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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] | 18.799999 | 188 | 52 | 17,608 | 0 |
[
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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0.15370818972587585,
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] | 18.9 | 189 | 52 | 17,609 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.063188 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.072716 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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0.15370818972587585,
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[
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27.82543182373047,
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[
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] | 19.6 | 196 | 52 | 17,616 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.180763 | [
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0.15370818972587585,
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] | 19.700001 | 197 | 52 | 17,617 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.216929 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 19.799999 | 198 | 52 | 17,618 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.256011 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | 0 | pick box lid and place on box body | box body | [
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0.15370818972587585,
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] | 19.9 | 199 | 52 | 17,619 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.297453 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.340743 | [
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15.747513771057129,
27.82543182373047,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
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] | 20.1 | 201 | 52 | 17,621 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.385409 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 20.200001 | 202 | 52 | 17,622 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.431001 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 20.299999 | 203 | 52 | 17,623 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.47708 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 20.4 | 204 | 52 | 17,624 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.523218 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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0.13444654643535614,
0.008242183364927769,
3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 20.5 | 205 | 52 | 17,625 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.568981 | [
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
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] | 20.6 | 206 | 52 | 17,626 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.613954 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 20.700001 | 207 | 52 | 17,627 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.657709 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 20.799999 | 208 | 52 | 17,628 | 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 | 0.696683 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 20.9 | 209 | 52 | 17,629 | 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 | 0.72823 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 21 | 210 | 52 | 17,630 | 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 | 0.755665 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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0.13444654643535614,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.1 | 211 | 52 | 17,631 | 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 | 0.780889 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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0.13444654643535614,
0.008242183364927769,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.200001 | 212 | 52 | 17,632 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.804912 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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0.13444654643535614,
0.008242183364927769,
3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.299999 | 213 | 52 | 17,633 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.826597 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
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] | [
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0.13444654643535614,
0.008242183364927769,
3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.4 | 214 | 52 | 17,634 | 0 |
[
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] | [
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0.3415587544441223,
0.44143685698509216,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.8403 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
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] | [
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0.13444654643535614,
0.008242183364927769,
3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.5 | 215 | 52 | 17,635 | 0 |
[
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] | [
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0.3424086570739746,
0.4378129839897156,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.84654 | [
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15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
0.2862747013568878,
0.13444654643535614,
0.008242183364927769,
3.104389190673828,
0.5576437711715698,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.6 | 216 | 52 | 17,636 | 0 |
[
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] | [
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] | [
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0.243231400847435,
0.34277012944221497,
0.4362717866897583,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.852388 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
0.2862747013568878,
0.13444654643535614,
0.008242183364927769,
3.104389190673828,
0.5576437711715698,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.700001 | 217 | 52 | 17,637 | 0 |
[
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] | [
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13.824689865112305,
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29.223228454589844,
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] | [
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] | [
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0.243231400847435,
0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.858583 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
0.2862747013568878,
0.13444654643535614,
0.008242183364927769,
3.104389190673828,
0.5576437711715698,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 21.799999 | 218 | 52 | 17,638 | 0 |
[
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] | [
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13.824689865112305,
30.47954559326172,
29.223228454589844,
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] | [
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] | [
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0.4362717866897583,
-0.010878725908696651,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.862711 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
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3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 21.9 | 219 | 52 | 17,639 | 0 |
[
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0
] | [
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13.824689865112305,
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29.223228454589844,
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0
] | [
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3.1045796871185303,
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] | 0 | [
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] | [
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0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.864884 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
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0.13444654643535614,
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3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22 | 220 | 52 | 17,640 | 0 |
[
-38.089454650878906,
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0
] | [
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29.223228454589844,
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] | [
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3.1051595211029053,
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] | [
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0.243231400847435,
0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.866605 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
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0.13444654643535614,
0.008242183364927769,
3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.1 | 221 | 52 | 17,641 | 0 |
[
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0
] | [
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13.824689865112305,
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29.223228454589844,
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0
] | [
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] | [
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0.243231400847435,
0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.868311 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
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0.13444654643535614,
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3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.200001 | 222 | 52 | 17,642 | 0 |
[
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0
] | [
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13.824689865112305,
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29.223228454589844,
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0
] | [
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] | [
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0.243231400847435,
0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.869386 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
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0.13444654643535614,
0.008242183364927769,
3.104389190673828,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.299999 | 223 | 52 | 17,643 | 0 |
[
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10.430099487304688,
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0
] | [
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13.824689865112305,
30.47954559326172,
29.223228454589844,
-0.3219451308250427,
0
] | [
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0.1594686210155487,
0.039406146854162216,
3.105276346206665,
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] | 0 | [
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] | [
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0.243231400847435,
0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.870338 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
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0.13444654643535614,
0.008242183364927769,
3.104389190673828,
0.5576437711715698,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.4 | 224 | 52 | 17,644 | 0 |
[
-38.06417465209961,
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0
] | [
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13.824689865112305,
30.47954559326172,
29.223228454589844,
-0.3219451308250427,
0
] | [
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0.15964150428771973,
0.039380501955747604,
3.103672981262207,
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] | 0 | [
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] | [
-0.5684056282043457,
0.243231400847435,
0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87204 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
0.2862747013568878,
0.13444654643535614,
0.008242183364927769,
3.104389190673828,
0.5576437711715698,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.5 | 225 | 52 | 17,645 | 0 |
[
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10.579795837402344,
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28.670909881591797,
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0
] | [
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13.824689865112305,
30.47954559326172,
29.223228454589844,
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0
] | [
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3.1025264263153076,
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] | [
-0.5684056282043457,
0.243231400847435,
0.34277012944221497,
0.4362717866897583,
-0.010878725908696651,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.873863 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
0.2862747013568878,
0.13444654643535614,
0.008242183364927769,
3.104389190673828,
0.5576437711715698,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.6 | 226 | 52 | 17,646 | 0 |
[
-38.05514907836914,
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28.245912551879883,
-0.00570985721424222,
0
] | [
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10.723608016967773,
26.353166580200195,
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] | [
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0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.875154 | [
-38.04237747192383,
15.747513771057129,
27.82543182373047,
29.223228454589844,
-0.3219451308250427,
0
] | [
0.2862747013568878,
0.13444654643535614,
0.008242183364927769,
3.104389190673828,
0.5576437711715698,
-2.643390417098999
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.700001 | 227 | 52 | 17,647 | 0 |
[
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
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] | [
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10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
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] | [
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3.1001780033111572,
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] | 1 | [
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0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
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] | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.03781259059906006
] | release object on box body | Is the object released? | gripper_open | 0 | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
30
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 30 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.799999 | 228 | 52 | 17,648 | 0 |
[
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
2.3999977111816406
] | [
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10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
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] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
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] | 1 | [
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0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
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] | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.07060147821903229
] | release object on box body | Is the object released? | gripper_open | 0 | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
30
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 30 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 22.9 | 229 | 52 | 17,649 | 0 |
[
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
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] | [
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10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
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] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
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] | 1 | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
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] | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.10339029133319855
] | release object on box body | Is the object released? | gripper_open | 0 | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
30
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 30 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 23 | 230 | 52 | 17,650 | 0 |
[
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
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] | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
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] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 1 | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.11650580912828445
] | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.13617916405200958
] | release object on box body | Is the object released? | gripper_open | 0 | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
30
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 30 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 23.1 | 231 | 52 | 17,651 | 0 |
[
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
6.90000057220459
] | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
7.799999713897705
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 1 | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.1492946892976761
] | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.16896797716617584
] | release object on box body | Is the object released? | gripper_open | 0 | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
30
] | [
0.28988176584243774,
0.16039228439331055,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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10.723608016967773,
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] | [
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[
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10.723608016967773,
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] | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0.76951 | [
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10.723608016967773,
26.353166580200195,
28.089384078979492,
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] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 30 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 24.5 | 245 | 52 | 17,665 | 0 |
[
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
27.89999771118164
] | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
28.80000114440918
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 1 | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.6083383560180664
] | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.6280117630958557
] | release object on box body | Is the object released? | gripper_open | 0.865548 | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
30
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 30 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 24.6 | 246 | 52 | 17,666 | 0 |
[
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
29.400001525878906
] | [
-38.0497932434082,
10.538905143737793,
26.0148983001709,
28.09212303161621,
-0.010029109194874763,
30
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 1 | [
-0.5685311555862427,
0.18712258338928223,
0.27279433608055115,
0.41613075137138367,
-0.001057191751897335,
0.6411272883415222
] | [
-0.5685244798660278,
0.183780699968338,
0.2670579254627228,
0.4161793887615204,
-0.0010819872841238976,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.961585 | [
-38.050209045410156,
10.723608016967773,
26.353166580200195,
28.089384078979492,
-0.009239650331437588,
30
] | [
0.28988176584243774,
0.16039228439331055,
0.039399225264787674,
3.1001780033111572,
0.6937288045883179,
-2.637763738632202
] | 30 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.013000024482607841
] | 24.700001 | 247 | 52 | 17,667 | 0 |
[
-38.04970169067383,
10.68220043182373,
26.286556243896484,
28.11234474182129,
-0.012181144207715988,
30
] | [
-38.04948806762695,
10.382356643676758,
26.014070510864258,
28.116527557373047,
-0.010029109194874763,
30
] | [
0.29006117582321167,
0.16050490736961365,
0.03980820253491402,
3.0999770164489746,
0.695192813873291,
-2.6379714012145996
] | 1 | [
-0.5685229897499084,
0.18637338280677795,
0.27166473865509033,
0.4165385961532593,
-0.0011495789512991905,
0.6542428135871887
] | [
-0.5685195922851562,
0.18094821274280548,
0.2670438885688782,
0.4166128933429718,
-0.0010819872841238976,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 24.799999 | 248 | 52 | 17,668 | 0 |
[
-38.04970169067383,
10.576099395751953,
26.178972244262695,
28.110746383666992,
-0.011182934045791626,
30
] | [
-38.04872512817383,
9.987336158752441,
26.011981964111328,
28.17810821533203,
-0.010029109194874763,
30
] | [
0.29046738147735596,
0.16076411306858063,
0.040726158767938614,
3.0996837615966797,
0.698958694934845,
-2.6381356716156006
] | 1 | [
-0.5685229897499084,
0.18445366621017456,
0.2698403298854828,
0.4165102243423462,
-0.001118226908147335,
0.6542428135871887
] | [
-0.5685073733329773,
0.173800989985466,
0.2670084834098816,
0.41770678758621216,
-0.0010819872841238976,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 24.9 | 249 | 52 | 17,669 | 0 |
[
-38.04927062988281,
10.376035690307617,
26.12013816833496,
28.138113021850586,
-0.011243660934269428,
30
] | [
-38.04758071899414,
9.396791458129883,
26.008859634399414,
28.27016830444336,
-0.010029109194874763,
30
] | [
0.2907983958721161,
0.16097316145896912,
0.04187057912349701,
3.099329948425293,
0.7030812501907349,
-2.6383721828460693
] | 1 | [
-0.5685160756111145,
0.1808338463306427,
0.2688426077365875,
0.4169963300228119,
-0.0011201341403648257,
0.6542428135871887
] | [
-0.5684890151023865,
0.16311608254909515,
0.26695552468299866,
0.4193421006202698,
-0.0010819872841238976,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25 | 250 | 52 | 17,670 | 0 |
[
-38.048675537109375,
10.035621643066406,
26.088031768798828,
28.19370460510254,
-0.011763641610741615,
30
] | [
-38.04606628417969,
8.61497688293457,
26.004724502563477,
28.392045974731445,
-0.010029109194874763,
30
] | [
0.29116082191467285,
0.16120147705078125,
0.043550558388233185,
3.0988247394561768,
0.7087845206260681,
-2.6387221813201904
] | 1 | [
-0.5685065388679504,
0.1746746301651001,
0.2682981491088867,
0.4179838299751282,
-0.0011364658130332828,
0.6542428135871887
] | [
-0.5684647560119629,
0.14897046983242035,
0.2668853998184204,
0.4215070903301239,
-0.0010819872841238976,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.002998 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.1 | 251 | 52 | 17,671 | 0 |
[
-38.047691345214844,
9.533865928649902,
26.06863021850586,
28.275209426879883,
-0.012249462306499481,
30
] | [
-38.04420471191406,
6.240285873413086,
25.99964141845703,
28.541955947875977,
-0.010029109194874763,
30
] | [
0.2916093170642853,
0.1614825278520584,
0.04592625051736832,
3.098119020462036,
0.7167261838912964,
-2.6392109394073486
] | 1 | [
-0.5684908032417297,
0.16559621691703796,
0.26796913146972656,
0.4194316565990448,
-0.0011517246020957828,
0.6542428135871887
] | [
-0.5684348940849304,
0.10600446909666061,
0.2667992115020752,
0.42416998744010925,
-0.0010819872841238976,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.011316 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.200001 | 252 | 52 | 17,672 | 0 |
[
-38.046478271484375,
8.545441627502441,
26.047948837280273,
28.380661010742188,
-0.012674556113779545,
30
] | [
-38.04205322265625,
6.541614055633545,
25.99376106262207,
28.71526527404785,
-0.010029109194874763,
29.750001907348633
] | [
0.2924974858760834,
0.16204309463500977,
0.050648342818021774,
3.0966525077819824,
0.7330507040023804,
-2.6402127742767334
] | 1 | [
-0.5684713125228882,
0.1477123498916626,
0.2676183879375458,
0.421304851770401,
-0.001165076158940792,
0.6542428135871887
] | [
-0.5684003829956055,
0.1114564910531044,
0.2666994631290436,
0.4272485673427582,
-0.0010819872841238976,
0.6487780213356018
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.027407 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.299999 | 253 | 52 | 17,673 | 0 |
[
-38.044769287109375,
7.418069839477539,
26.049503326416016,
28.51368522644043,
-0.01261003315448761,
29.249998092651367
] | [
-38.039615631103516,
3.9417879581451416,
25.98710060119629,
28.91163444519043,
-0.010029109194874763,
28.5
] | [
0.29334235191345215,
0.1625729650259018,
0.055931586772203445,
3.0950026512145996,
0.7510181665420532,
-2.6413536071777344
] | 1 | [
-0.5684439539909363,
0.1273144781589508,
0.2676447629928589,
0.4236678183078766,
-0.0011630496010184288,
0.6378483176231384
] | [
-0.5683613419532776,
0.0644170492887497,
0.2665865421295166,
0.430736780166626,
-0.0010819872841238976,
0.6214539408683777
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.05646 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.4 | 254 | 52 | 17,674 | 0 |
[
-38.04290771484375,
6.132971286773682,
26.034894943237305,
28.66834831237793,
-0.012864329852163792,
28
] | [
-38.03693389892578,
2.5998568534851074,
25.979780197143555,
29.127464294433594,
-0.010029109194874763,
27.25
] | [
0.2942317724227905,
0.16313044726848602,
0.06203005462884903,
3.0930213928222656,
0.7717205882072449,
-2.642756223678589
] | 1 | [
-0.5684140920639038,
0.10406279563903809,
0.26739704608917236,
0.42641517519950867,
-0.0011710366234183311,
0.6105243563652039
] | [
-0.5683183670043945,
0.04013708606362343,
0.26646238565444946,
0.43457067012786865,
-0.0010819872841238976,
0.5941299200057983
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.095286 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.5 | 255 | 52 | 17,675 | 0 |
[
-38.04065704345703,
4.830785274505615,
26.01238441467285,
28.832746505737305,
-0.011573867872357368,
26.750001907348633
] | [
-38.034053802490234,
1.1564202308654785,
25.971906661987305,
29.359619140625,
-0.010029109194874763,
26
] | [
0.2950201630592346,
0.16362060606479645,
0.06824299693107605,
3.090980291366577,
0.792693018913269,
-2.644202470779419
] | 1 | [
-0.5683780312538147,
0.08050195127725601,
0.2670153081417084,
0.42933544516563416,
-0.0011305053485557437,
0.5832003355026245
] | [
-0.5682721734046936,
0.014020548202097416,
0.2663288712501526,
0.438694566488266,
-0.0010819872841238976,
0.566805899143219
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.134404 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.6 | 256 | 52 | 17,676 | 0 |
[
-38.03831100463867,
3.479592800140381,
25.998762130737305,
29.0258731842041,
-0.011095637455582619,
25.5
] | [
-38.030975341796875,
-0.3847476541996002,
25.963499069213867,
29.607492446899414,
-0.010029109194874763,
24.75
] | [
0.2956516444683075,
0.1640101820230484,
0.07462096214294434,
3.088801622390747,
0.8138870596885681,
-2.6457977294921875
] | 1 | [
-0.5683404207229614,
0.05605441331863403,
0.26678428053855896,
0.43276605010032654,
-0.0011154849780723453,
0.5558763146400452
] | [
-0.5682228207588196,
-0.013864269480109215,
0.26618629693984985,
0.44309765100479126,
-0.0010819872841238976,
0.5394818782806396
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.174374 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.700001 | 257 | 52 | 17,677 | 0 |
[
-38.03558349609375,
2.061058521270752,
25.988367080688477,
29.240503311157227,
-0.010921046137809753,
24.25
] | [
-38.02775573730469,
-1.9972347021102905,
25.954702377319336,
29.866836547851562,
-0.010029109194874763,
23.500001907348633
] | [
0.296151727437973,
0.1643136590719223,
0.08128613978624344,
3.086426258087158,
0.8358576893806458,
-2.647582530975342
] | 1 | [
-0.5682966709136963,
0.030388442799448967,
0.26660799980163574,
0.436578631401062,
-0.0011100014671683311,
0.528552234172821
] | [
-0.5681712031364441,
-0.043039485812187195,
0.26603710651397705,
0.4477045238018036,
-0.0010819872841238976,
0.5121578574180603
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.215469 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.799999 | 258 | 52 | 17,678 | 0 |
[
-38.032676696777344,
0.5704975128173828,
25.978679656982422,
29.472061157226562,
-0.010791999287903309,
22.999998092651367
] | [
-38.024417877197266,
-3.6684048175811768,
25.945585250854492,
30.1356201171875,
-0.010029109194874763,
22.25
] | [
0.2965172231197357,
0.16453008353710175,
0.08827650547027588,
3.083815813064575,
0.8588129281997681,
-2.649583101272583
] | 1 | [
-0.5682501196861267,
0.003419270971789956,
0.26644372940063477,
0.44069191813468933,
-0.0011059482349082828,
0.5012281537055969
] | [
-0.5681177377700806,
-0.07327647507190704,
0.2658824920654297,
0.4524790644645691,
-0.0010819872841238976,
0.48483380675315857
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.257749 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 25.9 | 259 | 52 | 17,679 | 0 |
[
-38.02968978881836,
-0.9880931377410889,
25.968441009521484,
29.71697425842285,
-0.010655362159013748,
21.75
] | [
-38.02098846435547,
-5.385730266571045,
25.936216354370117,
30.41182518005371,
-0.010029109194874763,
21
] | [
0.2967340052127838,
0.1646510660648346,
0.095579594373703,
3.080939769744873,
0.8827645182609558,
-2.6518282890319824
] | 1 | [
-0.5682021975517273,
-0.02478078193962574,
0.26627010107040405,
0.4450424313545227,
-0.0011016567004844546,
0.47390419244766235
] | [
-0.5680627226829529,
-0.1043485626578331,
0.2657236158847809,
0.45738542079925537,
-0.0010819872841238976,
0.45750975608825684
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.301133 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26 | 260 | 52 | 17,680 | 0 |
[
-38.026580810546875,
-2.6064813137054443,
25.95747947692871,
29.972713470458984,
-0.010480770841240883,
20.500001907348633
] | [
-38.01750564575195,
-7.1294450759887695,
25.92670249938965,
30.692277908325195,
-0.010029109194874763,
19.75
] | [
0.2967838644981384,
0.16466473042964935,
0.10315442085266113,
3.0777742862701416,
0.9076108932495117,
-2.6543447971343994
] | 1 | [
-0.5681523680686951,
-0.054062772542238235,
0.2660841941833496,
0.4495852589607239,
-0.0010961731895804405,
0.4465802013874054
] | [
-0.5680069327354431,
-0.13589812815189362,
0.2655622959136963,
0.4623672366142273,
-0.0010819872841238976,
0.4301857352256775
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.345472 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.1 | 261 | 52 | 17,681 | 0 |
[
-38.02317810058594,
-4.2732086181640625,
25.945833206176758,
30.236787796020508,
-0.010279610753059387,
19.25
] | [
-38.01399612426758,
-8.886214256286621,
25.917118072509766,
30.974851608276367,
-0.010029109194874763,
18.5
] | [
0.2966509759426117,
0.16456001996994019,
0.11094210296869278,
3.074298858642578,
0.9331876635551453,
-2.6571619510650635
] | 1 | [
-0.5680978298187256,
-0.08421937376260757,
0.26588672399520874,
0.4542761445045471,
-0.0010898550972342491,
0.4192561209201813
] | [
-0.5679506659507751,
-0.16768388450145721,
0.2653997540473938,
0.46738672256469727,
-0.0010819872841238976,
0.40286171436309814
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.390559 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.200001 | 262 | 52 | 17,682 | 0 |
[
-38.01970291137695,
-5.975178241729736,
25.93366241455078,
30.506847381591797,
-0.01006326824426651,
18
] | [
-38.010494232177734,
-10.639336585998535,
25.907554626464844,
31.2568359375,
-0.010029109194874763,
17.250001907348633
] | [
0.296322762966156,
0.16433025896549225,
0.11887415498495102,
3.0704941749572754,
0.9592965841293335,
-2.6603002548217773
] | 1 | [
-0.5680420994758606,
-0.11501362919807434,
0.26568031311035156,
0.45907333493232727,
-0.0010830600513145328,
0.39193210005760193
] | [
-0.5678945183753967,
-0.19940365850925446,
0.26523756980895996,
0.47239577770233154,
-0.0010819872841238976,
0.3755377233028412
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.436162 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.299999 | 263 | 52 | 17,683 | 0 |
[
-38.016231536865234,
-7.698292255401611,
25.921171188354492,
30.7805233001709,
-0.009839335456490517,
16.749998092651367
] | [
-38.00702667236328,
-12.374861717224121,
25.89808464050293,
31.535991668701172,
-0.010029109194874763,
16
] | [
0.2957930862903595,
0.16397200524806976,
0.1268768608570099,
3.066343307495117,
0.9857205748558044,
-2.6637821197509766
] | 1 | [
-0.5679864883422852,
-0.14619044959545135,
0.2654684782028198,
0.4639347791671753,
-0.0010760268196463585,
0.3646080195903778
] | [
-0.5678389072418213,
-0.23080503940582275,
0.26507699489593506,
0.4773545563220978,
-0.0010819872841238976,
0.34821364283561707
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.482027 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.4 | 264 | 52 | 17,684 | 0 |
[
-38.012813568115234,
-9.427895545959473,
25.908552169799805,
31.055437088012695,
-0.0096040153875947,
15.5
] | [
-38.00363540649414,
-14.074474334716797,
25.888813018798828,
31.809370040893555,
-0.010029109194874763,
14.750000953674316
] | [
0.2950626611709595,
0.1634860336780548,
0.13487423956394196,
3.06183123588562,
1.0122332572937012,
-2.6676278114318848
] | 1 | [
-0.5679317116737366,
-0.1774846911430359,
0.26525449752807617,
0.46881821751594543,
-0.0010686357272788882,
0.33728402853012085
] | [
-0.5677845478057861,
-0.2615566551685333,
0.2649197578430176,
0.4822106957435608,
-0.0010819872841238976,
0.3208896219730377
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.527896 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.5 | 265 | 52 | 17,685 | 0 |
[
-38.00945281982422,
-11.148975372314453,
25.89603042602539,
31.329193115234375,
-0.009376287460327148,
14.250000953674316
] | [
-38.00033950805664,
-15.72422981262207,
25.879812240600586,
32.074729919433594,
-0.010029109194874763,
13.499999046325684
] | [
0.2941393256187439,
0.16287745535373688,
0.14278952777385712,
3.056945323944092,
1.038601279258728,
-2.6718554496765137
] | 1 | [
-0.5678778290748596,
-0.2086247056722641,
0.26504215598106384,
0.47368109226226807,
-0.0010614832863211632,
0.3099600076675415
] | [
-0.5677317380905151,
-0.29140618443489075,
0.2647671103477478,
0.486924409866333,
-0.0010819872841238976,
0.2935655415058136
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.573505 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.6 | 266 | 52 | 17,686 | 0 |
[
-38.006160736083984,
-12.846019744873047,
25.88359832763672,
31.59922218322754,
-0.009110603481531143,
13
] | [
-37.99716567993164,
-17.31217384338379,
25.87114715576172,
32.33014678955078,
-0.010029109194874763,
12.25
] | [
0.2930387258529663,
0.16215629875659943,
0.15054672956466675,
3.051682233810425,
1.0645897388458252,
-2.676474094390869
] | 1 | [
-0.5678250193595886,
-0.23932984471321106,
0.2648313343524933,
0.47847774624824524,
-0.0010531385196372867,
0.28263595700263977
] | [
-0.567680835723877,
-0.3201373219490051,
0.26462018489837646,
0.49146151542663574,
-0.0010819872841238976,
0.26624155044555664
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.618585 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.700001 | 267 | 52 | 17,687 | 0 |
[
-38.002925872802734,
-14.503963470458984,
25.871538162231445,
31.863245010375977,
-0.008890465833246708,
11.750000953674316
] | [
-37.99446105957031,
-18.666240692138672,
25.863759994506836,
32.54794692993164,
-0.010029109194874763,
11.000001907348633
] | [
0.29178231954574585,
0.161336287856102,
0.1580723226070404,
3.0460405349731445,
1.0899617671966553,
-2.6814916133880615
] | 1 | [
-0.567773163318634,
-0.2693275213241577,
0.26462680101394653,
0.48316770792007446,
-0.0010462243808433414,
0.2553119361400604
] | [
-0.5676375031471252,
-0.34463685750961304,
0.2644948959350586,
0.49533042311668396,
-0.0010819872841238976,
0.2389175444841385
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.662881 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.799999 | 268 | 52 | 17,688 | 0 |
[
-37.99979782104492,
-16.071826934814453,
25.85019302368164,
32.1048469543457,
-0.00815034843981266,
10.499999046325684
] | [
-37.99296188354492,
-18.04352378845215,
25.859661102294922,
32.66880416870117,
-0.010029109194874763,
9.75
] | [
0.2904503345489502,
0.1604686975479126,
0.16520258784294128,
3.040130615234375,
1.1142536401748657,
-2.6868042945861816
] | 1 | [
-0.5677230358123779,
-0.2976953685283661,
0.2642648220062256,
0.4874594211578369,
-0.0010229786857962608,
0.2279878705739975
] | [
-0.5676134824752808,
-0.3333698511123657,
0.2644253969192505,
0.497477263212204,
-0.0010819872841238976,
0.21159347891807556
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.70562 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 26.9 | 269 | 52 | 17,689 | 0 |
[
-37.99725341796875,
-17.233980178833008,
25.816757202148438,
32.282676696777344,
-0.0059489719569683075,
9.25
] | [
-37.991424560546875,
-18.814130783081055,
25.855457305908203,
32.792755126953125,
-0.010029109194874763,
8.500000953674316
] | [
0.28937751054763794,
0.1597694605588913,
0.1705377846956253,
3.0353810787200928,
1.1325743198394775,
-2.6910974979400635
] | 1 | [
-0.5676822662353516,
-0.31872254610061646,
0.2636978328227997,
0.4906182885169983,
-0.0009538372396491468,
0.20066386461257935
] | [
-0.5675888061523438,
-0.34731268882751465,
0.2643541097640991,
0.4996790587902069,
-0.0010819872841238976,
0.18426945805549622
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.742557 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 27 | 270 | 52 | 17,690 | 0 |
[
-37.995147705078125,
-17.93271827697754,
25.79299545288086,
32.44659423828125,
-0.0055011059157550335,
8.000000953674316
] | [
-37.989845275878906,
-20.963228225708008,
25.851144790649414,
32.91987609863281,
-0.010029109194874763,
7.249999046325684
] | [
0.2886313199996948,
0.15928159654140472,
0.17360395193099976,
3.0325582027435303,
1.1426384449005127,
-2.693687915802002
] | 1 | [
-0.5676485300064087,
-0.33136501908302307,
0.26329487562179565,
0.4935300350189209,
-0.0009397705434821546,
0.17333984375
] | [
-0.567563533782959,
-0.38619697093963623,
0.2642809748649597,
0.5019371509552002,
-0.0010819872841238976,
0.1569453924894333
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.773199 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 27.1 | 271 | 52 | 17,691 | 0 |
[
-37.99320983886719,
-18.744064331054688,
25.821794509887695,
32.63349914550781,
-0.008028892800211906,
6.749999523162842
] | [
-37.988224029541016,
-21.758991241455078,
25.84671974182129,
33.05033874511719,
-0.010029109194874763,
6
] | [
0.2876846194267273,
0.15866778790950775,
0.17689159512519836,
3.0291762351989746,
1.1534212827682495,
-2.696835517883301
] | 1 | [
-0.5676174163818359,
-0.34604495763778687,
0.2637832462787628,
0.4968501329421997,
-0.001019163872115314,
0.14601579308509827
] | [
-0.5675375461578369,
-0.40059494972229004,
0.2642059326171875,
0.5042546391487122,
-0.0010819872841238976,
0.12962137162685394
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.805381 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 27.200001 | 272 | 52 | 17,692 | 0 |
[
-37.991355895996094,
-19.55377769470215,
25.827463150024414,
32.78737258911133,
-0.008765215054154396,
5.500000953674316
] | [
-37.98655700683594,
-21.22972297668457,
25.842166900634766,
33.18458938598633,
-0.010029109194874763,
4.750001430511475
] | [
0.2867562472820282,
0.15806567668914795,
0.18034453690052032,
3.025451421737671,
1.1651480197906494,
-2.7002882957458496
] | 1 | [
-0.5675877332687378,
-0.36069533228874207,
0.26387935876846313,
0.4995834529399872,
-0.0010422904742881656,
0.11869178712368011
] | [
-0.5675107836723328,
-0.39101871848106384,
0.264128714799881,
0.5066394209861755,
-0.0010819872841238976,
0.10229737311601639
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.837322 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 27.299999 | 273 | 52 | 17,693 | 0 |
[
-37.989471435546875,
-20.464067459106445,
25.859485626220703,
32.94929122924805,
-0.01004429068416357,
4.249999046325684
] | [
-37.98482894897461,
-23.42710304260254,
25.83744239807129,
33.323822021484375,
-0.010029109194874763,
3.499999761581421
] | [
0.2856600284576416,
0.1573566347360611,
0.18411140143871307,
3.021059989929199,
1.1780868768692017,
-2.704380512237549
] | 1 | [
-0.5675575137138367,
-0.3771654963493347,
0.2644224166870117,
0.502459704875946,
-0.0010824640048667789,
0.091367706656456
] | [
-0.5674830675125122,
-0.43077659606933594,
0.26404860615730286,
0.5091126561164856,
-0.0010819872841238976,
0.07497330754995346
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.870627 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 27.4 | 274 | 52 | 17,694 | 0 |
[
-37.98780822753906,
-21.273237228393555,
25.822843551635742,
33.071815490722656,
-0.009220672771334648,
3.000000238418579
] | [
-37.98304748535156,
-24.30234146118164,
25.832576751708984,
33.467315673828125,
-0.010029109194874763,
2.2500009536743164
] | [
0.28470924496650696,
0.15674099326133728,
0.18780143558979034,
3.016535758972168,
1.1910609006881714,
-2.7085883617401123
] | 1 | [
-0.5675308704376221,
-0.391806036233902,
0.26380103826522827,
0.5046361684799194,
-0.0010565957054495811,
0.06404370069503784
] | [
-0.5674545168876648,
-0.44661253690719604,
0.26396608352661133,
0.5116615891456604,
-0.0010819872841238976,
0.04764929786324501
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.901917 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 27.5 | 275 | 52 | 17,695 | 0 |
[
-37.986026763916016,
-22.190780639648438,
25.819971084594727,
33.21548843383789,
-0.00945599190890789,
1.750001311302185
] | [
-37.981178283691406,
-25.21959686279297,
25.82747459411621,
33.617698669433594,
-0.010029109194874763,
0.9999990463256836
] | [
0.2835512161254883,
0.15599298477172852,
0.19176805019378662,
3.011229991912842,
1.2050259113311768,
-2.7135612964630127
] | 1 | [
-0.5675023198127747,
-0.40840744972229004,
0.2637523114681244,
0.5071882605552673,
-0.0010639865649864078,
0.03671969473361969
] | [
-0.5674245953559875,
-0.46320873498916626,
0.26387956738471985,
0.5143329501152039,
-0.0010819872841238976,
0.020325224846601486
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.934298 | [
-37.979576110839844,
-24.59674644470215,
26.162887573242188,
33.746734619140625,
-0.010029109194874763,
0
] | [
0.2799947261810303,
0.15369096398353577,
0.19997622072696686,
2.999316930770874,
1.2330067157745361,
-2.724855422973633
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 27.6 | 276 | 52 | 17,696 | 0 |
[
-37.984378814697266,
-23.01152992248535,
25.779178619384766,
33.30533218383789,
-0.00814275722950697,
0
] | [
-37.91389846801758,
-23.026735305786133,
25.8727970123291,
33.41226577758789,
-0.010355244390666485,
0
] | [
0.28252750635147095,
0.15533095598220825,
0.19557642936706543,
3.0057172775268555,
1.218836784362793,
-2.7187347412109375
] | 1 | [
-0.5674758553504944,
-0.4232574999332428,
0.2630605399608612,
0.5087842345237732,
-0.0010227401508018374,
-0.0015339808305725455
] | [
-0.5663460493087769,
-0.423532634973526,
0.2646481394767761,
0.5106837153434753,
-0.0010922305518761277,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.700001 | 277 | 52 | 17,697 | 0 | ||
[
-37.96411895751953,
-23.020957946777344,
25.783048629760742,
33.309078216552734,
-0.007220456842333078,
0
] | [
-37.627986907958984,
-23.242313385009766,
25.98855209350586,
33.69222640991211,
-0.011845359578728676,
0
] | [
0.2825612723827362,
0.15524092316627502,
0.19559241831302643,
3.005779504776001,
1.2188787460327148,
-2.71899151802063
] | 1 | [
-0.5671511292457581,
-0.42342808842658997,
0.2631261944770813,
0.5088507533073425,
-0.0009937724098563194,
-0.0015339808305725455
] | [
-0.5617628693580627,
-0.4274331331253052,
0.26661112904548645,
0.5156568288803101,
-0.001139032538048923,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000243 | [
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 | 52 | 17,698 | 0 | ||
[
-37.853580474853516,
-23.09050941467285,
25.85752296447754,
33.4392204284668,
-0.008708283305168152,
0
] | [
-37.125465393066406,
-23.6212158203125,
26.192001342773438,
34.18428421020508,
-0.014464390464127064,
0
] | [
0.28259339928627014,
0.1546553522348404,
0.19522543251514435,
3.0066163539886475,
1.2165801525115967,
-2.719994306564331
] | 1 | [
-0.5653791427612305,
-0.4246864914894104,
0.26438912749290466,
0.511162519454956,
-0.0010405023349449039,
-0.0015339808305725455
] | [
-0.5537074208259583,
-0.43428874015808105,
0.2700612545013428,
0.5243974924087524,
-0.001221291720867157,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.003202 | [
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 | 52 | 17,699 | 0 |
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