309040546417236,
1.3857393264770508,
-1.8376164436340332
] | 1 | [
-1.1913706064224243,
-0.5840708613395691,
0.6993865966796875,
0.0686073824763298,
0.0693567544221878,
0.14055098593235016
] | [
-1.1914092302322388,
-0.611117422580719,
0.7075185179710388,
0.06932132691144943,
0.06926771253347397,
0.12415657937526703
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.81696 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 26.9 | 269 | 35 | 11,983 | 0 |
[
-76.90543365478516,
-32.85364532470703,
51.68795394897461,
8.541647911071777,
2.2315640449523926,
5.250000953674316
] | [
-76.9078369140625,
-35.77518081665039,
52.14690017700195,
8.56468677520752,
2.229818105697632,
4.500001907348633
] | [
0.1431073397397995,
0.2600056231021881,
0.18210837244987488,
-3.021909475326538,
1.3995848894119263,
-1.8287564516067505
] | 1 | [
-1.191384196281433,
-0.6013338565826416,
0.7024256587028503,
0.06889458000659943,
0.06932254880666733,
0.113226979970932
] | [
-1.1914228200912476,
-0.6541941165924072,
0.710208535194397,
0.06930383294820786,
0.06926771253347397,
0.09683258086442947
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.847716 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 27 | 270 | 35 | 11,984 | 0 |
[
-76.90641784667969,
-33.82232666015625,
51.83237075805664,
8.512112617492676,
2.232748031616211,
4.000001907348633
] | [
-76.9087142944336,
-36.79994583129883,
52.311222076416016,
8.563665390014648,
2.229818105697632,
3.25
] | [
0.1426355540752411,
0.2588334381580353,
0.18584436178207397,
-3.009488821029663,
1.4150559902191162,
-1.8164790868759155
] | 1 | [
-1.1914000511169434,
-0.6188605427742004,
0.7048746943473816,
0.06836993247270584,
0.06935973465442657,
0.08590296655893326
] | [
-1.1914368867874146,
-0.6727355122566223,
0.7129951119422913,
0.06928568333387375,
0.06926771253347397,
0.06950850784778595
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.878359 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 27.1 | 271 | 35 | 11,985 | 0 |
[
-76.90721893310547,
-34.91555404663086,
52.03327178955078,
8.568446159362793,
2.229757308959961,
2.750000476837158
] | [
-76.90962219238281,
-37.85716247558594,
52.480751037597656,
8.562612533569336,
2.229818105697632,
2.0000011920928955
] | [
0.14205311238765717,
0.2573842406272888,
0.18959501385688782,
-2.995513916015625,
1.4302901029586792,
-1.802657961845398
] | 1 | [
-1.1914129257202148,
-0.6386406421661377,
0.7082815766334534,
0.06937061250209808,
0.06926579773426056,
0.05857890099287033
] | [
-1.1914514303207397,
-0.691864013671875,
0.7158700227737427,
0.06926698237657547,
0.06926771253347397,
0.0421844981610775
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.910747 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 27.200001 | 272 | 35 | 11,986 | 0 |
[
-76.90814971923828,
-36.005043029785156,
52.196292877197266,
8.563130378723145,
2.2299394607543945,
1.5000015497207642
] | [
-76.90872192382812,
-36.65883255004883,
52.297142028808594,
8.561822891235352,
2.229973554611206,
0
] | [
0.14147025346755981,
0.2559332847595215,
0.19365501403808594,
-2.9751625061035156,
1.447121262550354,
-1.782467246055603
] | 1 | [
-1.1914278268814087,
-0.6583530902862549,
0.7110461592674255,
0.06927618384361267,
0.069271519780159,
0.03125489130616188
] | [
-1.191437005996704,
-0.6701822876930237,
0.712756335735321,
0.06925296038389206,
0.06927259266376495,
-0.0015339808305725455
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.942282 | [
-76.91118621826172,
-38.384803771972656,
53.033660888671875,
8.560797691345215,
2.229818105697632,
0
] | [
0.14004796743392944,
0.25240156054496765,
0.19999131560325623,
-2.9244985580444336,
1.475494146347046,
-1.7320531606674194
] | 0 | pick box lid and place on box body | box body | [
0.14005987346172333,
0.25243136286735535,
0.20000000298023224
] | 27.299999 | 273 | 35 | 11,987 | 0 |
[
-76.90803527832031,
-36.68463134765625,
52.242183685302734,
8.47636890411377,
2.233776807785034,
0
] | [
-76.69184875488281,
-36.70448303222656,
52.269325256347656,
8.737661361694336,
2.2232635021209717,
0
] | [
0.14112091064453125,
0.2550531029701233,
0.1966809779405594,
-2.9543890953063965,
1.4599533081054688,
-1.761824131011963
] | 1 | [
-1.1914259195327759,
-0.6706490516662598,
0.711824357509613,
0.06773499399423599,
0.06939204782247543,
-0.0015339808305725455
] | [
-1.1879605054855347,
-0.671008288860321,
0.7122846245765686,
0.07237645983695984,
0.06906183809041977,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.4 | 274 | 35 | 11,988 | 0 | ||
[
-76.8430404663086,
-36.689579010009766,
52.25086212158203,
8.556229591369629,
2.230706214904785,
0
] | [
-76.04360961914062,
-36.84092712402344,
52.18617630004883,
9.263248443603516,
2.203207015991211,
0
] | [
0.14136850833892822,
0.25490322709083557,
0.19643647968769073,
-2.9576964378356934,
1.458520531654358,
-1.7661633491516113
] | 1 | [
-1.190384030342102,
-0.6707385778427124,
0.7119715213775635,
0.06915359944105148,
0.06929560005664825,
-0.0015339808305725455
] | [
-1.1775691509246826,
-0.6734769940376282,
0.7108745574951172,
0.08171273022890091,
0.06843189895153046,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000646 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.5 | 275 | 35 | 11,989 | 0 | ||
[
-76.57682800292969,
-36.738525390625,
52.23289108276367,
8.798458099365234,
2.2215514183044434,
0
] | [
-74.97109985351562,
-37.06667709350586,
52.04861068725586,
10.132829666137695,
2.1700239181518555,
0
] | [
0.14238835871219635,
0.254303902387619,
0.19606474041938782,
-2.965116024017334,
1.4555106163024902,
-1.7778345346450806
] | 1 | [
-1.1861166954040527,
-0.6716241836547852,
0.7116667628288269,
0.07345642894506454,
0.06900806725025177,
-0.0015339808305725455
] | [
-1.1603766679763794,
-0.6775615215301514,
0.708541750907898,
0.09715953469276428,
0.06738967448472977,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.004139 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.6 | 276 | 35 | 11,990 | 0 | ||
[
-76.02094268798828,
-36.85129165649414,
52.1708869934082,
9.264582633972168,
2.20390248298645,
0
] | [
-73.486083984375,
-37.37925338745117,
51.858131408691406,
11.336873054504395,
2.124077558517456,
0
] | [
0.1445114016532898,
0.25304800271987915,
0.19556769728660583,
-2.9772696495056152,
1.4504923820495605,
-1.7988789081573486
] | 1 | [
-1.1772058010101318,
-0.6736645102500916,
0.7106152772903442,
0.08173643052577972,
0.06845374405384064,
-0.0015339808305725455
] | [
-1.1365717649459839,
-0.6832171082496643,
0.7053115367889404,
0.11854755133390427,
0.06594657897949219,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.011236 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.700001 | 277 | 35 | 11,991 | 0 | ||
[
-75.12596130371094,
-37.0370979309082,
52.061405181884766,
9.99902629852295,
2.1759676933288574,
0
] | [
-71.60481262207031,
-37.775238037109375,
51.616825103759766,
12.86219310760498,
2.065871238708496,
0
] | [
0.14789792895317078,
0.2509845495223999,
0.19487924873828888,
-2.9941117763519287,
1.4428969621658325,
-1.8300455808639526
] | 1 | [
-1.1628590822219849,
-0.6770263910293579,
0.7087587118148804,
0.09478271752595901,
0.06757636368274689,
-0.0015339808305725455
] | [
-1.106414794921875,
-0.6903817653656006,
0.7012194395065308,
0.14564257860183716,
0.06411842256784439,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.022582 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.799999 | 278 | 35 | 11,992 | 0 | ||
[
-73.86820983886719,
-37.300235748291016,
51.903072357177734,
11.023649215698242,
2.136995792388916,
0
] | [
-69.34791564941406,
-38.25028610229492,
51.32733917236328,
14.692070007324219,
1.9960429668426514,
0
] | [
0.15258625149726868,
0.2479921579360962,
0.19396449625492096,
-3.0143558979034424,
1.4324122667312622,
-1.8704336881637573
] | 1 | [
-1.1426972150802612,
-0.681787371635437,
0.7060736417770386,
0.1129835993051529,
0.06635232269763947,
-0.0015339808305725455
] | [
-1.0702364444732666,
-0.6989769339561462,
0.69631028175354,
0.1781475841999054,
0.061925239861011505,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.038489 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.9 | 279 | 35 | 11,993 | 0 | ||
[
-72.24107360839844,
-37.6416130065918,
51.695945739746094,
12.345236778259277,
2.0866451263427734,
0
] | [
-66.74010467529297,
-38.7991943359375,
50.99284362792969,
16.806459426879883,
1.9153577089309692,
0
] | [
0.15852317214012146,
0.24396170675754547,
0.19280901551246643,
-3.0362775325775146,
1.418903112411499,
-1.9184356927871704
] | 1 | [
-1.1166141033172607,
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0.7025611996650696,
0.136459618806839,
0.0647708922624588,
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] | [
-1.0284329652786255,
-0.7089084982872009,
0.6906378865242004,
0.21570654213428497,
0.05939105525612831,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.059047 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28 | 280 | 35 | 11,994 | 0 | ||
[
-70.25011444091797,
-38.059844970703125,
51.44136428833008,
13.96017074584961,
2.025120496749878,
0
] | [
-63.809959411621094,
-39.41595458984375,
50.617000579833984,
19.182199478149414,
1.8246992826461792,
0
] | [
0.1655818372964859,
0.23879198729991913,
0.19141145050525665,
-3.0582375526428223,
1.4023582935333252,
-1.9723374843597412
] | 1 | [
-1.0846987962722778,
-0.6955312490463257,
0.6982439160346985,
0.16514649987220764,
0.06283851712942123,
-0.0015339808305725455
] | [
-0.9814624786376953,
-0.7200677394866943,
0.6842642426490784,
0.2579079866409302,
0.056543633341789246,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.084192 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.1 | 281 | 35 | 11,995 | 0 | ||
[
-67.90962982177734,
-38.55171585083008,
51.141456604003906,
15.857295989990234,
1.9527976512908936,
0
] | [
-60.5895881652832,
-40.09379959106445,
50.20393371582031,
21.79325294494629,
1.7250614166259766,
0
] | [
0.17357613146305084,
0.2323928028345108,
0.18978020548820496,
-3.079052686691284,
1.3828626871109009,
-2.0307435989379883
] | 1 | [
-1.0471806526184082,
-0.7044308185577393,
0.6931580901145935,
0.19884607195854187,
0.0605669803917408,
-0.0015339808305725455
] | [
-0.9298396110534668,
-0.732332170009613,
0.6772593855857849,
0.30428943037986755,
0.053414180874824524,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.113744 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.200001 | 282 | 35 | 11,996 | 0 | ||
[
-65.24088287353516,
-39.11274719238281,
50.79915237426758,
18.019798278808594,
1.8703522682189941,
0
] | [
-57.1142578125,
-40.825313568115234,
49.75816345214844,
24.61102294921875,
1.61753511428833,
0
] | [
0.1822708249092102,
0.2246931493282318,
0.18793067336082458,
-3.0980122089385986,
1.3605740070343018,
-2.0926215648651123
] | 1 | [
-1.004400372505188,
-0.7145817279815674,
0.6873531937599182,
0.23725968599319458,
0.05797751247882843,
-0.0015339808305725455
] | [
-0.8741297125816345,
-0.7455676794052124,
0.6696999669075012,
0.35434287786483765,
0.0500369668006897,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.147438 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.299999 | 283 | 35 | 11,997 | 0 | ||
[
-62.270362854003906,
-39.737308502197266,
50.4179573059082,
20.42637825012207,
1.7785966396331787,
0
] | [
-53.42206573486328,
-41.60247039794922,
49.284576416015625,
27.604623794555664,
1.5032991170883179,
0
] | [
0.19139403104782104,
0.21565081179141998,
0.18588371574878693,
-3.114811897277832,
1.335706114768982,
-2.157261610031128
] | 1 | [
-0.9567826390266418,
-0.7258821129798889,
0.680888831615448,
0.2800089716911316,
0.05509562790393829,
-0.0015339808305725455
] | [
-0.8149435520172119,
-0.7596290111541748,
0.6616687774658203,
0.40751969814300537,
0.04644901305437088,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.184938 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.4 | 284 | 35 | 11,998 | 0 | ||
[
-59.02892303466797,
-40.41886901855469,
50.00190353393555,
23.052154541015625,
1.678430199623108,
0
] | [
-49.5534553527832,
-42.41676330566406,
48.788360595703125,
30.74126434326172,
1.383604645729065,
0
] | [
0.20064906775951385,
0.20526275038719177,
0.1836644560098648,
-3.1294217109680176,
1.3085161447525024,
-2.2241580486297607
] | 1 | [
-0.9048219919204712,
-0.7382137775421143,
0.6738333702087402,
0.326651930809021,
0.051949575543403625,
-0.0015339808305725455
] | [
-0.7529293298721313,
-0.7743622660636902,
0.6532539129257202,
0.4632374048233032,
0.04268961772322655,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.225858 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.5 | 285 | 35 | 11,999 | 0 |
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