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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[
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[
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[
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[
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[
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[
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2.2075977325439453,
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[
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2.2075977325439453,
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[
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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 | 0.501831 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.550178 | [
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[
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0.11631633341312408,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.639912 | [
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2.2075977325439453,
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[
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2.2075977325439453,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.717908 | [
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2.2075977325439453,
54.993316650390625,
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0.11631633341312408,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.74716 | [
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2.2075977325439453,
54.993316650390625,
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0.2511816918849945,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.7732 | [
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2.2075977325439453,
54.993316650390625,
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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 | 0.797524 | [
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2.2075977325439453,
54.993316650390625,
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0.2397758513689041,
0.008742906153202057,
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] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.82445 | [
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2.2075977325439453,
54.993316650390625,
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0.3347747325897217,
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0.2397758513689041,
0.008742906153202057,
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[
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] | 1 | [
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] | [
-1.2730966806411743,
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-0.009404867887496948,
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] | release object on box body | Is the object released? | gripper_open | 0.303663 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
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] | [
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0.03916235268115997,
-3.1167666912078857,
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] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
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] | 23.9 | 239 | 38 | 12,966 | 0 |
[
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] | [
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] | [
0.12082863599061966,
0.2653396725654602,
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-3.1167666912078857,
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] | 1 | [
-1.2730966806411743,
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] | [
-1.2730966806411743,
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-0.009404867887496948,
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] | release object on box body | Is the object released? | gripper_open | 0.400377 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
2.2312185764312744,
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] | [
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0.03916235268115997,
-3.1167666912078857,
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-1.8362078666687012
] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.013000025413930416
] | 24 | 240 | 38 | 12,967 | 0 |
[
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54.00703048706055,
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] | [
-82.00286865234375,
-1.7832509279251099,
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] | [
0.12082863599061966,
0.2653396725654602,
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-3.1167666912078857,
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] | 1 | [
-1.2730966806411743,
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0.7417529225349426,
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] | [
-1.2730966806411743,
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0.7417529225349426,
-0.009404867887496948,
0.06931169331073761,
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] | release object on box body | Is the object released? | gripper_open | 0.49709 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
2.2312185764312744,
30
] | [
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0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
0.8773717284202576,
-1.8362078666687012
] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.013000025413930416
] | 24.1 | 241 | 38 | 12,968 | 0 |
[
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
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] | [
-82.00286865234375,
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] | [
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-3.1167666912078857,
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] | 1 | [
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] | [
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0.7417529225349426,
-0.009404867887496948,
0.06931169331073761,
0.5362029671669006
] | release object on box body | Is the object released? | gripper_open | 0.593804 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
2.2312185764312744,
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] | [
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0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
0.8773717284202576,
-1.8362078666687012
] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.013000025413930416
] | 24.200001 | 242 | 38 | 12,969 | 0 |
[
-82.00286865234375,
-1.7832509279251099,
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] | [
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] | [
0.12082863599061966,
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-3.1167666912078857,
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] | 1 | [
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] | [
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0.7417529225349426,
-0.009404867887496948,
0.06931169331073761,
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] | release object on box body | Is the object released? | gripper_open | 0.690517 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
2.2312185764312744,
30
] | [
0.12082863599061966,
0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
0.8773717284202576,
-1.8362078666687012
] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.013000025413930416
] | 24.299999 | 243 | 38 | 12,970 | 0 |
[
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54.00703048706055,
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] | [
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] | [
0.12082863599061966,
0.2653396725654602,
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-3.1167666912078857,
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] | 1 | [
-1.2730966806411743,
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] | [
-1.2730966806411743,
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0.7417529225349426,
-0.009404867887496948,
0.06931169331073761,
0.6017806529998779
] | release object on box body | Is the object released? | gripper_open | 0.78723 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
2.2312185764312744,
30
] | [
0.12082863599061966,
0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
0.8773717284202576,
-1.8362078666687012
] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.013000025413930416
] | 24.4 | 244 | 38 | 12,971 | 0 |
[
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] | [
-82.00286865234375,
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] | [
0.12082863599061966,
0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
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] | 1 | [
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] | [
-1.2730966806411743,
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0.7417529225349426,
-0.009404867887496948,
0.06931169331073761,
0.6345694065093994
] | release object on box body | Is the object released? | gripper_open | 0.883944 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
2.2312185764312744,
30
] | [
0.12082863599061966,
0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
0.8773717284202576,
-1.8362078666687012
] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.013000025413930416
] | 24.5 | 245 | 38 | 12,972 | 0 |
[
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
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] | [
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30
] | [
0.12082863599061966,
0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
0.8773717284202576,
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] | 1 | [
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0.7417529225349426,
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] | [
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0.7372305393218994,
-0.009262253530323505,
0.06842490285634995,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.980657 | [
-82.00286865234375,
-1.7832509279251099,
54.00703048706055,
4.133763313293457,
2.2312185764312744,
30
] | [
0.12082863599061966,
0.2653396725654602,
0.03916235268115997,
-3.1167666912078857,
0.8773717284202576,
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] | 30 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.013000025413930416
] | 24.6 | 246 | 38 | 12,973 | 0 |
[
-82.01215362548828,
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53.94401931762695,
4.205059051513672,
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30
] | [
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53.786277770996094,
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30
] | [
0.12084237486124039,
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] | 1 | [
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] | [
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0.7380093336105347,
-0.00957531575113535,
0.06842490285634995,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
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] | 24.700001 | 247 | 38 | 12,974 | 0 |
[
-82.01215362548828,
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30
] | [
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] | [
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] | 1 | [
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] | [
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-0.010211460292339325,
0.06842490285634995,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
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0.2511439025402069,
0.19999893009662628,
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] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
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] | 24.799999 | 248 | 38 | 12,975 | 0 |
[
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53.87704849243164,
4.1510772705078125,
2.2028398513793945,
30
] | [
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54.020103454589844,
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30
] | [
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] | 1 | [
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] | [
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0.7419745922088623,
-0.011169238947331905,
0.06842490285634995,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.000714 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
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0.2511439025402069,
0.19999893009662628,
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1.5475493669509888,
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] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
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] | 24.9 | 249 | 38 | 12,976 | 0 |
[
-82.01215362548828,
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30
] | [
-82.01319122314453,
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30
] | [
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] | 1 | [
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] | [
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0.7450187802314758,
-0.01239290926605463,
0.06842490285634995,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.007603 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
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1.5475493669509888,
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] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25 | 250 | 38 | 12,977 | 0 |
[
-82.01219177246094,
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54.06303024291992,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.7487132549285889,
-0.013877976685762405,
0.06842490285634995,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.022558 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.1 | 251 | 38 | 12,978 | 0 |
[
-82.01304626464844,
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54.19062805175781,
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30
] | [
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3.7850656509399414,
2.202984094619751,
29.500001907348633
] | [
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] | 1 | [
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-0.09433427453041077,
0.7448663711547852,
-0.01099735964089632,
0.06828077137470245,
0.6542428135871887
] | [
-1.2732884883880615,
-0.1580153852701187,
0.7529945969581604,
-0.015598958358168602,
0.06842490285634995,
0.6433132290840149
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.040132 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.200001 | 252 | 38 | 12,979 | 0 |
[
-82.01371765136719,
-6.129613399505615,
54.36062240600586,
3.9454689025878906,
2.2004523277282715,
29.000001907348633
] | [
-82.01582336425781,
-9.835260391235352,
54.9514274597168,
3.6770455837249756,
2.202984094619751,
28.25
] | [
0.12212622165679932,
0.2697622776031494,
0.05782468989491463,
-3.1138949394226074,
0.9533439874649048,
-1.8343448638916016
] | 1 | [
-1.273270606994629,
-0.11780786514282227,
0.7477492094039917,
-0.012749635614454746,
0.06834538280963898,
0.6323836445808411
] | [
-1.2733043432235718,
-0.18485526740550995,
0.7577681541442871,
-0.01751777157187462,
0.06842490285634995,
0.6159891486167908
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.071697 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.299999 | 253 | 38 | 12,980 | 0 |
[
-82.01431274414062,
-7.490718841552734,
54.57524871826172,
3.8480045795440674,
2.2012836933135986,
27.75
] | [
-82.01690673828125,
-11.468775749206543,
55.26139831542969,
3.5580954551696777,
2.202984094619751,
27.000001907348633
] | [
0.12239468842744827,
0.270646333694458,
0.06338859349489212,
-3.1124792098999023,
0.9760482311248779,
-1.833156943321228
] | 1 | [
-1.273280143737793,
-0.142434760928154,
0.7513888478279114,
-0.014480942860245705,
0.0683714896440506,
0.6050595641136169
] | [
-1.2733216285705566,
-0.2144109457731247,
0.7630246877670288,
-0.01963074319064617,
0.06842490285634995,
0.5886651873588562
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.107214 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.4 | 254 | 38 | 12,981 | 0 |
[
-82.0150375366211,
-8.947999954223633,
54.82700729370117,
3.7457218170166016,
2.2015302181243896,
26.500001907348633
] | [
-82.01807403564453,
-13.222698211669922,
55.594215393066406,
3.43037748336792,
2.202984094619751,
25.750001907348633
] | [
0.12262281775474548,
0.27140143513679504,
0.0692623108625412,
-3.1109120845794678,
0.9999472498893738,
-1.8318325281143188
] | 1 | [
-1.2732917070388794,
-0.16880178451538086,
0.7556582093238831,
-0.01629784144461155,
0.0683792382478714,
0.5777355432510376
] | [
-1.2733403444290161,
-0.24614520370960236,
0.7686686515808105,
-0.02189945988357067,
0.06842490285634995,
0.5613411068916321
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.144286 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.5 | 255 | 38 | 12,982 | 0 |
[
-82.01618957519531,
-10.514265060424805,
55.109771728515625,
3.6350274085998535,
2.2015645503997803,
25.25
] | [
-82.01930236816406,
-15.077370643615723,
55.94615173339844,
3.295323133468628,
2.202984094619751,
24.5
] | [
0.12281256169080734,
0.27203819155693054,
0.07553330808877945,
-3.1091177463531494,
1.0254396200180054,
-1.8302912712097168
] | 1 | [
-1.2733101844787598,
-0.19714070856571198,
0.7604534029960632,
-0.0182641614228487,
0.06838031113147736,
0.5504114627838135
] | [
-1.2733601331710815,
-0.279702365398407,
0.7746368646621704,
-0.024298498407006264,
0.06842490285634995,
0.5340170860290527
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.183101 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.6 | 256 | 38 | 12,983 | 0 |
[
-82.0174331665039,
-12.188711166381836,
55.41846466064453,
3.5146918296813965,
2.201625108718872,
24
] | [
-82.02059173583984,
-17.025020599365234,
56.315731048583984,
3.1534981727600098,
2.202984094619751,
23.250001907348633
] | [
0.12296119332313538,
0.2725423276424408,
0.0822174921631813,
-3.1070291996002197,
1.0526180267333984,
-1.828470230102539
] | 1 | [
-1.2733300924301147,
-0.22743695974349976,
0.7656882405281067,
-0.020401742309331894,
0.06838221848011017,
0.5230874419212341
] | [
-1.2733807563781738,
-0.31494176387786865,
0.780904233455658,
-0.02681780606508255,
0.06842490285634995,
0.5066930651664734
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.223638 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.700001 | 257 | 38 | 12,984 | 0 |
[
-82.01874542236328,
-13.96108341217041,
55.914031982421875,
3.405604362487793,
2.200167655944824,
22.750001907348633
] | [
-82.02192687988281,
-19.035818099975586,
56.69729232788086,
3.007075071334839,
2.202984094619751,
22
] | [
0.12293371558189392,
0.27247437834739685,
0.08851020038127899,
-3.104961395263672,
1.078200340270996,
-1.8266618251800537
] | 1 | [
-1.2733511924743652,
-0.259505033493042,
0.7740921378135681,
-0.02233951725065708,
0.06833644211292267,
0.4957634508609772
] | [
-1.2734020948410034,
-0.3513237535953522,
0.7873747944831848,
-0.029418792575597763,
0.06842490285634995,
0.47936898469924927
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.266224 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.799999 | 258 | 38 | 12,985 | 0 |
[
-82.02008819580078,
-15.82728385925293,
56.19795227050781,
3.2596330642700195,
2.201052188873291,
21.5
] | [
-82.0232925415039,
-21.077985763549805,
57.088134765625,
2.8570902347564697,
2.202984094619751,
20.750001907348633
] | [
0.1230308786034584,
0.27281153202056885,
0.09623061865568161,
-3.101959466934204,
1.1097142696380615,
-1.8239600658416748
] | 1 | [
-1.2733726501464844,
-0.2932707667350769,
0.7789069414138794,
-0.024932479485869408,
0.0683642253279686,
0.46843937039375305
] | [
-1.2734240293502808,
-0.38827329874038696,
0.7940027713775635,
-0.032083045691251755,
0.06842490285634995,
0.4520449936389923
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.309595 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 25.9 | 259 | 38 | 12,986 | 0 |
[
-82.02149200439453,
-17.759689331054688,
56.685508728027344,
3.127826690673828,
2.2004637718200684,
20.250001907348633
] | [
-82.0246810913086,
-23.12901496887207,
57.484832763671875,
2.7048587799072266,
2.202984094619751,
19.500001907348633
] | [
0.12292788922786713,
0.27249792218208313,
0.10330105572938919,
-3.0989322662353516,
1.1387217044830322,
-1.821215033531189
] | 1 | [
-1.2733951807022095,
-0.32823437452316284,
0.7871749997138977,
-0.027273820713162422,
0.06834574043750763,
0.4411153793334961
] | [
-1.2734463214874268,
-0.42538321018218994,
0.8007300496101379,
-0.03478721156716347,
0.06842490285634995,
0.42472097277641296
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.354567 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26 | 260 | 38 | 12,987 | 0 |
[
-82.02290344238281,
-19.740903854370117,
56.97142791748047,
2.9665234088897705,
2.201716423034668,
19
] | [
-82.02607727050781,
-25.190372467041016,
57.88352966308594,
2.5518603324890137,
2.202984094619751,
18.25
] | [
0.12290135025978088,
0.27243223786354065,
0.1115492582321167,
-3.0947391986846924,
1.172542929649353,
-1.8173391819000244
] | 1 | [
-1.2734178304672241,
-0.36408108472824097,
0.7920236587524414,
-0.030139131471514702,
0.06838508695363998,
0.41379132866859436
] | [
-1.2734687328338623,
-0.4626799523830414,
0.8074911832809448,
-0.03750499710440636,
0.06842490285634995,
0.39739689230918884
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.399648 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.1 | 261 | 38 | 12,988 | 0 |
[
-82.02433013916016,
-21.750316619873047,
57.45066452026367,
2.826896905899048,
2.201120376586914,
17.75
] | [
-82.0274658203125,
-27.244657516479492,
60.45421600341797,
2.3993871212005615,
2.202984094619751,
17.000001907348633
] | [
0.12268103659152985,
0.2717360258102417,
0.11895880103111267,
-3.0904464721679688,
1.2032113075256348,
-1.8133411407470703
] | 1 | [
-1.2734407186508179,
-0.40043798089027405,
0.8001506328582764,
-0.03261938691139221,
0.06836636364459991,
0.3864672780036926
] | [
-1.2734909057617188,
-0.49984875321388245,
0.8510853052139282,
-0.0402134545147419,
0.06842490285634995,
0.3700729012489319
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.445691 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.200001 | 262 | 38 | 12,989 | 0 |
[
-82.0257568359375,
-23.785242080688477,
57.923885345458984,
2.640352249145508,
2.204342842102051,
16.500001907348633
] | [
-82.0288314819336,
-29.27247428894043,
58.673065185546875,
2.2488784790039062,
2.202984094619751,
15.75
] | [
0.12241531163454056,
0.2708882689476013,
0.12658384442329407,
-3.0848162174224854,
1.235260248184204,
-1.8079968690872192
] | 1 | [
-1.273463487625122,
-0.43725651502609253,
0.8081755638122559,
-0.03593307361006737,
0.06846757233142853,
0.35914328694343567
] | [
-1.273512840270996,
-0.5365386605262756,
0.8208802938461304,
-0.04288701340556145,
0.06842490285634995,
0.34274882078170776
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.492087 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.299999 | 263 | 38 | 12,990 | 0 |
[
-82.027099609375,
-25.811599731445312,
58.2026252746582,
2.5138182640075684,
2.202183246612549,
15.25
] | [
-82.03018188476562,
-31.258989334106445,
59.05728530883789,
2.1014351844787598,
2.202984094619751,
14.500000953674316
] | [
0.12215743213891983,
0.2700692117214203,
0.13487277925014496,
-3.0781161785125732,
1.2693803310394287,
-1.8016325235366821
] | 1 | [
-1.2734850645065308,
-0.4739200174808502,
0.8129024505615234,
-0.03818075731396675,
0.06839974969625473,
0.33181920647621155
] | [
-1.2735344171524048,
-0.5724812746047974,
0.8273959159851074,
-0.04550612345337868,
0.06842490285634995,
0.3154248297214508
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.537619 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.4 | 264 | 38 | 12,991 | 0 |
[
-82.02845764160156,
-27.826528549194336,
58.671669006347656,
2.3688600063323975,
2.2019858360290527,
14.000001907348633
] | [
-82.03147888183594,
-33.17916488647461,
59.428672790527344,
1.9589158296585083,
2.202984094619751,
13.250001907348633
] | [
0.12174584716558456,
0.26874691247940063,
0.142203688621521,
-3.0704126358032227,
1.3003820180892944,
-1.7942206859588623
] | 1 | [
-1.2735068798065186,
-0.5103767514228821,
0.8208565711975098,
-0.04075572267174721,
0.06839354336261749,
0.3044952154159546
] | [
-1.2735552787780762,
-0.607223629951477,
0.8336939811706543,
-0.04803776741027832,
0.06842490285634995,
0.28810080885887146
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.583501 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.5 | 265 | 38 | 12,992 | 0 |
[
-82.02980041503906,
-29.813690185546875,
58.939022064208984,
2.204829454421997,
2.203150987625122,
12.75
] | [
-82.03272247314453,
-35.07936477661133,
59.78478240966797,
1.8222600221633911,
2.202984094619751,
12.000000953674316
] | [
0.12135976552963257,
0.26750627160072327,
0.15036150813102722,
-3.0594356060028076,
1.334606409072876,
-1.7835617065429688
] | 1 | [
-1.2735283374786377,
-0.5463310480117798,
0.8253903985023499,
-0.043669480830430984,
0.06843014061450958,
0.27717116475105286
] | [
-1.2735751867294312,
-0.641604483127594,
0.8397329449653625,
-0.05046525225043297,
0.06842490285634995,
0.2607767581939697
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.628268 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.6 | 266 | 38 | 12,993 | 0 |
[
-82.03113555908203,
-31.763687133789062,
59.39244842529297,
2.071761131286621,
2.202509641647339,
11.500000953674316
] | [
-82.03367614746094,
-36.531005859375,
60.05677795410156,
1.7178819179534912,
2.202984094619751,
10.750001907348633
] | [
0.12083442509174347,
0.2658122181892395,
0.15730556845664978,
-3.047193765640259,
1.3644425868988037,
-1.7716002464294434
] | 1 | [
-1.2735497951507568,
-0.5816129446029663,
0.8330796957015991,
-0.046033237129449844,
0.0684099942445755,
0.2498471438884735
] | [
-1.2735904455184937,
-0.667869508266449,
0.8443455100059509,
-0.052319370210170746,
0.06842490285634995,
0.23345273733139038
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.67291 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.700001 | 267 | 38 | 12,994 | 0 |
[
-82.03224182128906,
-33.57761764526367,
59.62345886230469,
1.9057248830795288,
2.204737424850464,
10.250001907348633
] | [
-82.03427124023438,
-37.444236755371094,
60.2278938293457,
1.6522173881530762,
2.202984094619751,
9.5
] | [
0.12036196142435074,
0.2642846405506134,
0.16474346816539764,
-3.0291545391082764,
1.396112084388733,
-1.7538542747497559
] | 1 | [
-1.2735674381256104,
-0.6144329309463501,
0.8369972109794617,
-0.04898262396454811,
0.06847997009754181,
0.22252312302589417
] | [
-1.2735999822616577,
-0.6843928694725037,
0.847247302532196,
-0.05348580330610275,
0.06842490285634995,
0.20612867176532745
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.714858 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.799999 | 268 | 38 | 12,995 | 0 |
[
-82.03288269042969,
-35.04768371582031,
59.833641052246094,
1.7793081998825073,
2.206005096435547,
9
] | [
-82.03488159179688,
-38.3812255859375,
60.40345764160156,
1.5848448276519775,
2.202984094619751,
8.250000953674316
] | [
0.11992467939853668,
0.2628655433654785,
0.17059224843978882,
-3.0095713138580322,
1.4211945533752441,
-1.7345097064971924
] | 1 | [
-1.2735778093338013,
-0.6410312652587891,
0.8405615091323853,
-0.051228225231170654,
0.06851978600025177,
0.19519905745983124
] | [
-1.2736097574234009,
-0.7013460993766785,
0.8502245545387268,
-0.05468257516622543,
0.06842490285634995,
0.1788046509027481
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.751949 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 26.9 | 269 | 38 | 12,996 | 0 |
[
-82.03351593017578,
-36.303585052490234,
60.037193298339844,
1.689653754234314,
2.2058722972869873,
7.750001430511475
] | [
-82.03551483154297,
-39.34295654296875,
60.58366012573242,
1.5156930685043335,
2.202984094619751,
7.000002384185791
] | [
0.1195099800825119,
0.2615211606025696,
0.1753847301006317,
-2.9880077838897705,
1.4418439865112305,
-1.7131441831588745
] | 1 | [
-1.273587942123413,
-0.6637547016143799,
0.8440133929252625,
-0.052820801734924316,
0.06851561367511749,
0.16787505149841309
] | [
-1.2736200094223022,
-0.7187469601631165,
0.8532804250717163,
-0.055910952389240265,
0.06842490285634995,
0.15148065984249115
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.786091 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 27 | 270 | 38 | 12,997 | 0 |
[
-82.03413391113281,
-37.44047546386719,
60.235450744628906,
1.6159528493881226,
2.2053029537200928,
6.5
] | [
-82.03616333007812,
-40.331417083740234,
60.76887130737305,
1.4446195363998413,
2.202984094619751,
5.750000476837158
] | [
0.11910679936408997,
0.2602144479751587,
0.17960257828235626,
-2.962310552597046,
1.4601061344146729,
-1.6876224279403687
] | 1 | [
-1.2735978364944458,
-0.6843248009681702,
0.8473754525184631,
-0.054129987955093384,
0.06849773228168488,
0.14055098593235016
] | [
-1.2736303806304932,
-0.736631453037262,
0.8564212918281555,
-0.0571734681725502,
0.06842490285634995,
0.12415657937526703
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.818583 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 27.1 | 271 | 38 | 12,998 | 0 |
[
-82.03477478027344,
-38.41563415527344,
60.43619918823242,
1.558212399482727,
2.204141616821289,
5.250000953674316
] | [
-82.03682708740234,
-41.351322174072266,
60.9599723815918,
1.3712846040725708,
2.202984094619751,
4.500001907348633
] | [
0.11873704195022583,
0.25901758670806885,
0.18302857875823975,
-2.9340248107910156,
1.4750921726226807,
-1.6594797372817993
] | 1 | [
-1.2736080884933472,
-0.7019686102867126,
0.8507797718048096,
-0.05515566095709801,
0.06846125423908234,
0.113226979970932
] | [
-1.2736409902572632,
-0.7550849318504333,
0.8596619963645935,
-0.058476150035858154,
0.06842490285634995,
0.09683258086442947
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.848813 | [
-82.03946685791016,
-44.03459548950195,
62.13180923461914,
1.0818928480148315,
2.202984094619751,
0
] | [
0.11630474776029587,
0.2511439025402069,
0.19999893009662628,
-2.126936674118042,
1.5475493669509888,
-0.8531221151351929
] | 0 | pick box lid and place on box body | box body | [
0.11631633341312408,
0.2511816918849945,
0.20000000298023224
] | 27.200001 | 272 | 38 | 12,999 | 0 |
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