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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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.03421 | [
39.02172088623047,
32.29408645629883,
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33.46493148803711,
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.700001 | 187 | 43 | 14,600 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.039399 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 18.799999 | 188 | 43 | 14,601 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.045603 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.9 | 189 | 43 | 14,602 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.057329 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.06229 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.1 | 191 | 43 | 14,604 | 0 |
[
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] | [
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] | [
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] | [
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0.17740193009376526,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.074765 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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0.007326275110244751,
3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 19.200001 | 192 | 43 | 14,605 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.093289 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
0.28112632036209106,
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0.007326275110244751,
3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 19.299999 | 193 | 43 | 14,606 | 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 | 0.116676 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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0.007326275110244751,
3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.4 | 194 | 43 | 14,607 | 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 | 0.147211 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
0.28112632036209106,
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0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 19.5 | 195 | 43 | 14,608 | 0 |
[
38.396400451660156,
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] | [
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] | [
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] | [
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0.11182872205972672,
0.235311821103096,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.180982 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 19.6 | 196 | 43 | 14,609 | 0 |
[
38.42429733276367,
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0
] | [
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18.73215103149414,
18.8636417388916,
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] | [
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2.9541594982147217,
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] | 0 | [
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] | [
0.6586809754371643,
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0.14355595409870148,
0.2522493004798889,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.217544 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 19.700001 | 197 | 43 | 14,610 | 0 |
[
38.45436477661133,
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19.75534439086914,
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] | [
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] | [
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] | [
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0.07349634170532227,
0.2698984146118164,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.256418 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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0.013000023551285267
] | 19.799999 | 198 | 43 | 14,611 | 0 |
[
38.48630142211914,
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] | [
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] | [
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0.053418561816215515,
0.2880142331123352,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.297247 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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0.013000023551285267
] | 19.9 | 199 | 43 | 14,612 | 0 |
[
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] | [
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0.3064674139022827,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.34263 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 20 | 200 | 43 | 14,613 | 0 |
[
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] | [
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] | [
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3.0113182067871094,
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0.3250887393951416,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.386366 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 20.1 | 201 | 43 | 14,614 | 0 |
[
38.590087890625,
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] | [
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0.3437100052833557,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.434643 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 20.200001 | 202 | 43 | 14,615 | 0 |
[
38.62623977661133,
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] | [
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] | [
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0.3621632754802704,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.481421 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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0.007326275110244751,
3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 20.299999 | 203 | 43 | 14,616 | 0 |
[
38.66261291503906,
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0
] | [
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0
] | [
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] | [
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0.3802790939807892,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.52931 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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0
] | [
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0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 20.4 | 204 | 43 | 14,617 | 0 |
[
38.69889450073242,
11.026341438293457,
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26.468446731567383,
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0
] | [
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0
] | [
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3.049428701400757,
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] | [
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0.3979281485080719,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.577741 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
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0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 20.5 | 205 | 43 | 14,618 | 0 |
[
38.73473358154297,
13.255435943603516,
10.223593711853027,
27.387434005737305,
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0
] | [
38.82953643798828,
18.826398849487305,
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] | [
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3.056924343109131,
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] | [
0.6638588309288025,
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0.414865642786026,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.623708 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 20.6 | 206 | 43 | 14,619 | 0 |
[
38.76984405517578,
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28.316232681274414,
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0
] | [
38.8615837097168,
20.80713653564453,
6.3454909324646,
28.926361083984375,
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] | [
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0.08320283889770508,
3.063389301300049,
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0.42016035318374634,
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] | [
0.6643725037574768,
0.3695669174194336,
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0.43099838495254517,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.669331 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 20.700001 | 207 | 43 | 14,620 | 0 |
[
38.80357360839844,
17.52815818786621,
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29.11107635498047,
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0
] | [
38.87736129760742,
21.765981674194336,
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] | [
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0.0738249346613884,
3.069274425506592,
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0.43427956104278564,
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] | [
0.6646254658699036,
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0.43894240260124207,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.711415 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
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0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 20.799999 | 208 | 43 | 14,621 | 0 |
[
38.83159255981445,
19.282135009765625,
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29.887466430664062,
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0
] | [
38.89353942871094,
22.749038696289062,
5.166714191436768,
29.832075119018555,
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0
] | [
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0.06444650143384933,
3.07452654838562,
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] | [
0.6648848056793213,
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0.44708701968193054,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.745375 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 20.9 | 209 | 43 | 14,622 | 0 |
[
38.85490417480469,
20.73264503479004,
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30.52865982055664,
-0.4085351228713989,
0
] | [
38.910118103027344,
23.756446838378906,
4.555196762084961,
30.30193519592285,
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0
] | [
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0.05725163593888283,
3.078293800354004,
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] | 0 | [
0.6642654538154602,
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0.4594608247280121,
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] | [
0.66515052318573,
0.42292967438697815,
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0.4554333984851837,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.774143 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 21 | 210 | 43 | 14,623 | 0 |
[
38.87547302246094,
21.99878692626953,
6.661951065063477,
31.054384231567383,
-0.4052824079990387,
0
] | [
38.92711639404297,
24.78936195373535,
3.928194761276245,
30.783693313598633,
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0
] | [
0.30174583196640015,
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0.05160249397158623,
3.0811662673950195,
0.7701290249824524,
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] | 0 | [
0.6645951867103577,
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0.46879950165748596,
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] | [
0.6654230356216431,
0.44161853194236755,
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0.46399110555648804,
-0.008241339586675167,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.799932 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 21.1 | 211 | 43 | 14,624 | 0 |
[
38.894596099853516,
23.166912078857422,
6.04720401763916,
31.52831268310547,
-0.40091001987457275,
0
] | [
38.94456481933594,
25.849645614624023,
3.2845797538757324,
31.278215408325195,
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0
] | [
0.30107492208480835,
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0.046750508248806,
3.083559513092041,
0.7510786056518555,
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0.6649017333984375,
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0.4772181510925293,
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] | [
0.6657027006149292,
0.4608025550842285,
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0.47277554869651794,
-0.008241339586675167,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.824156 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 21.200001 | 212 | 43 | 14,625 | 0 |
[
38.905250549316406,
24.227344512939453,
5.2655744552612305,
31.863088607788086,
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0
] | [
38.96257781982422,
26.944290161132812,
2.620107889175415,
31.78876304626465,
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0
] | [
0.30108046531677246,
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0.043395914137363434,
3.085880756378174,
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2.3939499855041504
] | 0 | [
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] | [
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0.4818446636199951,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.847117 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 21.299999 | 213 | 43 | 14,626 | 0 |
[
38.9027099609375,
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] | [
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28.08841323852539,
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] | [
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] | [
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0.49132367968559265,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.8683 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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0.007326275110244751,
3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 21.4 | 214 | 43 | 14,627 | 0 |
[
38.90212631225586,
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] | [
39.00090408325195,
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1.2064208984375,
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] | [
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3.092371702194214,
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] | [
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0.5011394619941711,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.887567 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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0.007326275110244751,
3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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0.013000023551285267
] | 21.5 | 215 | 43 | 14,628 | 0 |
[
38.89412307739258,
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] | [
39.02172088623047,
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] | [
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0.5116192698478699,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.900955 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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] | [
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0.007326275110244751,
3.101327419281006,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 21.6 | 216 | 43 | 14,629 | 0 |
[
38.91442108154297,
27.315568923950195,
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33.720821380615234,
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] | [
39.02172088623047,
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] | [
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] | [
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0.5116192698478699,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.90959 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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0
] | [
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0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 21.700001 | 217 | 43 | 14,630 | 0 |
[
38.9343147277832,
27.633577346801758,
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33.452545166015625,
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0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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] | [
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0.03942837193608284,
3.101846933364868,
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] | 0 | [
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] | [
0.6669395565986633,
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0.5116192698478699,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.91331 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 21.799999 | 218 | 43 | 14,631 | 0 |
[
38.94635772705078,
27.82311248779297,
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33.32518768310547,
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0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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] | [
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0.03937434405088425,
3.1024973392486572,
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] | 0 | [
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] | [
0.6669395565986633,
0.5456319451332092,
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0.5116192698478699,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.915109 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 21.9 | 219 | 43 | 14,632 | 0 |
[
38.95355224609375,
27.9532413482666,
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33.21978759765625,
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0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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] | [
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0.03935076668858528,
3.104560136795044,
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] | [
0.6669395565986633,
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0.5116192698478699,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.916087 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 22 | 220 | 43 | 14,633 | 0 |
[
38.95781707763672,
28.030128479003906,
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33.15840530395508,
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0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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] | [
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0.039344996213912964,
3.1058943271636963,
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] | [
0.6669395565986633,
0.5456319451332092,
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0.5116192698478699,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.916556 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 22.1 | 221 | 43 | 14,634 | 0 |
[
38.96246337890625,
28.101804733276367,
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33.04154586791992,
0.3628953993320465,
0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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0
] | [
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0.03930167481303215,
3.107245922088623,
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0.5040984749794006,
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] | [
0.6669395565986633,
0.5456319451332092,
-0.1100560799241066,
0.5116192698478699,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.917122 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 22.200001 | 222 | 43 | 14,635 | 0 |
[
38.96525192260742,
28.151216506958008,
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32.964778900146484,
0.3975329101085663,
0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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] | [
0.30557146668434143,
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0.03926260024309158,
3.108166217803955,
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] | 0 | [
0.6660343408584595,
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0.5027347803115845,
0.011718825437128544,
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] | [
0.6669395565986633,
0.5456319451332092,
-0.1100560799241066,
0.5116192698478699,
-0.008241339586675167,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.917479 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 22.299999 | 223 | 43 | 14,636 | 0 |
[
38.96595001220703,
28.17304039001465,
0.23524676263332367,
32.94184494018555,
0.4232320785522461,
0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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0
] | [
0.3056199252605438,
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0.03925251588225365,
3.1088740825653076,
0.7351617813110352,
2.42680025100708
] | 0 | [
0.6660455465316772,
0.5028404593467712,
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0.5023274421691895,
0.012525991536676884,
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] | [
0.6669395565986633,
0.5456319451332092,
-0.1100560799241066,
0.5116192698478699,
-0.008241339586675167,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.917567 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 22.4 | 224 | 43 | 14,637 | 0 |
[
38.9661865234375,
28.196117401123047,
0.22413471341133118,
32.895263671875,
0.44136688113212585,
0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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0
] | [
0.30569523572921753,
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0.039250448346138,
3.1093502044677734,
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0.6660493016242981,
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0.5014999508857727,
0.013095573522150517,
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] | [
0.6669395565986633,
0.5456319451332092,
-0.1100560799241066,
0.5116192698478699,
-0.008241339586675167,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.917693 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
-0.23797401785850525,
0
] | [
0.28112632036209106,
-0.21609359979629517,
0.007326275110244751,
3.101327419281006,
0.6149612665176392,
2.4049510955810547
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 22.5 | 225 | 43 | 14,638 | 0 |
[
38.96592330932617,
28.212648391723633,
0.2152290642261505,
32.865135192871094,
0.47096019983291626,
0
] | [
39.02172088623047,
30.538087844848633,
3.776986837387085,
33.46493148803711,
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0
] | [
0.3057445287704468,
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0.03924683853983879,
3.1101667881011963,
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] | 0 | [
0.666045069694519,
0.5035570859909058,
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0.5009647607803345,
0.014025048352777958,
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] | [
0.6669395565986633,
0.5456319451332092,
-0.1100560799241066,
0.5116192698478699,
-0.008241339586675167,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.917732 | [
39.02172088623047,
32.29408645629883,
2.3457584381103516,
33.46493148803711,
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[
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28.235572814941406,
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0.29501771926879883,
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[
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38.9676399230957,
28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 22.799999 | 228 | 43 | 14,641 | 0 |
[
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28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
38.9676399230957,
28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
38.9676399230957,
28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 23.1 | 231 | 43 | 14,644 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
38.9676399230957,
28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 23.200001 | 232 | 43 | 14,645 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
38.9676399230957,
28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 23.299999 | 233 | 43 | 14,646 | 0 |
[
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38.9676399230957,
28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
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38.9676399230957,
28.235572814941406,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
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] | [
38.9676399230957,
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] | release object on box body | Is the object released? | gripper_open | 0.041115 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.137003 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
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30
] | [
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3.110466718673706,
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] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
38.9676399230957,
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] | [
38.9676399230957,
28.235572814941406,
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3.110466718673706,
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0.49988844990730286,
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] | release object on box body | Is the object released? | gripper_open | 0.232892 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
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] | [
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0.03921446576714516,
3.110466718673706,
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2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
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[
38.9676399230957,
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38.9676399230957,
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0.2185567021369934,
32.804542541503906,
0.4828248620033264,
20.39999771118164
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 1 | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.4247209429740906
] | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.44439417123794556
] | release object on box body | Is the object released? | gripper_open | 0.32878 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
30
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 24 | 240 | 43 | 14,653 | 0 |
[
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
21.000001907348633
] | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
21.900001525878906
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 1 | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.4575098156929016
] | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.47718310356140137
] | release object on box body | Is the object released? | gripper_open | 0.424669 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
30
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 24.1 | 241 | 43 | 14,654 | 0 |
[
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
22.5
] | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
23.399999618530273
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 1 | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.4902985990047455
] | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.5099719166755676
] | release object on box body | Is the object released? | gripper_open | 0.520557 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
30
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 24.200001 | 242 | 43 | 14,655 | 0 |
[
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
23.999998092651367
] | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
24.900001525878906
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
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2.4292287826538086
] | 1 | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.5230873823165894
] | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.5427607893943787
] | release object on box body | Is the object released? | gripper_open | 0.616446 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
30
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 24.299999 | 243 | 43 | 14,656 | 0 |
[
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
25.5
] | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
26.399999618530273
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 1 | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.5558763146400452
] | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.5755496025085449
] | release object on box body | Is the object released? | gripper_open | 0.712334 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
30
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 24.4 | 244 | 43 | 14,657 | 0 |
[
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
27
] | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
27.89999771118164
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 1 | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.5886651277542114
] | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.6083383560180664
] | release object on box body | Is the object released? | gripper_open | 0.808223 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
30
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 24.5 | 245 | 43 | 14,658 | 0 |
[
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
28.500001907348633
] | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
29.400001525878906
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 1 | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.6214540004730225
] | [
0.6660726070404053,
0.5039718747138977,
-0.1704005002975464,
0.49988844990730286,
0.0143976965919137,
0.6411272883415222
] | release object on box body | Is the object released? | gripper_open | 0.904112 | [
38.9676399230957,
28.235572814941406,
0.2185567021369934,
32.804542541503906,
0.4828248620033264,
30
] | [
0.30580875277519226,
-0.20996540784835815,
0.03921446576714516,
3.110466718673706,
0.7368102669715881,
2.4292287826538086
] | 30 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.013000023551285267
] | 24.6 | 246 | 43 | 14,659 | 0 |
[
38.95293426513672,
28.186861038208008,
0.2147422730922699,
32.9531364440918,
0.4404293894767761,
30
] | [
38.953128814697266,
28.233686447143555,
-1.9742447137832642,
32.961700439453125,
0.4404293894767761,
30
] | [
0.3056707978248596,
-0.20974184572696686,
0.039235010743141174,
3.1093690395355225,
0.7350764870643616,
2.427741289138794
] | 1 | [
0.6658368706703186,
0.503090500831604,
-0.17046518623828888,
0.5025280117988586,
0.013066128827631474,
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] | [
0.6658400297164917,
0.5039377212524414,
-0.2075863778591156,
0.5026801228523254,
0.013066128827631474,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 24.700001 | 247 | 43 | 14,660 | 0 |
[
38.95298385620117,
28.234851837158203,
-0.5558483600616455,
33.02662658691406,
0.43365827202796936,
30
] | [
38.95429992675781,
28.009380340576172,
0.5219492316246033,
33.01336669921875,
0.4404293894767761,
30
] | [
0.3071497082710266,
-0.21090172231197357,
0.041853174567222595,
3.1084604263305664,
0.7459508180618286,
2.4269704818725586
] | 1 | [
0.6658377051353455,
0.5039588212966919,
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0.5038334131240845,
0.01285345945507288,
0.6542428135871887
] | [
0.6658587455749512,
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-0.16525551676750183,
0.5035979151725769,
0.013066128827631474,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 24.799999 | 248 | 43 | 14,661 | 0 |
[
38.953468322753906,
28.14348030090332,
-0.7709193229675293,
32.96369934082031,
0.4419931173324585,
30
] | [
38.95637893676758,
27.61153221130371,
0.5084705948829651,
33.105010986328125,
0.4404293894767761,
30
] | [
0.3078065812587738,
-0.21142369508743286,
0.04333058372139931,
3.108276605606079,
0.7523701190948486,
2.4270291328430176
] | 1 | [
0.6658454537391663,
0.5023056268692017,
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0.5027156472206116,
0.013115243054926395,
0.6542428135871887
] | [
0.6658921241760254,
0.4926809072494507,
-0.16548410058021545,
0.5052258372306824,
0.013066128827631474,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 24.9 | 249 | 43 | 14,662 | 0 |
[
38.954444885253906,
27.97408103942871,
-0.8253953456878662,
33.03620910644531,
0.43930214643478394,
30
] | [
38.95934295654297,
27.04447364807129,
0.4892592430114746,
33.235633850097656,
0.4404293894767761,
30
] | [
0.3079708218574524,
-0.21155869960784912,
0.04436876252293587,
3.1080164909362793,
0.755064845085144,
2.4267737865448
] | 1 | [
0.6658610701560974,
0.49924060702323914,
-0.18810400366783142,
0.504003643989563,
0.013030724599957466,
0.6542428135871887
] | [
0.6659396290779114,
0.482420951128006,
-0.16580988466739655,
0.5075461268424988,
0.013066128827631474,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25 | 250 | 43 | 14,663 | 0 |
[
38.956146240234375,
27.628849029541016,
-0.7442788481712341,
33.05230712890625,
0.4444601833820343,
30
] | [
38.96315383911133,
26.315204620361328,
-2.039240837097168,
33.403621673583984,
0.4404293894767761,
30
] | [
0.30811798572540283,
-0.21168778836727142,
0.04596651718020439,
3.107860803604126,
0.7596496939659119,
2.426757335662842
] | 1 | [
0.6658883690834045,
0.4929942488670349,
-0.18672841787338257,
0.5042896270751953,
0.013192729093134403,
0.6542428135871887
] | [
0.6660007238388062,
0.46922606229782104,
-0.20868858695030212,
0.5105301737785339,
0.013066128827631474,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.1 | 251 | 43 | 14,664 | 0 |
[
38.95867919921875,
26.86425018310547,
-0.9261261820793152,
33.231544494628906,
0.43762072920799255,
30
] | [
38.96767044067383,
24.07090187072754,
-2.0685224533081055,
33.60271453857422,
0.4404293894767761,
30
] | [
0.30892765522003174,
-0.21233944594860077,
0.05068371444940567,
3.1067121028900146,
0.7733595371246338,
2.4257652759552
] | 1 | [
0.6659289598464966,
0.4791601300239563,
-0.18981221318244934,
0.5074734687805176,
0.012977913953363895,
0.6542428135871887
] | [
0.6660730838775635,
0.4286192059516907,
-0.2091851532459259,
0.514066755771637,
0.013066128827631474,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.01298 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.200001 | 252 | 43 | 14,665 | 0 |
[
38.96194076538086,
26.058019638061523,
-0.9122374057769775,
33.456993103027344,
0.43026891350746155,
30
] | [
38.97288131713867,
24.453540802001953,
-2.1023120880126953,
33.832454681396484,
0.4404293894767761,
29.249998092651367
] | [
0.3092480003833771,
-0.21261169016361237,
0.05477370694279671,
3.1057534217834473,
0.7836853861808777,
2.424875497817993
] | 1 | [
0.6659812331199646,
0.4645727276802063,
-0.18957668542861938,
0.5114782452583313,
0.012747006490826607,
0.6542428135871887
] | [
0.6661566495895386,
0.43554240465164185,
-0.20975816249847412,
0.5181477665901184,
0.013066128827631474,
0.6378483176231384
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.026642 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.299999 | 253 | 43 | 14,666 | 0 |
[
38.965946197509766,
25.035930633544922,
-0.8973539471626282,
33.50094223022461,
0.44255486130714417,
28.75
] | [
38.978694915771484,
21.961217880249023,
-2.139996290206909,
34.08867645263672,
0.4404293894767761,
28
] | [
0.30998891592025757,
-0.21322590112686157,
0.06043723225593567,
3.1048789024353027,
0.8011366128921509,
2.424459218978882
] | 1 | [
0.6660454869270325,
0.4460797607898712,
-0.189324289560318,
0.5122589468955994,
0.013132886029779911,
0.6269187927246094
] | [
0.6662498116493225,
0.39044806361198425,
-0.21039721369743347,
0.5226991772651672,
0.013066128827631474,
0.6105243563652039
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.063631 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.4 | 254 | 43 | 14,667 | 0 |
[
38.9705810546875,
23.90740394592285,
-0.9462950229644775,
33.73305130004883,
0.4395943880081177,
27.5
] | [
38.98501205444336,
20.75237274169922,
0.32284241914749146,
34.36713409423828,
0.4404293894767761,
26.750001907348633
] | [
0.3105447590351105,
-0.21369445323944092,
0.06661524623632431,
3.1035001277923584,
0.8182359933853149,
2.4233224391937256
] | 1 | [
0.6661197543144226,
0.42566099762916565,
-0.19015423953533173,
0.5163820385932922,
0.013039902783930302,
0.5995947122573853
] | [
0.6663510799407959,
0.3685760498046875,
-0.16863200068473816,
0.5276455283164978,
0.013066128827631474,
0.5832003355026245
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.102987 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.5 | 255 | 43 | 14,668 | 0 |
[
38.97583770751953,
22.758731842041016,
-0.9882864356040955,
34.000152587890625,
0.4371994435787201,
26.249998092651367
] | [
38.991817474365234,
19.43239402770996,
0.27871134877204895,
34.66719055175781,
0.4404293894767761,
25.5
] | [
0.3109470307826996,
-0.21404698491096497,
0.0728168785572052,
3.102116107940674,
0.8349605798721313,
2.4221689701080322
] | 1 | [
0.666204035282135,
0.4048777222633362,
-0.19086633622646332,
0.5211266875267029,
0.012964681722223759,
0.5722706913948059
] | [
0.6664601564407349,
0.34469327330589294,
-0.16938038170337677,
0.5329756140708923,
0.013066128827631474,
0.5558763146400452
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.142791 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.6 | 256 | 43 | 14,669 | 0 |
[
38.981666564941406,
21.51333999633789,
-0.9412732124328613,
34.1788330078125,
0.4440654516220093,
25
] | [
38.99899673461914,
18.021324157714844,
-2.2651431560516357,
34.98356628417969,
0.4404293894767761,
24.25
] | [
0.31128114461898804,
-0.21435299515724182,
0.07938016951084137,
3.100860834121704,
0.8535045385360718,
2.4212803840637207
] | 1 | [
0.666297435760498,
0.38234448432922363,
-0.1900690793991089,
0.5243006348609924,
0.013180331327021122,
0.5449466705322266
] | [
0.6665752530097961,
0.31916236877441406,
-0.21251946687698364,
0.5385955572128296,
0.013066128827631474,
0.528552234172821
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.183806 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.700001 | 257 | 43 | 14,670 | 0 |
[
38.988033294677734,
20.235815048217773,
-1.0182456970214844,
34.48011779785156,
0.4418450891971588,
23.750001907348633
] | [
39.0064811706543,
16.549699783325195,
0.18365159630775452,
35.31352233886719,
0.4404293894767761,
22.999998092651367
] | [
0.3115435242652893,
-0.21460366249084473,
0.08640029281377792,
3.0991764068603516,
0.8725412487983704,
2.4198532104492188
] | 1 | [
0.6663995385169983,
0.35922983288764954,
-0.19137439131736755,
0.5296525359153748,
0.013110593892633915,
0.517622709274292
] | [
0.666695237159729,
0.29253581166267395,
-0.1709924340248108,
0.5444567203521729,
0.013066128827631474,
0.5012281537055969
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.225775 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.799999 | 258 | 43 | 14,671 | 0 |
[
38.99479293823242,
18.895721435546875,
-1.0640920400619507,
34.82209777832031,
0.4386417269706726,
22.5
] | [
39.014225006103516,
15.027236938476562,
0.13344687223434448,
35.65487289428711,
0.4404293894767761,
21.75
] | [
0.3115912675857544,
-0.21468807756900787,
0.09355803579092026,
3.097383737564087,
0.8914565443992615,
2.4182968139648438
] | 1 | [
0.6665078997612,
0.33498311042785645,
-0.19215185940265656,
0.5357272624969482,
0.013009981252253056,
0.4902985990047455
] | [
0.6668193936347961,
0.26498943567276,
-0.17184381186962128,
0.5505203008651733,
0.013066128827631474,
0.47390419244766235
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.26889 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 25.9 | 259 | 43 | 14,672 | 0 |
[
39.00192642211914,
17.48036766052246,
-1.1554927825927734,
35.143096923828125,
0.4379699230194092,
21.25
] | [
39.02212905883789,
13.473123550415039,
0.08219842612743378,
36.00332260131836,
0.4404293894767761,
20.500001907348633
] | [
0.3116247355937958,
-0.21476471424102783,
0.10137953609228134,
3.095364809036255,
0.9128763675689697,
2.4165849685668945
] | 1 | [
0.6666222214698792,
0.30937469005584717,
-0.1937018483877182,
0.541429340839386,
0.012988881208002567,
0.46297457814216614
] | [
0.6669460535049438,
0.2368703931570053,
-0.17271289229393005,
0.5567099452018738,
0.013066128827631474,
0.4465802013874054
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.31308 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26 | 260 | 43 | 14,673 | 0 |
[
39.009376525878906,
15.978849411010742,
-1.1198474168777466,
35.39370346069336,
0.444376677274704,
19.999998092651367
] | [
39.0301399230957,
11.89871883392334,
-2.4435532093048096,
36.356319427490234,
0.4404293894767761,
19.25
] | [
0.31142857670783997,
-0.21466515958309174,
0.10928311944007874,
3.0934643745422363,
0.9349585771560669,
2.415070056915283
] | 1 | [
0.666741669178009,
0.2822072505950928,
-0.19309736788272858,
0.5458809733390808,
0.013190106488764286,
0.435650497674942
] | [
0.6670745015144348,
0.2083842158317566,
-0.21554498374462128,
0.5629804134368896,
0.013066128827631474,
0.4192561209201813
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.358355 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.1 | 261 | 43 | 14,674 | 0 |
[
39.017051696777344,
14.476956367492676,
-1.2079249620437622,
35.74993896484375,
0.4424865245819092,
18.75
] | [
39.03817367553711,
10.318900108337402,
-2.4895882606506348,
36.71052932739258,
0.4404293894767761,
18
] | [
0.31109920144081116,
-0.2144596427679062,
0.11747997999191284,
3.09106183052063,
0.9572542309761047,
2.412963390350342
] | 1 | [
0.6668646931648254,
0.25503304600715637,
-0.1945910006761551,
0.5522089600563049,
0.013130740262567997,
0.40832650661468506
] | [
0.6672033071517944,
0.17980007827281952,
-0.21632565557956696,
0.5692724585533142,
0.013066128827631474,
0.39193210005760193
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.403943 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.200001 | 262 | 43 | 14,675 | 0 |
[
39.02482223510742,
12.940970420837402,
-1.309523105621338,
36.097496032714844,
0.4420614540576935,
17.500001907348633
] | [
39.04616928100586,
8.746990203857422,
-0.0736505463719368,
37.06296920776367,
0.4404293894767761,
16.749998092651367
] | [
0.31062471866607666,
-0.2141408771276474,
0.1259276568889618,
3.088453531265259,
0.9805476069450378,
2.4106812477111816
] | 1 | [
0.666989266872406,
0.22724199295043945,
-0.19631391763687134,
0.5583828091621399,
0.01311738882213831,
0.3810025155544281
] | [
0.6673314571380615,
0.15135903656482697,
-0.17535579204559326,
0.5755329728126526,
0.013066128827631474,
0.3646080195903778
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.449926 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.299999 | 263 | 43 | 14,676 | 0 |
[
39.032657623291016,
11.406488418579102,
-1.3702378273010254,
36.489871978759766,
0.4388580620288849,
16.25
] | [
39.054046630859375,
7.198284149169922,
-2.580521583557129,
37.41020584106445,
0.4404293894767761,
15.5
] | [
0.30986669659614563,
-0.21359822154045105,
0.13405053317546844,
3.0857067108154297,
1.0023194551467896,
2.4082016944885254
] | 1 | [
0.6671148538589478,
0.1994781494140625,
-0.19734352827072144,
0.5653527975082397,
0.01301677618175745,
0.353678435087204
] | [
0.6674576997756958,
0.12333782762289047,
-0.21786771714687347,
0.5817011594772339,
0.013066128827631474,
0.33728402853012085
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.495964 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.4 | 264 | 43 | 14,677 | 0 |
[
39.04052734375,
9.830413818359375,
-1.3286207914352417,
36.780948638916016,
0.44309002161026,
15.000000953674316
] | [
39.061737060546875,
5.707955837249756,
-0.17457795143127441,
37.74919509887695,
0.4404293894767761,
14.250000953674316
] | [
0.30894219875335693,
-0.2129267305135727,
0.142143115401268,
3.0830371379852295,
1.0249158143997192,
2.4058797359466553
] | 1 | [
0.6672410368919373,
0.17096175253391266,
-0.19663777947425842,
0.5705233216285706,
0.013149694539606571,
0.326354444026947
] | [
0.6675810217857361,
0.09637286514043808,
-0.1770673394203186,
0.5877227783203125,
0.013066128827631474,
0.3099600076675415
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.542159 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.5 | 265 | 43 | 14,678 | 0 |
[
39.048336029052734,
8.311689376831055,
-1.3988245725631714,
37.16573715209961,
0.4403838515281677,
13.749999046325684
] | [
39.06918716430664,
4.288516521453857,
-2.6672520637512207,
38.07754135131836,
0.4404293894767761,
13
] | [
0.3078788220882416,
-0.21214279532432556,
0.15015044808387756,
3.0799050331115723,
1.0466915369033813,
2.4030168056488037
] | 1 | [
0.6673662066459656,
0.1434829980134964,
-0.19782830774784088,
0.5773585438728333,
0.013064698316156864,
0.2990303635597229
] | [
0.6677004098892212,
0.07069052010774612,
-0.21933850646018982,
0.5935553312301636,
0.013066128827631474,
0.28263595700263977
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.587597 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.6 | 266 | 43 | 14,679 | 0 |
[
39.05607986450195,
6.831463813781738,
-1.4957138299942017,
37.53007507324219,
0.43820902705192566,
12.5
] | [
39.07627868652344,
2.9368462562561035,
-2.707888126373291,
38.39020919799805,
0.4404293894767761,
11.750000953674316
] | [
0.3067232072353363,
-0.21128545701503754,
0.15806259214878082,
3.076536178588867,
1.068582534790039,
2.399923801422119
] | 1 | [
0.6674903035163879,
0.11670083552598953,
-0.1994713693857193,
0.5838304162025452,
0.012996391393244267,
0.27170634269714355
] | [
0.6678141355514526,
0.046234335750341415,
-0.2200276106595993,
0.599109411239624,
0.013066128827631474,
0.2553119361400604
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.632142 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.700001 | 267 | 43 | 14,680 | 0 |
[
39.06356430053711,
5.356449127197266,
-1.4833943843841553,
37.78441619873047,
0.44375044107437134,
11.250000953674316
] | [
39.081058502197266,
3.4000892639160156,
-0.2998485565185547,
38.60093307495117,
0.4404293894767761,
10.499999046325684
] | [
0.30544716119766235,
-0.21033337712287903,
0.16566148400306702,
3.0733470916748047,
1.0904924869537354,
2.397073745727539
] | 1 | [
0.6676102876663208,
0.09001294523477554,
-0.19926245510578156,
0.5883484482765198,
0.013170436955988407,
0.2443823367357254
] | [
0.667890727519989,
0.05461593344807625,
-0.1791916936635971,
0.6028526425361633,
0.013066128827631474,
0.2279878705739975
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.676033 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.799999 | 268 | 43 | 14,681 | 0 |
[
39.07012176513672,
4.264895439147949,
-1.536151647567749,
37.99399948120117,
0.44992566108703613,
9.999999046325684
] | [
39.08452224731445,
2.740283489227295,
-0.3222963213920593,
38.753562927246094,
0.4404293894767761,
9.25
] | [
0.3044271171092987,
-0.20957647264003754,
0.17148363590240479,
3.0708255767822266,
1.1073760986328125,
2.394810438156128
] | 1 | [
0.6677154302597046,
0.07026313245296478,
-0.20015712082386017,
0.5920713543891907,
0.013364390470087528,
0.21705825626850128
] | [
0.6679462790489197,
0.0426778681576252,
-0.17957237362861633,
0.6055638790130615,
0.013066128827631474,
0.20066386461257935
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.714391 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 26.9 | 269 | 43 | 14,682 | 0 |
[
39.075599670410156,
3.7283213138580322,
-1.5816709995269775,
38.33069610595703,
0.443021684885025,
8.750000953674316
] | [
39.088077545166016,
2.062962532043457,
-2.7754738330841064,
38.910240173339844,
0.4404293894767761,
8.000000953674316
] | [
0.30365023016929626,
-0.2089993953704834,
0.1738460808992386,
3.0695855617523193,
1.1118457317352295,
2.3935160636901855
] | 1 | [
0.6678032279014587,
0.060554735362529755,
-0.20092904567718506,
0.5980522632598877,
0.013147548772394657,
0.18973426520824432
] | [
0.668003261089325,
0.030422894284129143,
-0.2211737483739853,
0.6083469986915588,
0.013066128827631474,
0.17333984375
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.745931 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 27 | 270 | 43 | 14,683 | 0 |
[
39.080299377441406,
3.023414134979248,
-1.658046841621399,
38.58463668823242,
0.43942737579345703,
7.499999046325684
] | [
39.09172821044922,
-0.007116707973182201,
-0.36901476979255676,
39.07120895385742,
0.4404293894767761,
6.749999523162842
] | [
0.30282434821128845,
-0.20837920904159546,
0.17747704684734344,
3.067591667175293,
1.1213445663452148,
2.391599416732788
] | 1 | [
0.6678785681724548,
0.04780063405632973,
-0.2022242397069931,
0.6025631427764893,
0.013034657575190067,
0.1624101996421814
] | [
0.6680617928504944,
-0.007031678222119808,
-0.18036462366580963,
0.6112063527107239,
0.013066128827631474,
0.14601579308509827
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.779167 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 27.1 | 271 | 43 | 14,684 | 0 |
[
39.084503173828125,
2.300265073776245,
-1.555090308189392,
38.77857208251953,
0.43912753462791443,
6.25
] | [
39.09548568725586,
-0.7235609889030457,
-2.8179333209991455,
39.2369384765625,
0.4404293894767761,
5.500000953674316
] | [
0.30189797282218933,
-0.20767715573310852,
0.1805124431848526,
3.066056728363037,
1.1292099952697754,
2.3901429176330566
] | 1 | [
0.667945921421051,
0.03471647948026657,
-0.20047828555107117,
0.6060081124305725,
0.013025240041315556,
0.13508617877960205
] | [
0.6681219935417175,
-0.019994521513581276,
-0.221893772482872,
0.6141502857208252,
0.013066128827631474,
0.11869178712368011
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.81272 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 27.200001 | 272 | 43 | 14,685 | 0 |
[
39.08861541748047,
1.5910663604736328,
-1.6487624645233154,
38.979698181152344,
0.4376624822616577,
5.000000953674316
] | [
39.09938049316406,
-1.4651974439620972,
-2.8402295112609863,
39.40849304199219,
0.4404293894767761,
4.249999046325684
] | [
0.30107036232948303,
-0.2070518434047699,
0.18434618413448334,
3.0637900829315186,
1.1400153636932373,
2.38800311088562
] | 1 | [
0.6680118441581726,
0.021884731948375702,
-0.2020667940378189,
0.6095808148384094,
0.012979225255548954,
0.1077621728181839
] | [
0.6681844592094421,
-0.033413175493478775,
-0.2222718745470047,
0.6171976923942566,
0.013066128827631474,
0.091367706656456
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.84539 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 27.299999 | 273 | 43 | 14,686 | 0 |
[
39.09260940551758,
0.8714948296546936,
-1.7517410516738892,
39.165985107421875,
0.437024861574173,
3.749999523162842
] | [
39.103355407714844,
-0.8484731316566467,
-2.863002300262451,
39.58371353149414,
0.4404293894767761,
3.000000238418579
] | [
0.30021393299102783,
-0.20640309154987335,
0.18830154836177826,
3.06134033203125,
1.1514273881912231,
2.3856990337371826
] | 1 | [
0.6680758595466614,
0.008865307085216045,
-0.2038131207227707,
0.6128899455070496,
0.012959199026226997,
0.08043810725212097
] | [
0.668248176574707,
-0.022254595533013344,
-0.22265806794166565,
0.6203102469444275,
0.013066128827631474,
0.06404370069503784
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.877558 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 27.4 | 274 | 43 | 14,687 | 0 |
[
39.09662628173828,
0.05267108604311943,
-1.6265840530395508,
39.333858489990234,
0.437928169965744,
2.5000007152557373
] | [
39.10752487182617,
-1.6432242393493652,
-2.8868954181671143,
39.76755905151367,
0.4404293894767761,
1.750001311302185
] | [
0.29911476373672485,
-0.20556321740150452,
0.191768616437912,
3.059267282485962,
1.1611021757125854,
2.3837485313415527
] | 1 | [
0.6681402921676636,
-0.005949919577687979,
-0.2016906887292862,
0.6158719062805176,
0.012987569905817509,
0.05311410129070282
] | [
0.6683149933815002,
-0.03663427010178566,
-0.22306324541568756,
0.6235759854316711,
0.013066128827631474,
0.03671969473361969
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.91148 | [
39.113773345947266,
-2.5915982723236084,
-0.7066860198974609,
40.04294204711914,
0.4404293894767761,
0
] | [
0.2949810326099396,
-0.20241589844226837,
0.1999737173318863,
3.0548293590545654,
1.1806741952896118,
2.379415988922119
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
-0.20244495570659637,
0.20000000298023224
] | 27.5 | 275 | 43 | 14,688 | 0 |
[
39.100677490234375,
-0.7197161912918091,
-1.6566814184188843,
39.421016693115234,
0.44258901476860046,
0
] | [
39.06433868408203,
-0.771618127822876,
-1.613468885421753,
39.45390701293945,
0.4419355094432831,
0
] | [
0.29818329215049744,
-0.20485691726207733,
0.19588853418827057,
3.0566163063049316,
1.173998236656189,
2.3813023567199707
] | 1 | [
0.668205201625824,
-0.019924957305192947,
-0.20220108330249786,
0.6174201965332031,
0.013133958913385868,
-0.0015339808305725455
] | [
0.6676226854324341,
-0.020864034071564674,
-0.20146827399730682,
0.6180044412612915,
0.013113433495163918,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000283 | [
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 | 43 | 14,689 | 0 | ||
[
39.08999252319336,
-0.7661684155464172,
-1.710952639579773,
39.395965576171875,
0.4441148042678833,
0
] | [
38.8427848815918,
-1.0880550146102905,
-1.350009799003601,
39.65444564819336,
0.43795111775398254,
0
] | [
0.29821377992630005,
-0.20480935275554657,
0.19645735621452332,
3.0562033653259277,
1.1761987209320068,
2.3811111450195312
] | 1 | [
0.6680339574813843,
-0.020765431225299835,
-0.20312142372131348,
0.6169751882553101,
0.013181881047785282,
-0.0015339808305725455
] | [
0.6640712022781372,
-0.026589423418045044,
-0.19700050354003906,
0.6215667128562927,
0.012988290749490261,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.00023 | [
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 | 43 | 14,690 | 0 | ||
[
39.009849548339844,
-0.865547239780426,
-1.5847657918930054,
39.48102951049805,
0.4418640732765198,
0
] | [
38.42228698730469,
-1.6886333227157593,
-0.8499801158905029,
40.03505325317383,
0.43038901686668396,
0
] | [
0.298226922750473,
-0.20427869260311127,
0.1961919367313385,
3.0564780235290527,
1.1743477582931519,
2.382622241973877
] | 1 | [
0.6667492389678955,
-0.022563522681593895,
-0.2009815275669098,
0.618486225605011,
0.013111189939081669,
-0.0015339808305725455
] | [
0.6573305726051331,
-0.03745586797595024,
-0.18852092325687408,
0.6283276081085205,
0.0127507783472538,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.002542 | [
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 | 43 | 14,691 | 0 | ||
[
38.80887222290039,
-1.1416106224060059,
-1.3226613998413086,
39.67190933227539,
0.4376928508281708,
0
] | [
37.807456970214844,
-2.566770315170288,
-0.118860624730587,
40.591556549072266,
0.4193320870399475,
0
] | [
0.29826968908309937,
-0.20296062529087067,
0.19598083198070526,
3.0568416118621826,
1.1715080738067627,
2.3861284255981445
] | 1 | [
0.6635275483131409,
-0.027558421716094017,
-0.19653671979904175,
0.6218768954277039,
0.01298017892986536,
-0.0015339808305725455
] | [
0.6474747657775879,
-0.05334426835179329,
-0.17612247169017792,
0.638213038444519,
0.012403499335050583,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.0081 | [
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
] | 27.9 | 279 | 43 | 14,692 | 0 | ||
[
38.4576301574707,
-1.6364067792892456,
-0.8911064267158508,
39.99428939819336,
0.4309976398944855,
0
] | [
37.00503158569336,
-3.712846040725708,
0.8353393077850342,
41.31786346435547,
0.4049014151096344,
0
] | [
0.2983362376689911,
-0.2006661295890808,
0.19582444429397583,
3.0573079586029053,
1.1674151420593262,
2.392106294631958
] | 1 | [
0.6578971147537231,
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0.6276034712791443,
0.012769893743097782,
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] | [
0.6346117854118347,
-0.07408056408166885,
-0.15994100272655487,
0.651114821434021,
0.011950257234275341,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.017689 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28 | 280 | 43 | 14,693 | 0 | ||
[
37.94082260131836,
-2.370405673980713,
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40.46369171142578,
0.4215734601020813,
0
] | [
36.0237922668457,
-5.114307403564453,
2.0021684169769287,
42.20602035522461,
0.38725510239601135,
0
] | [
0.29839956760406494,
-0.19729866087436676,
0.19568413496017456,
3.0579168796539307,
1.1618069410324097,
2.4008336067199707
] | 1 | [
0.6496126055717468,
-0.049791380763053894,
-0.17866943776607513,
0.635941743850708,
0.012473897077143192,
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] | [
0.618882417678833,
-0.09943763166666031,
-0.14015373587608337,
0.6668915748596191,
0.011396016925573349,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.031739 | [
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 | 43 | 14,694 | 0 | ||
[
37.2525634765625,
-3.3510968685150146,
0.5525380373001099,
41.08653259277344,
0.40909773111343384,
0
] | [
34.87450408935547,
-6.75579309463501,
3.3688368797302246,
43.24628448486328,
0.3665865659713745,
0
] | [
0.2984154224395752,
-0.1928267627954483,
0.19552338123321533,
3.058666229248047,
1.1545518636703491,
2.4123964309692383
] | 1 | [
0.638579785823822,
-0.06753532588481903,
-0.1647367924451828,
0.647005558013916,
0.012082056142389774,
-0.0015339808305725455
] | [
0.6004592180252075,
-0.1291375309228897,
-0.11697755008935928,
0.6853703260421753,
0.010746854357421398,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.050423 | [
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 | 43 | 14,695 | 0 | ||
[
36.393436431884766,
-4.577084064483643,
1.57431960105896,
41.8629150390625,
0.3936501443386078,
0
] | [
33.56974411010742,
-8.6193265914917,
4.920377731323242,
44.427268981933594,
0.34312212467193604,
0
] | [
0.29832446575164795,
-0.1872660219669342,
0.19530650973320007,
3.0595591068267822,
1.1456116437911987,
2.426785707473755
] | 1 | [
0.6248078942298889,
-0.08971748501062393,
-0.14740926027297974,
0.6607968211174011,
0.011596874333918095,
-0.0015339808305725455
] | [
0.5795438289642334,
-0.16285499930381775,
-0.0906662791967392,
0.706348717212677,
0.010009877383708954,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.073729 | [
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 | 43 | 14,696 | 0 | ||
[
35.368629455566406,
-6.040555000305176,
2.7910444736480713,
42.78858184814453,
0.3752800524234772,
0
] | [
32.12382125854492,
-10.684481620788574,
6.639784812927246,
45.736026763916016,
0.3171190023422241,
0
] | [
0.29805636405944824,
-0.18066762387752533,
0.19499674439430237,
3.0605804920196533,
1.135009765625,
2.443902015686035
] | 1 | [
0.608380138874054,
-0.11619650572538376,
-0.1267758458852768,
0.6772398948669434,
0.011019901372492313,
-0.0015339808305725455
] | [
0.5563655495643616,
-0.2002204805612564,
-0.06150830164551735,
0.7295968532562256,
0.00919316429644823,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.101523 | [
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 | 43 | 14,697 | 0 | ||
[
34.18681716918945,
-7.728845119476318,
4.193094253540039,
43.85594177246094,
0.3541923761367798,
0
] | [
30.55257225036621,
-12.928635597229004,
8.508223533630371,
47.158226013183594,
0.28886204957962036,
0
] | [
0.2975347340106964,
-0.1731119453907013,
0.19455644488334656,
3.0617170333862305,
1.1228153705596924,
2.4635913372039795
] | 1 | [
0.5894355773925781,
-0.14674325287342072,
-0.10299966484308243,
0.6961999535560608,
0.010357574559748173,
-0.0015339808305725455
] | [
0.5311782360076904,
-0.2408246397972107,
-0.029823023825883865,
0.7548600435256958,
0.008305663242936134,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.133572 | [
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 | 43 | 14,698 | 0 | ||
[
32.859371185302734,
-9.625473022460938,
5.767441272735596,
45.05498123168945,
0.3304516673088074,
0
] | [
28.873205184936523,
-15.327208518981934,
10.505227088928223,
48.67828369140625,
0.2586607336997986,
0
] | [
0.2966826558113098,
-0.16470341384410858,
0.19394804537296295,
3.0629396438598633,
1.1091285943984985,
2.485642433166504
] | 1 | [
0.5681564807891846,
-0.18105952441692352,
-0.07630164176225662,
0.7174990773200989,
0.009611920453608036,
-0.0015339808305725455
] | [
0.5042577981948853,
-0.2842227518558502,
0.00404247734695673,
0.7818616032600403,
0.00735709210857749,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.169571 | [
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
] | 28.6 | 286 | 43 | 14,699 | 0 |
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