observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.5 | 165 | 47 | 15,914 | 0 |
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.700001 | 167 | 47 | 15,916 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.306797 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.799999 | 168 | 47 | 15,917 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.350122 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 16.9 | 169 | 47 | 15,918 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.395359 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 17 | 170 | 47 | 15,919 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.440493 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 17.1 | 171 | 47 | 15,920 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.486822 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 17.200001 | 172 | 47 | 15,921 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.533381 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 17.299999 | 173 | 47 | 15,922 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.578326 | [
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21.382240295410156,
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] | [
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0.2571333646774292,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 17.4 | 174 | 47 | 15,923 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.623488 | [
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21.382240295410156,
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] | [
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0.2571333646774292,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 17.5 | 175 | 47 | 15,924 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.66772 | [
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21.382240295410156,
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] | [
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0.2571333646774292,
0.19968824088573456,
2.243565320968628,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 17.6 | 176 | 47 | 15,925 | 0 |
[
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] | [
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.706902 | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 17.700001 | 177 | 47 | 15,926 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.738206 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.799999 | 178 | 47 | 15,927 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.765903 | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 17.9 | 179 | 47 | 15,928 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.790935 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18 | 180 | 47 | 15,929 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.814466 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 18.1 | 181 | 47 | 15,930 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.837853 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 18.200001 | 182 | 47 | 15,931 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.861133 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 18.299999 | 183 | 47 | 15,932 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.88463 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 18.4 | 184 | 47 | 15,933 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.908912 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 18.5 | 185 | 47 | 15,934 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.930716 | [
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21.382240295410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 18.6 | 186 | 47 | 15,935 | 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 | 0.019772 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 18.700001 | 187 | 47 | 15,936 | 0 |
[
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] | [
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.023558 | [
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60.96617126464844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 18.799999 | 188 | 47 | 15,937 | 0 |
[
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] | [
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.030374 | [
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60.96617126464844,
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64.0610122680664,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 18.9 | 189 | 47 | 15,938 | 0 |
[
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] | [
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] | [
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0.08618737012147903,
0.018942059949040413,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.041578 | [
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60.96617126464844,
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64.0610122680664,
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0
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60.96617126464844,
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60.96617126464844,
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60.96617126464844,
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60.96617126464844,
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0.25742998719215393,
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] | [
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1.0644047260284424,
-1.0565495491027832,
1.0551127195358276,
-0.03845183551311493,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.937989 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 21.700001 | 217 | 47 | 15,966 | 0 |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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1.0644047260284424,
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1.0551127195358276,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.943176 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 21.799999 | 218 | 47 | 15,967 | 0 |
[
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0
] | [
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59.21017074584961,
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] | [
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] | [
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1.0644047260284424,
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1.0551127195358276,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.943932 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 21.9 | 219 | 47 | 15,968 | 0 |
[
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56.10976791381836,
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0
] | [
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59.21017074584961,
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] | [
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] | [
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1.0644047260284424,
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1.0551127195358276,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.943857 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22 | 220 | 47 | 15,969 | 0 |
[
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56.338539123535156,
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62.061553955078125,
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0
] | [
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59.21017074584961,
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] | [
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] | [
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1.0644047260284424,
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1.0551127195358276,
-0.03845183551311493,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.943766 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
-1.1998387575149536,
0
] | [
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0.24352997541427612,
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3.095370054244995,
0.48649951815605164,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.1 | 221 | 47 | 15,970 | 0 |
[
-55.04937744140625,
56.55898666381836,
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0
] | [
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59.21017074584961,
-52.036476135253906,
64.0610122680664,
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0
] | [
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0.27467459440231323,
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3.074284076690674,
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] | [
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1.0644047260284424,
-1.0565495491027832,
1.0551127195358276,
-0.03845183551311493,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.943906 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
-1.1998387575149536,
0
] | [
0.2833447754383087,
0.24352997541427612,
-0.0004498641355894506,
3.095370054244995,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.200001 | 222 | 47 | 15,971 | 0 |
[
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56.4565544128418,
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61.97230911254883,
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0
] | [
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59.21017074584961,
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0
] | [
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3.0686733722686768,
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] | [
-0.8403022289276123,
1.0644047260284424,
-1.0565495491027832,
1.0551127195358276,
-0.03845183551311493,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.940661 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
-1.1998387575149536,
0
] | [
0.2833447754383087,
0.24352997541427612,
-0.0004498641355894506,
3.095370054244995,
0.48649951815605164,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.299999 | 223 | 47 | 15,972 | 0 |
[
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56.25386047363281,
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61.66170883178711,
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0
] | [
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59.21017074584961,
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] | [
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0.05479924753308296,
3.064174175262451,
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] | [
-0.8403022289276123,
1.0644047260284424,
-1.0565495491027832,
1.0551127195358276,
-0.03845183551311493,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.931746 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
-1.1998387575149536,
0
] | [
0.2833447754383087,
0.24352997541427612,
-0.0004498641355894506,
3.095370054244995,
0.48649951815605164,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.4 | 224 | 47 | 15,973 | 0 |
[
-55.04636001586914,
56.6951789855957,
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0
] | [
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59.21017074584961,
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] | [
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0.275499552488327,
0.04748541861772537,
3.0524520874023438,
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] | [
-0.8403022289276123,
1.0644047260284424,
-1.0565495491027832,
1.0551127195358276,
-0.03845183551311493,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.941019 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
-1.1998387575149536,
0
] | [
0.2833447754383087,
0.24352997541427612,
-0.0004498641355894506,
3.095370054244995,
0.48649951815605164,
-2.399887800216675
] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.5 | 225 | 47 | 15,974 | 0 |
[
-55.06810760498047,
56.69133758544922,
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61.82449722290039,
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0
] | [
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59.21017074584961,
-52.036476135253906,
64.0610122680664,
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0
] | [
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0.2756882905960083,
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3.0566048622131348,
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1.01883065700531,
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] | [
-0.8403022289276123,
1.0644047260284424,
-1.0565495491027832,
1.0551127195358276,
-0.03845183551311493,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.940813 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
-1.1998387575149536,
0
] | [
0.2833447754383087,
0.24352997541427612,
-0.0004498641355894506,
3.095370054244995,
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] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.6 | 226 | 47 | 15,975 | 0 |
[
-55.071468353271484,
56.69083023071289,
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61.815616607666016,
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0
] | [
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56.6906852722168,
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] | [
0.28471916913986206,
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0.04768722131848335,
3.0572521686553955,
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] | 0 | [
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] | [
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1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
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0.011581620201468468
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.940853 | [
-55.00400924682617,
60.96617126464844,
-52.77047348022461,
64.0610122680664,
-1.1998387575149536,
0
] | [
0.2833447754383087,
0.24352997541427612,
-0.0004498641355894506,
3.095370054244995,
0.48649951815605164,
-2.399887800216675
] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.700001 | 227 | 47 | 15,976 | 0 |
[
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
1.2000024318695068
] | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
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] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
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] | 1 | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
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0.024697143584489822
] | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.04437042772769928
] | release object on box body | Is the object released? | gripper_open | 0.000561 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.799999 | 228 | 47 | 15,977 | 0 |
[
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
2.7000010013580322
] | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
3.6000001430511475
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 1 | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
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0.057485952973365784
] | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.07715923339128494
] | release object on box body | Is the object released? | gripper_open | 0.052615 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 22.9 | 229 | 47 | 15,978 | 0 |
[
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
4.200003147125244
] | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
5.100002288818359
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 1 | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.09027484059333801
] | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.10994812101125717
] | release object on box body | Is the object released? | gripper_open | 0.104669 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
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[
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56.6906852722168,
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] | [
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0.271274209022522,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.208777 | [
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56.6906852722168,
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] | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0.260831 | [
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56.6906852722168,
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] | [
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0.271274209022522,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.312885 | [
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56.6906852722168,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.36494 | [
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56.6906852722168,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.416994 | [
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56.6906852722168,
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] | [
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0.27570265531539917,
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.469048 | [
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56.6906852722168,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.521102 | [
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56.6906852722168,
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61.814456939697266,
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30
] | [
0.28471827507019043,
0.27570265531539917,
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
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] | 23.799999 | 238 | 47 | 15,987 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0.573156 | [
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56.6906852722168,
-57.86304473876953,
61.814456939697266,
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30
] | [
0.28471827507019043,
0.27570265531539917,
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.62521 | [
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56.6906852722168,
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61.814456939697266,
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30
] | [
0.28471827507019043,
0.27570265531539917,
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 24 | 240 | 47 | 15,989 | 0 |
[
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0.28471827507019043,
0.27570265531539917,
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] | 1 | [
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1.0188188552856445,
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] | release object on box body | Is the object released? | gripper_open | 0.677264 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
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30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
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0.6878343224525452,
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 24.1 | 241 | 47 | 15,990 | 0 |
[
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56.6906852722168,
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] | [
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0.28471827507019043,
0.27570265531539917,
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1.0188188552856445,
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1.015205979347229,
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] | release object on box body | Is the object released? | gripper_open | 0.729318 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
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30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
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0.6878343224525452,
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
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] | 24.200001 | 242 | 47 | 15,991 | 0 |
[
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56.6906852722168,
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] | [
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56.6906852722168,
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0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
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] | 1 | [
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1.0188188552856445,
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] | [
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1.0188188552856445,
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1.015205979347229,
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0.5362030267715454
] | release object on box body | Is the object released? | gripper_open | 0.781373 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
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] | 30 | pick box lid and place on box body | box body | [
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0.25742998719215393,
0.013000024482607841
] | 24.299999 | 243 | 47 | 15,992 | 0 |
[
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61.814456939697266,
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] | [
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56.6906852722168,
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61.814456939697266,
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] | [
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0.27570265531539917,
0.04768500104546547,
3.057338237762451,
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] | 1 | [
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] | [
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1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.5689918398857117
] | release object on box body | Is the object released? | gripper_open | 0.833427 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
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30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
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] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 24.4 | 244 | 47 | 15,993 | 0 |
[
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56.6906852722168,
-57.86304473876953,
61.814456939697266,
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] | [
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56.6906852722168,
-57.86304473876953,
61.814456939697266,
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] | [
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0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
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] | 1 | [
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1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
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] | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.6017807126045227
] | release object on box body | Is the object released? | gripper_open | 0.885481 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 24.5 | 245 | 47 | 15,994 | 0 |
[
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
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28.200000762939453
] | [
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56.6906852722168,
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61.814456939697266,
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] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 1 | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.6148962378501892
] | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.634569525718689
] | release object on box body | Is the object released? | gripper_open | 0.937535 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 24.6 | 246 | 47 | 15,995 | 0 |
[
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
29.700000762939453
] | [
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56.7547607421875,
-60.083927154541016,
61.824249267578125,
-1.6750285625457764,
30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 1 | [
-0.8413902521133423,
1.0188188552856445,
-1.1553574800491333,
1.015205979347229,
-0.05337302014231682,
0.6476850509643555
] | [
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1.0199781656265259,
-1.1930195093154907,
1.0153799057006836,
-0.05337671563029289,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.989589 | [
-55.07188034057617,
56.6906852722168,
-57.86304473876953,
61.814456939697266,
-1.6749109029769897,
30
] | [
0.28471827507019043,
0.27570265531539917,
0.04768500104546547,
3.057338237762451,
0.6878343224525452,
-2.4324393272399902
] | 30 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.013000024482607841
] | 24.700001 | 247 | 47 | 15,996 | 0 |
[
-55.0717658996582,
56.80327606201172,
-58.4211540222168,
61.852378845214844,
-1.6802246570587158,
30
] | [
-55.06929016113281,
56.60970687866211,
-60.120967864990234,
61.8960075378418,
-1.6750285625457764,
30
] | [
0.28521957993507385,
0.2762644290924072,
0.04909474402666092,
3.0560407638549805,
0.6945145130157471,
-2.433396339416504
] | 1 | [
-0.8413884043693542,
1.0208560228347778,
-1.164821982383728,
1.0158796310424805,
-0.05353991687297821,
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] | [
-0.8413487076759338,
1.0173536539077759,
-1.1936476230621338,
1.01665461063385,
-0.05337671563029289,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-54.684574127197266,
31.4863224029541,
-64.29917907714844,
74.28273010253906,
-1.6750285625457764,
0
] | [
0.2712312638759613,
0.2573827803134918,
0.19996699690818787,
2.9713315963745117,
1.0271179676055908,
-2.504652500152588
] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.20000000298023224
] | 24.799999 | 248 | 47 | 15,997 | 0 |
[
-55.07093811035156,
56.70193862915039,
-58.95975875854492,
61.84170913696289,
-1.6748464107513428,
30
] | [
-55.064762115478516,
56.31496047973633,
-60.19623565673828,
62.041812896728516,
-1.6750285625457764,
30
] | [
0.28593695163726807,
0.2770576477050781,
0.051835402846336365,
3.0542376041412354,
0.705586314201355,
-2.4344425201416016
] | 1 | [
-0.8413751125335693,
1.0190224647521973,
-1.1739556789398193,
1.0156900882720947,
-0.05337099730968475,
0.6542428135871887
] | [
-0.8412761092185974,
1.0120207071304321,
-1.1949241161346436,
1.01924467086792,
-0.05337671563029289,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-54.684574127197266,
31.4863224029541,
-64.29917907714844,
74.28273010253906,
-1.6750285625457764,
0
] | [
0.2712312638759613,
0.2573827803134918,
0.19996699690818787,
2.9713315963745117,
1.0271179676055908,
-2.504652500152588
] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.20000000298023224
] | 24.9 | 249 | 47 | 15,998 | 0 |
[
-55.06879425048828,
56.53837585449219,
-58.979393005371094,
61.89654541015625,
-1.6727057695388794,
30
] | [
-55.05794143676758,
55.87118148803711,
-60.30956268310547,
62.26134490966797,
-1.6750285625457764,
30
] | [
0.2860140800476074,
0.27712395787239075,
0.052825503051280975,
3.053886651992798,
0.7078895568847656,
-2.4346539974212646
] | 1 | [
-0.8413407802581787,
1.0160630941390991,
-1.1742886304855347,
1.0166641473770142,
-0.05330376327037811,
0.6542428135871887
] | [
-0.8411667943000793,
1.0039913654327393,
-1.1968458890914917,
1.023144245147705,
-0.05337671563029289,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-54.684574127197266,
31.4863224029541,
-64.29917907714844,
74.28273010253906,
-1.6750285625457764,
0
] | [
0.2712312638759613,
0.2573827803134918,
0.19996699690818787,
2.9713315963745117,
1.0271179676055908,
-2.504652500152588
] | 0 | pick box lid and place on box body | box body | [
0.271274209022522,
0.25742998719215393,
0.20000000298023224
] | 25 | 250 | 47 | 15,999 | 0 |
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