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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] | Move to initial position | Is the robot at initial position? | move_initial | 0.05525 | [
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0
] | 0.6 | 6 | 54 | 18,100 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.079192 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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0
] | 0.7 | 7 | 54 | 18,101 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.107706 | [
2.2691292762756348,
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] | 0.8 | 8 | 54 | 18,102 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.140493 | [
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] | 0.9 | 9 | 54 | 18,103 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.177204 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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] | 1 | 10 | 54 | 18,104 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.217443 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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] | 0 | [
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0
] | 1.1 | 11 | 54 | 18,105 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.260772 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0,
0
] | 1.2 | 12 | 54 | 18,106 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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1.2047102451324463,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.30672 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1.3 | 13 | 54 | 18,107 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.354785 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1.4 | 14 | 54 | 18,108 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.40444 | [
2.2691292762756348,
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] | [
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] | 0 | [
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] | 1.5 | 15 | 54 | 18,109 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.455142 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0,
0
] | 1.6 | 16 | 54 | 18,110 | 0 | ||
[
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] | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.506337 | [
2.2691292762756348,
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] | [
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] | 0 | [
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] | 1.7 | 17 | 54 | 18,111 | 0 | ||
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.557464 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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] | 1.8 | 18 | 54 | 18,112 | 0 | ||
[
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3.038283109664917
] | 1 | [
0.032079946249723434,
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0.9251458048820496,
1.2061817646026611,
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] | [
0.04758020117878914,
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0.7947767972946167,
1.2073549032211304,
-0.005682465620338917,
-0.0012939722510054708
] | Move to initial position | Is the robot at initial position? | move_initial | 0.607963 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 54 | 18,113 | 0 | ||
[
-0.22381500899791718,
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61.96730041503906,
72.58770751953125,
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] | [
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] | [
0.1960342526435852,
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0.10906928032636642,
3.0932044982910156,
0.7325289845466614,
3.031491279602051
] | 1 | [
0.03782970458269119,
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1.2065765857696533,
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] | [
0.05276620760560036,
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0.7511339783668518,
1.2077425718307495,
-0.0060236211866140366,
-0.0013351710513234138
] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2 | 20 | 54 | 18,114 | 0 | ||
[
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-66.39636993408203,
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72.60902404785156,
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] | [
1.0087400674819946,
-60.99710464477539,
52.16755676269531,
72.67362976074219,
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] | [
0.19899266958236694,
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0.11464530974626541,
3.0920727252960205,
0.7407094836235046,
3.024916648864746
] | 1 | [
0.04337863624095917,
-1.2082325220108032,
0.830033540725708,
1.2069553136825562,
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] | [
0.05758768320083618,
-1.1105420589447021,
0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
-0.001373474020510912
] | Move to initial position | Is the robot at initial position? | move_initial | 0.704876 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 54 | 18,115 | 0 | ||
[
0.4521799385547638,
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56.588233947753906,
72.62915802001953,
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] | [
1.2834818363189697,
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72.69215393066406,
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] | [
0.20191989839076996,
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0.11987325549125671,
3.090972900390625,
0.7485051155090332,
3.0186331272125244
] | 1 | [
0.04866597056388855,
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1.2073129415512085,
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] | [
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1.2084319591522217,
-0.006630517542362213,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.750227 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.2 | 22 | 54 | 18,116 | 0 | ||
[
0.7620851993560791,
-62.503231048583984,
54.12232971191406,
72.64794921875,
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0.005148380994796753
] | [
1.5291792154312134,
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48.02749252319336,
72.70872497558594,
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0.004310782998800278
] | [
0.20476315915584564,
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0.12470497936010361,
3.0899202823638916,
0.7558282613754272,
3.012712240219116
] | 1 | [
0.053633783012628555,
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0.7437081933021545,
1.2076467275619507,
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] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
-0.0014397504273802042
] | Move to initial position | Is the robot at initial position? | move_initial | 0.792838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.3 | 23 | 54 | 18,117 | 0 | ||
[
1.0486621856689453,
-60.75917053222656,
51.842098236083984,
72.66519165039062,
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0.003789191134274006
] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
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0.003064300399273634
] | [
0.20746982097625732,
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0.12910054624080658,
3.0889298915863037,
0.762599766254425,
3.0072224140167236
] | 1 | [
0.05822763964533806,
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0.7050396800041199,
1.2079529762268066,
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] | [
0.0693601742386818,
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0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
-0.0014669975498691201
] | Move to initial position | Is the robot at initial position? | move_initial | 0.832241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 54 | 18,118 | 0 | ||
[
1.308769941329956,
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49.77259826660156,
72.68077850341797,
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] | [
1.923018455505371,
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44.89452362060547,
72.73528289794922,
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0.0020163641311228275
] | [
0.2099885195493698,
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0.13302694261074066,
3.0880165100097656,
0.7687429785728455,
3.002225875854492
] | 1 | [
0.06239719316363335,
-1.0775946378707886,
0.6699447631835938,
1.208229899406433,
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] | [
0.07224366068840027,
-1.009844183921814,
0.5872215628623962,
1.209197998046875,
-0.007304922677576542,
-0.001489904592745006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.868004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.5 | 25 | 54 | 18,119 | 0 | ||
[
1.5395591259002686,
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47.93645477294922,
72.69451904296875,
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0.0016554320463910699
] | [
2.066845417022705,
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43.750389099121094,
72.74497985839844,
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0.0011784601956605911
] | [
0.21227119863033295,
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0.1364586055278778,
3.0871946811676025,
0.7741912007331848,
2.9977829456329346
] | 1 | [
0.06609676778316498,
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0.6388071179389954,
1.2084739208221436,
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] | [
0.07454922050237656,
-0.9940032362937927,
0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
-0.0015082205645740032
] | Move to initial position | Is the robot at initial position? | move_initial | 0.899736 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 54 | 18,120 | 0 | ||
[
1.73849356174469,
-56.560569763183594,
46.35379409790039,
72.70623779296875,
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0.0009042430901899934
] | [
2.1730449199676514,
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42.90557861328125,
72.75214385986328,
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0.0005597662529908121
] | [
0.21427392959594727,
-0.012129044160246849,
0.13937649130821228,
3.0864765644073486,
0.7788882851600647,
2.993943929672241
] | 1 | [
0.06928570568561554,
-1.0302704572677612,
0.6119681000709534,
1.2086820602416992,
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] | [
0.07625160366296768,
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0.5534927248954773,
1.2094975709915161,
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-0.0015217447653412819
] | Move to initial position | Is the robot at initial position? | move_initial | 0.927087 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 54 | 18,121 | 0 | ||
[
1.9034013748168945,
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45.0419921875,
72.7159423828125,
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0.0003752674674615264
] | [
2.2404532432556152,
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42.369346618652344,
72.7566909790039,
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0.00016706023598089814
] | [
0.21595779061317444,
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0.1417657434940338,
3.0858752727508545,
0.7827785611152649,
2.9907562732696533
] | 1 | [
0.0719291940331459,
-1.0121089220046997,
0.5897223949432373,
1.2088545560836792,
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] | [
0.07733216881752014,
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0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0015303289983421564
] | Move to initial position | Is the robot at initial position? | move_initial | 0.949759 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 54 | 18,122 | 0 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
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0.0000046465038394671865
] | [
0.21729041635990143,
-0.013181240297853947,
0.1436169445514679,
3.0854008197784424,
0.7858226299285889,
2.9882583618164062
] | 1 | [
0.07399813830852509,
-0.9978939294815063,
0.5723121762275696,
1.2089886665344238,
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] | [
0.07777906209230423,
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0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015338791999965906
] | Move to initial position | Is the robot at initial position? | move_initial | 0.967503 | [
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
] | 2.9 | 29 | 54 | 18,123 | 0 | ||
[
2.1252822875976562,
-54.184364318847656,
43.2505989074707,
72.71295928955078,
-0.2119712084531784,
0
] | [
2.292482852935791,
-53.943443298339844,
43.07879638671875,
72.68367767333984,
-0.21320094168186188,
0
] | [
0.21832643449306488,
-0.013526145368814468,
0.14501172304153442,
3.085059642791748,
0.7883502840995789,
2.9864895343780518
] | 1 | [
0.0754859670996666,
-0.9872770309448242,
0.5593436360359192,
1.208801507949829,
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] | [
0.07816620916128159,
-0.9829180240631104,
0.5564302206039429,
1.208281397819519,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3 | 30 | 54 | 18,124 | 0 |
[
2.174959182739258,
-54.08648681640625,
43.18110656738281,
72.7042007446289,
-0.21194085478782654,
0
] | [
2.8723068237304688,
-54.04365921020508,
43.13047409057617,
72.52825927734375,
-0.21320094168186188,
0
] | [
0.21845108270645142,
-0.013679434545338154,
0.14503221213817596,
3.0851099491119385,
0.7879148125648499,
2.985729455947876
] | 1 | [
0.07628229260444641,
-0.9855061173439026,
0.5581651926040649,
1.2086459398269653,
-0.0074236830696463585,
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] | [
0.08746084570884705,
-0.9847312569618225,
0.5573065876960754,
1.2055206298828125,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.000273 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.1 | 31 | 54 | 18,125 | 0 |
[
2.407413959503174,
-54.06169891357422,
43.1584358215332,
72.64581298828125,
-0.21162961423397064,
0
] | [
3.8996405601501465,
-54.22122573852539,
43.2220458984375,
72.25287628173828,
-0.21320094168186188,
0
] | [
0.21855512261390686,
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0.14516428112983704,
3.085009813308716,
0.7888854146003723,
2.9819390773773193
] | 1 | [
0.08000856637954712,
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0.5577807426452637,
1.207608699798584,
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] | [
0.10392910987138748,
-0.9879440069198608,
0.5588594675064087,
1.2006288766860962,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.002888 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.2 | 32 | 54 | 18,126 | 0 |
[
2.9204044342041016,
-54.11102294921875,
43.17811965942383,
72.51091003417969,
-0.2113373726606369,
0
] | [
5.295432090759277,
-54.46247863769531,
43.34645462036133,
71.87873840332031,
-0.21320094168186188,
0
] | [
0.2186669409275055,
-0.0158595759421587,
0.1454801857471466,
3.084684371948242,
0.7918314933776855,
2.9734911918640137
] | 1 | [
0.08823185414075851,
-0.9859500527381897,
0.5581145286560059,
1.2052123546600342,
-0.007404728792607784,
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] | [
0.1263037770986557,
-0.992309033870697,
0.5609691739082336,
1.1939828395843506,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.008945 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.3 | 33 | 54 | 18,127 | 0 |
[
3.7588860988616943,
-54.23208236694336,
43.237239837646484,
72.28778839111328,
-0.21101854741573334,
0
] | [
7.052661895751953,
-54.766204833984375,
43.50307846069336,
71.40770721435547,
-0.21320094168186188,
0
] | [
0.21877937018871307,
-0.01831013150513172,
0.14600905776023865,
3.084106683731079,
0.7969667315483093,
2.9596447944641113
] | 1 | [
0.10167279839515686,
-0.9881404042243958,
0.5591170787811279,
1.2012490034103394,
-0.007394715212285519,
-0.0015339808305725455
] | [
0.15447235107421875,
-0.9978044629096985,
0.5636252164840698,
1.1856156587600708,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.018946 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.4 | 34 | 54 | 18,128 | 0 |
[
4.936245918273926,
-54.42104721069336,
43.33268356323242,
71.97309112548828,
-0.21087431907653809,
0
] | [
9.142930030822754,
-55.12749099731445,
43.689388275146484,
70.847412109375,
-0.21320094168186188,
0
] | [
0.21885737776756287,
-0.021758010610938072,
0.1467621624469757,
3.083256721496582,
0.8043335676193237,
2.940164804458618
] | 1 | [
0.12054599076509476,
-0.9915594458580017,
0.5607356429100037,
1.1956589221954346,
-0.007390185259282589,
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] | [
0.1879795640707016,
-1.0043413639068604,
0.5667847394943237,
1.175662875175476,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.033014 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.5 | 35 | 54 | 18,129 | 0 |
[
6.450490474700928,
-54.67387008666992,
43.461822509765625,
71.56754302978516,
-0.21082118153572083,
0
] | [
11.51192855834961,
-55.53695297241211,
43.900543212890625,
70.21239471435547,
-0.21320094168186188,
0
] | [
0.21884281933307648,
-0.02620357647538185,
0.14774176478385925,
3.0821304321289062,
0.813890278339386,
2.9150772094726562
] | 1 | [
0.1448194831609726,
-0.9961338043212891,
0.5629256367683411,
1.1884548664093018,
-0.007388516329228878,
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] | [
0.2259548455476761,
-1.0117498636245728,
0.5703654885292053,
1.1643826961517334,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.051085 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.6 | 36 | 54 | 18,130 | 0 |
[
8.285717010498047,
-55.09251403808594,
43.618865966796875,
71.07498931884766,
-0.21082118153572083,
0
] | [
14.155205726623535,
-55.99382400512695,
44.136146545410156,
69.50386047363281,
-0.21320094168186188,
0
] | [
0.21860209107398987,
-0.03159409761428833,
0.14924924075603485,
3.0804829597473145,
0.8275049328804016,
2.884453058242798
] | 1 | [
0.17423835396766663,
-1.0037084817886353,
0.5655887722969055,
1.1797053813934326,
-0.007388516329228878,
-0.0015339808305725455
] | [
0.2683268189430237,
-1.0200161933898926,
0.5743609070777893,
1.1517966985702515,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.073127 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.7 | 37 | 54 | 18,131 | 0 |
[
10.420687675476074,
-55.61886215209961,
43.821868896484375,
70.50391387939453,
-0.21090088784694672,
0
] | [
17.024351119995117,
-56.4897346496582,
44.39188003540039,
68.73478698730469,
-0.21320094168186188,
0
] | [
0.21805043518543243,
-0.0378609299659729,
0.151046022772789,
3.078458786010742,
0.8436731100082397,
2.848726272583008
] | 1 | [
0.20846213400363922,
-1.013231873512268,
0.5690313577651978,
1.1695611476898193,
-0.007391019724309444,
-0.0015339808305725455
] | [
0.31431952118873596,
-1.0289888381958008,
0.578697681427002,
1.138135313987732,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.098734 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.8 | 38 | 54 | 18,132 | 0 |
[
12.830021858215332,
-56.04793930053711,
44.01639175415039,
69.85496520996094,
-0.21104511618614197,
0.28571537137031555
] | [
20.08250617980957,
-57.018314361572266,
44.664459228515625,
67.91504669189453,
-0.21320094168186188,
1.1428574323654175
] | [
0.2172730565071106,
-0.0449589341878891,
0.15278594195842743,
3.076388120651245,
0.8596069812774658,
2.8085434436798096
] | 1 | [
0.24708400666713715,
-1.0209952592849731,
0.572330117225647,
1.1580334901809692,
-0.007395549677312374,
0.0047115362249314785
] | [
0.3633420467376709,
-1.0385525226593018,
0.583320140838623,
1.1235737800598145,
-0.0074632600881159306,
0.023447997868061066
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.128596 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 3.9 | 39 | 54 | 18,133 | 0 |
[
15.485015869140625,
-56.69379806518555,
44.266944885253906,
69.14450073242188,
-0.21126525104045868,
1.7142888307571411
] | [
23.32046127319336,
-58.90858840942383,
44.95306396484375,
67.04710388183594,
-0.21320094168186188,
2.5714309215545654
] | [
0.2159106284379959,
-0.052722349762916565,
0.15505702793598175,
3.073678493499756,
0.879587709903717,
2.7639083862304688
] | 1 | [
0.2896438241004944,
-1.0326809883117676,
0.5765790343284607,
1.1454131603240967,
-0.007402463816106319,
0.0359390452504158
] | [
0.41524678468704224,
-1.07275390625,
0.5882143378257751,
1.1081560850143433,
-0.0074632600881159306,
0.05467550829052925
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.167531 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4 | 40 | 54 | 18,134 | 0 |
[
18.35679054260254,
-57.22975158691406,
44.50455093383789,
68.37229919433594,
-0.21145503222942352,
3.1428589820861816
] | [
26.684438705444336,
-58.15940856933594,
45.25290298461914,
66.1453857421875,
-0.21320094168186188,
4.000000953674316
] | [
0.21415145695209503,
-0.06111336126923561,
0.15723192691802979,
3.0709328651428223,
0.8988950848579407,
2.7157375812530518
] | 1 | [
0.33567866683006287,
-1.0423781871795654,
0.5806083679199219,
1.1316962242126465,
-0.0074084242805838585,
0.06716648489236832
] | [
0.4691716730594635,
-1.0591987371444702,
0.5932990312576294,
1.092138409614563,
-0.0074632600881159306,
0.08590294420719147
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.208714 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.1 | 41 | 54 | 18,135 | 0 |
[
21.41551399230957,
-57.8558464050293,
44.792808532714844,
67.55323028564453,
-0.21159926056861877,
4.5714287757873535
] | [
30.150096893310547,
-58.7584228515625,
45.561805725097656,
65.21641540527344,
-0.21320094168186188,
5.428574562072754
] | [
0.21173115074634552,
-0.06995057314634323,
0.1595866084098816,
3.067807674407959,
0.919796347618103,
2.6642370223999023
] | 1 | [
0.38471028208732605,
-1.0537062883377075,
0.5854966640472412,
1.1171467304229736,
-0.007412954233586788,
0.09839391708374023
] | [
0.5247265100479126,
-1.0700368881225586,
0.5985374450683594,
1.075636625289917,
-0.0074632600881159306,
0.11713045835494995
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.252228 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.2 | 42 | 54 | 18,136 | 0 |
[
24.62868309020996,
-58.487396240234375,
45.07797622680664,
66.69108581542969,
-0.21175487339496613,
6.000002384185791
] | [
33.68896484375,
-59.37009048461914,
45.87723159790039,
64.26781463623047,
-0.21320094168186188,
6.857144355773926
] | [
0.20869213342666626,
-0.07912828773260117,
0.16209670901298523,
3.0643575191497803,
0.9416046738624573,
2.609959125518799
] | 1 | [
0.436217725276947,
-1.0651330947875977,
0.5903326272964478,
1.1018320322036743,
-0.00741784181445837,
0.12962143123149872
] | [
0.5814549326896667,
-1.0811039209365845,
0.6038864850997925,
1.058786153793335,
-0.0074632600881159306,
0.14835788309574127
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.297504 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.3 | 43 | 54 | 18,137 | 0 |
[
27.96562957763672,
-59.11528015136719,
45.37497329711914,
65.79608917236328,
-0.21189530193805695,
7.428572654724121
] | [
37.26372528076172,
-60.00625228881836,
46.195858001708984,
63.309600830078125,
-0.21320094168186188,
8.285714149475098
] | [
0.20498941838741302,
-0.08850754797458649,
0.16465596854686737,
3.0606400966644287,
0.9637221693992615,
2.5534353256225586
] | 1 | [
0.4897092878818512,
-1.0764936208724976,
0.5953691005706787,
1.0859336853027344,
-0.007422252558171749,
0.16084887087345123
] | [
0.6387587189674377,
-1.0926142930984497,
0.609289824962616,
1.0417649745941162,
-0.0074632600881159306,
0.1795853227376938
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.344182 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.4 | 44 | 54 | 18,138 | 0 |
[
31.39456558227539,
-59.746334075927734,
45.68047332763672,
64.87663269042969,
-0.2120622992515564,
8.857146263122559
] | [
40.84593200683594,
-62.02838897705078,
46.5151481628418,
62.34938430786133,
-0.21320094168186188,
9.714287757873535
] | [
0.20060449838638306,
-0.09794339537620544,
0.16727998852729797,
3.056612730026245,
0.9861785173416138,
2.4951326847076416
] | 1 | [
0.5446754693984985,
-1.0879114866256714,
0.6005498766899109,
1.0696009397506714,
-0.007427497301250696,
0.19207638502120972
] | [
0.6961818337440491,
-1.1292014122009277,
0.6147043704986572,
1.0247081518173218,
-0.0074632600881159306,
0.21081283688545227
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.391904 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.5 | 45 | 54 | 18,139 | 0 |
[
34.88373947143555,
-60.39188003540039,
45.971927642822266,
63.93748092651367,
-0.2117283046245575,
10.28571605682373
] | [
44.4012565612793,
-62.665706634521484,
46.8320426940918,
61.39637756347656,
-0.21320094168186188,
11.142858505249023
] | [
0.19554956257343292,
-0.10729490220546722,
0.17008572816848755,
3.052159309387207,
1.0094738006591797,
2.4354639053344727
] | 1 | [
0.6006072759628296,
-1.0995914936065674,
0.605492353439331,
1.0529183149337769,
-0.007417007349431515,
0.22330380976200104
] | [
0.7531740069389343,
-1.1407325267791748,
0.6200783252716064,
1.0077794790267944,
-0.0074632600881159306,
0.24204029142856598
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.44031 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.6 | 46 | 54 | 18,140 | 0 |
[
38.40165710449219,
-61.02043533325195,
46.285614013671875,
62.99418258666992,
-0.2118080109357834,
11.714285850524902
] | [
47.90275955200195,
-63.29337692260742,
47.14413833618164,
60.457794189453125,
-0.21320094168186188,
12.571431159973145
] | [
0.18986102938652039,
-0.11642611026763916,
0.17279469966888428,
3.0474720001220703,
1.032151222229004,
2.3750736713409424
] | 1 | [
0.6569998264312744,
-1.1109641790390015,
0.6108118891716003,
1.03616201877594,
-0.007419510744512081,
0.25453123450279236
] | [
0.8093034625053406,
-1.152089238166809,
0.6253709197044373,
0.9911069273948669,
-0.0074632600881159306,
0.2732677757740021
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.488995 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.7 | 47 | 54 | 18,141 | 0 |
[
41.91644287109375,
-61.6492919921875,
46.59880828857422,
62.051795959472656,
-0.21187633275985718,
13.14285945892334
] | [
51.31013488769531,
-62.524169921875,
47.447845458984375,
59.5444450378418,
-0.21320094168186188,
14.000001907348633
] | [
0.18359774351119995,
-0.12520688772201538,
0.1755380481481552,
3.0424160957336426,
1.0548157691955566,
2.3143608570098877
] | 1 | [
0.7133422493934631,
-1.1223422288894653,
0.6161231398582458,
1.019421935081482,
-0.007421656511723995,
0.28575876355171204
] | [
0.8639240264892578,
-1.138171672821045,
0.6305212378501892,
0.9748826622962952,
-0.0074632600881159306,
0.3044952154159546
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.537608 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.8 | 48 | 54 | 18,142 | 0 |
[
45.396697998046875,
-62.262596130371094,
46.92878341674805,
61.12370300292969,
-0.21277965605258942,
14.571429252624512
] | [
54.597869873046875,
-63.113521575927734,
47.74088668823242,
58.66316223144531,
-0.21320094168186188,
15.428571701049805
] | [
0.17684727907180786,
-0.13352537155151367,
0.1781616359949112,
3.037095785140991,
1.0766515731811523,
2.253901720046997
] | 1 | [
0.769131064414978,
-1.1334389448165894,
0.6217188835144043,
1.002935767173767,
-0.007450028322637081,
0.31698617339134216
] | [
0.9166267514228821,
-1.1488350629806519,
0.6354906558990479,
0.959227979183197,
-0.0074632600881159306,
0.3357226550579071
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.585763 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 4.9 | 49 | 54 | 18,143 | 0 |
[
48.809471130371094,
-62.88211441040039,
47.232383728027344,
60.20900344848633,
-0.21288593113422394,
16.000003814697266
] | [
57.74020004272461,
-65.05680847167969,
48.02096939086914,
57.820858001708984,
-0.21320094168186188,
16.857145309448242
] | [
0.16971594095230103,
-0.14127840101718903,
0.18091228604316711,
3.0312860012054443,
1.0987966060638428,
2.1940479278564453
] | 1 | [
0.8238381743431091,
-1.1446480751037598,
0.626867413520813,
0.9866875410079956,
-0.007453366182744503,
0.34821373224258423
] | [
0.9669986367225647,
-1.1839954853057861,
0.6402403712272644,
0.9442657232284546,
-0.0074632600881159306,
0.3669501841068268
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.633109 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5 | 50 | 54 | 18,144 | 0 |
[
52.12385940551758,
-63.38960647583008,
47.510128021240234,
59.316444396972656,
-0.21218375861644745,
17.428573608398438
] | [
59.562530517578125,
-64.00347137451172,
48.18339920043945,
57.33237838745117,
-0.21320094168186188,
18.285715103149414
] | [
0.16241206228733063,
-0.14849062263965607,
0.1834171563386917,
3.0255868434906006,
1.118964433670044,
2.1358253955841064
] | 1 | [
0.8769681453704834,
-1.1538302898406982,
0.6315774321556091,
0.9708325266838074,
-0.0074313124641776085,
0.37944114208221436
] | [
0.9962107539176941,
-1.164937138557434,
0.6429948806762695,
0.9355885982513428,
-0.0074632600881159306,
0.3981775939464569
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.679092 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.1 | 51 | 54 | 18,145 | 0 |
[
54.957008361816406,
-63.61155700683594,
47.76499938964844,
58.55745315551758,
-0.2129504531621933,
18.85714340209961
] | [
61.11304473876953,
-64.28141021728516,
48.321598052978516,
56.91676330566406,
-0.21320094168186188,
19.71428871154785
] | [
0.15598316490650177,
-0.15452829003334045,
0.18486559391021729,
3.021552324295044,
1.1320253610610962,
2.0867583751678467
] | 1 | [
0.9223837852478027,
-1.1578460931777954,
0.635899543762207,
0.9573501944541931,
-0.007455392740666866,
0.41066858172416687
] | [
1.0210657119750977,
-1.1699659824371338,
0.6453384757041931,
0.9282058477401733,
-0.0074632600881159306,
0.4294051229953766
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.719209 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.2 | 52 | 54 | 18,146 | 0 |
[
57.28202819824219,
-63.94578170776367,
47.972869873046875,
57.9356803894043,
-0.21314021944999695,
20.285717010498047
] | [
62.705711364746094,
-64.56690979003906,
48.463558197021484,
56.489845275878906,
-0.21320094168186188,
21.142858505249023
] | [
0.1503661423921585,
-0.15910330414772034,
0.1865171641111374,
3.0171971321105957,
1.1454691886901855,
2.0455305576324463
] | 1 | [
0.9596540927886963,
-1.1638933420181274,
0.6394246816635132,
0.9463053345680237,
-0.007461353205144405,
0.44189611077308655
] | [
1.0465962886810303,
-1.1751315593719482,
0.6477458477020264,
0.9206222891807556,
-0.0074632600881159306,
0.4606325328350067
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.753919 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.3 | 53 | 54 | 18,147 | 0 |
[
59.315773010253906,
-64.28153228759766,
48.1783332824707,
57.402000427246094,
-0.21504555642604828,
21.71428680419922
] | [
64.3438491821289,
-64.86055755615234,
48.60956954956055,
56.050743103027344,
-0.21320094168186188,
22.571428298950195
] | [
0.14525869488716125,
-0.1628643423318863,
0.1879703551530838,
3.0129756927490234,
1.157416820526123,
2.009049415588379
] | 1 | [
0.9922552108764648,
-1.1699681282043457,
0.6429089307785034,
0.9368253350257874,
-0.0075211962684988976,
0.4731235206127167
] | [
1.0728557109832764,
-1.1804447174072266,
0.6502219438552856,
0.9128222465515137,
-0.0074632600881159306,
0.49185997247695923
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.785408 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.4 | 54 | 54 | 18,148 | 0 |
[
61.18946075439453,
-64.50337219238281,
48.32447052001953,
56.891571044921875,
-0.2131592035293579,
23.142860412597656
] | [
66.03385162353516,
-65.16349792480469,
48.76020050048828,
55.59773635864258,
-0.21320094168186188,
24.000001907348633
] | [
0.14050240814685822,
-0.16628670692443848,
0.1892915964126587,
3.0093321800231934,
1.167920470237732,
1.9756931066513062
] | 1 | [
1.022290587425232,
-1.17398202419281,
0.6453871726989746,
0.9277583360671997,
-0.007461949251592159,
0.504351019859314
] | [
1.0999466180801392,
-1.185925841331482,
0.6527763605117798,
0.9047752618789673,
-0.0074632600881159306,
0.5230875015258789
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.814838 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.5 | 55 | 54 | 18,149 | 0 |
[
62.985164642333984,
-64.85250091552734,
48.48360061645508,
56.41038131713867,
-0.2128935158252716,
24.571430206298828
] | [
67.76335906982422,
-65.47352600097656,
48.91435623168945,
55.13414001464844,
-0.21320094168186188,
25.428571701049805
] | [
0.13573960959911346,
-0.16925811767578125,
0.1908668428659439,
3.00478196144104,
1.1799585819244385,
1.9427143335342407
] | 1 | [
1.0510759353637695,
-1.180298924446106,
0.6480857133865356,
0.9192107319831848,
-0.007453604601323605,
0.5355784893035889
] | [
1.1276708841323853,
-1.191535234451294,
0.6553905606269836,
0.8965402245521545,
-0.0074632600881159306,
0.554314911365509
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.84352 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.6 | 56 | 54 | 18,150 | 0 |
[
64.7537612915039,
-65.1869888305664,
48.66489791870117,
55.94715118408203,
-0.21483679115772247,
26
] | [
69.55995178222656,
-65.79557800292969,
49.07448959350586,
54.65256118774414,
-0.21320094168186188,
26.857145309448242
] | [
0.13095709681510925,
-0.17203763127326965,
0.19226118922233582,
3.000178813934326,
1.191030502319336,
1.910075068473816
] | 1 | [
1.079426646232605,
-1.1863508224487305,
0.6511601805686951,
0.9109821319580078,
-0.007514639291912317,
0.566805899143219
] | [
1.1564704179763794,
-1.1973623037338257,
0.6581060886383057,
0.8879856467247009,
-0.0074632600881159306,
0.5855424404144287
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.871622 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.7 | 57 | 54 | 18,151 | 0 |
[
66.5299301147461,
-65.41873931884766,
48.80172348022461,
55.461387634277344,
-0.21274928748607635,
27.428573608398438
] | [
71.42790985107422,
-66.13042449951172,
49.24098587036133,
54.151851654052734,
-0.21320094168186188,
28.285715103149414
] | [
0.12613794207572937,
-0.17482365667819977,
0.1936078816652298,
2.9959397315979004,
1.2014172077178955,
1.8776813745498657
] | 1 | [
1.1078988313674927,
-1.1905440092086792,
0.6534804701805115,
0.9023532867431641,
-0.007449074648320675,
0.5980334281921387
] | [
1.1864140033721924,
-1.2034207582473755,
0.6609295606613159,
0.8790913224220276,
-0.0074632600881159306,
0.6167698502540588
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.899116 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.8 | 58 | 54 | 18,152 | 0 |
[
68.33788299560547,
-65.76653289794922,
48.962181091308594,
54.97633743286133,
-0.2125253528356552,
28.85714340209961
] | [
73.40727233886719,
-66.48523712158203,
49.41741180419922,
53.621280670166016,
-0.21320094168186188,
29.71428680419922
] | [
0.12107077986001968,
-0.17735671997070312,
0.195201113820076,
2.990544557571411,
1.2134532928466797,
1.8436590433120728
] | 1 | [
1.1368805170059204,
-1.1968367099761963,
0.6562015414237976,
0.8937370777130127,
-0.007442041300237179,
0.6292608380317688
] | [
1.218143343925476,
-1.2098405361175537,
0.6639214158058167,
0.8696665167808533,
-0.0074632600881159306,
0.6479973196983337
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.926299 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
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0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 5.9 | 59 | 54 | 18,153 | 0 |
[
70.2057876586914,
-66.11550903320312,
49.12862777709961,
54.47550582885742,
-0.21238870918750763,
30
] | [
73.83723449707031,
-66.56230926513672,
49.45573425292969,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.11575625091791153,
-0.17981429398059845,
0.19681845605373383,
2.984684467315674,
1.22567617893219,
1.8082154989242554
] | 1 | [
1.1668232679367065,
-1.2031508684158325,
0.659024178981781,
0.8848405480384827,
-0.007437749300152063,
0.6542428135871887
] | [
1.2250356674194336,
-1.2112349271774292,
0.6645713448524475,
0.8676192760467529,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.951821 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 6 | 60 | 54 | 18,154 | 0 |
[
71.64112854003906,
-66.29240417480469,
49.25462341308594,
54.09115982055664,
-0.2129732221364975,
30
] | [
73.83723449707031,
-66.56230926513672,
49.45573425292969,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.11166688799858093,
-0.1817055642604828,
0.19779932498931885,
2.980680227279663,
1.2334527969360352,
1.781427264213562
] | 1 | [
1.1898318529129028,
-1.2063515186309814,
0.6611608266830444,
0.8780131936073303,
-0.007456107996404171,
0.6542428135871887
] | [
1.2250356674194336,
-1.2112349271774292,
0.6645713448524475,
0.8676192760467529,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.969975 | [
73.83723449707031,
-67.06731414794922,
49.703041076660156,
53.50603103637695,
-0.21320094168186188,
30
] | [
0.1050838753581047,
-0.1837606579065323,
0.19967404007911682,
2.9716222286224365,
1.2500064373016357,
1.7376489639282227
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.20000000298023224
] | 6.1 | 61 | 54 | 18,155 | 0 |
[
72.37785339355469,
-66.34029388427734,
49.29188537597656,
53.8956413269043,
-0.21379683911800385,
30
] | [
72.34512329101562,
-65.88026428222656,
49.07316207885742,
53.89919662475586,
-0.21309468150138855,
30
] | [
0.10956836491823196,
-0.18268786370754242,
0.19829204678535461,
2.9786877632141113,
1.2371021509170532,
1.7677277326583862
] | 1 | [
1.2016416788101196,
-1.2072179317474365,
0.6617927551269531,
0.8745401501655579,
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0.6542428135871887
] | [
1.2011170387268066,
-1.1988945007324219,
0.6580836176872253,
0.874603271484375,
-0.007459922693669796,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0 | [
67.42467498779297,
-67.06330108642578,
49.21522521972656,
54.442352294921875,
-0.21309468150138855,
30
] | [
0.10496474802494049,
-0.18333812057971954,
0.19828112423419952,
2.976274251937866,
1.2417058944702148,
1.8448526859283447
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.2 | 62 | 54 | 18,156 | 0 |
[
72.36701965332031,
-66.15791320800781,
49.20588302612305,
53.89540100097656,
-0.21341349184513092,
30
] | [
72.25428771972656,
-65.89277648925781,
49.07125473022461,
53.90922164916992,
-0.21309468150138855,
30
] | [
0.10968928039073944,
-0.18290625512599945,
0.19812645018100739,
2.979678153991699,
1.2352938652038574,
1.7688407897949219
] | 1 | [
1.2014679908752441,
-1.2039180994033813,
0.6603342890739441,
0.874535858631134,
-0.007469936273992062,
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] | [
1.1996608972549438,
-1.1991208791732788,
0.6580512523651123,
0.8747813701629639,
-0.007459922693669796,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0 | [
67.42467498779297,
-67.06330108642578,
49.21522521972656,
54.442352294921875,
-0.21309468150138855,
30
] | [
0.10496474802494049,
-0.18333812057971954,
0.19828112423419952,
2.976274251937866,
1.2417058944702148,
1.8448526859283447
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.3 | 63 | 54 | 18,157 | 0 |
[
72.32965087890625,
-66.05166625976562,
49.15367889404297,
53.89979934692383,
-0.21341349184513092,
30
] | [
72.10433197021484,
-65.91344451904297,
49.06810760498047,
53.925777435302734,
-0.21309468150138855,
30
] | [
0.10984902828931808,
-0.18299321830272675,
0.19802699983119965,
2.9802536964416504,
1.2341949939727783,
1.769983172416687
] | 1 | [
1.2008689641952515,
-1.2019957304000854,
0.65944904088974,
0.8746140003204346,
-0.007469936273992062,
0.6542428135871887
] | [
1.1972570419311523,
-1.1994948387145996,
0.6579979062080383,
0.8750754594802856,
-0.007459922693669796,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0 | [
67.42467498779297,
-67.06330108642578,
49.21522521972656,
54.442352294921875,
-0.21309468150138855,
30
] | [
0.10496474802494049,
-0.18333812057971954,
0.19828112423419952,
2.976274251937866,
1.2417058944702148,
1.8448526859283447
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.4 | 64 | 54 | 18,158 | 0 |
[
72.25154113769531,
-65.99519348144531,
49.120689392089844,
53.90873718261719,
-0.21344006061553955,
30
] | [
71.90003204345703,
-65.94159698486328,
49.063819885253906,
53.948326110839844,
-0.21309468150138855,
30
] | [
0.11010187864303589,
-0.1829652339220047,
0.1979798674583435,
2.9805703163146973,
1.2335827350616455,
1.771533727645874
] | 1 | [
1.1996169090270996,
-1.2009739875793457,
0.6588895916938782,
0.8747727274894714,
-0.007470770739018917,
0.6542428135871887
] | [
1.1939821243286133,
-1.20000422000885,
0.6579251885414124,
0.8754760026931763,
-0.007459922693669796,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.009577 | [
67.42467498779297,
-67.06330108642578,
49.21522521972656,
54.442352294921875,
-0.21309468150138855,
30
] | [
0.10496474802494049,
-0.18333812057971954,
0.19828112423419952,
2.976274251937866,
1.2417058944702148,
1.8448526859283447
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.5 | 65 | 54 | 18,159 | 0 |
[
72.12733459472656,
-65.97174072265625,
49.09894943237305,
53.922752380371094,
-0.2135045826435089,
30
] | [
71.6502456665039,
-65.97601318359375,
49.05857849121094,
53.97590255737305,
-0.21309468150138855,
30
] | [
0.11047127097845078,
-0.18283632397651672,
0.1979687660932541,
2.9807205200195312,
1.233282208442688,
1.7736660242080688
] | 1 | [
1.197625756263733,
-1.200549602508545,
0.6585208773612976,
0.8750216960906982,
-0.00747279729694128,
0.6542428135871887
] | [
1.189978003501892,
-1.2006269693374634,
0.6578362584114075,
0.8759658336639404,
-0.007459922693669796,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.032737 | [
67.42467498779297,
-67.06330108642578,
49.21522521972656,
54.442352294921875,
-0.21309468150138855,
30
] | [
0.10496474802494049,
-0.18333812057971954,
0.19828112423419952,
2.976274251937866,
1.2417058944702148,
1.8448526859283447
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.6 | 66 | 54 | 18,160 | 0 |
[
71.95645141601562,
-65.97074890136719,
49.08367919921875,
53.941829681396484,
-0.21346282958984375,
30
] | [
71.36185455322266,
-66.01575469970703,
49.05252456665039,
54.00773620605469,
-0.21309468150138855,
30
] | [
0.11096358299255371,
-0.18261851370334625,
0.19798320531845093,
2.980774402618408,
1.2331860065460205,
1.7764564752578735
] | 1 | [
1.194886565208435,
-1.2005317211151123,
0.6582619547843933,
0.8753606081008911,
-0.0074714855290949345,
0.6542428135871887
] | [
1.1853550672531128,
-1.2013460397720337,
0.6577336192131042,
0.8765313029289246,
-0.007459922693669796,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.065935 | [
67.42467498779297,
-67.06330108642578,
49.21522521972656,
54.442352294921875,
-0.21309468150138855,
30
] | [
0.10496474802494049,
-0.18333812057971954,
0.19828112423419952,
2.976274251937866,
1.2417058944702148,
1.8448526859283447
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.7 | 67 | 54 | 18,161 | 0 |
[
71.74168395996094,
-65.985595703125,
49.071937561035156,
53.96567153930664,
-0.2133983075618744,
30
] | [
71.73648071289062,
-65.41343688964844,
48.8409423828125,
53.943458557128906,
-0.2133983075618744,
30
] | [
0.11157333850860596,
-0.182322695851326,
0.19801706075668335,
2.980757236480713,
1.2332298755645752,
1.779883861541748
] | 1 | [
1.1914438009262085,
-1.2008002996444702,
0.6580628156661987,
0.8757840991020203,
-0.007469458971172571,
0.6542428135871887
] | [
1.191360354423523,
-1.1904480457305908,
0.6541455984115601,
0.8753895163536072,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
-0.18380379676818848,
0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.8 | 68 | 54 | 18,162 | 0 |
[
71.7378921508789,
-65.76809692382812,
48.97684860229492,
53.957176208496094,
-0.21294285356998444,
30
] | [
71.70506286621094,
-65.00823974609375,
48.9239501953125,
53.8094367980957,
-0.2133983075618744,
30
] | [
0.11169761419296265,
-0.18260246515274048,
0.19780637323856354,
2.9819016456604004,
1.2310916185379028,
1.7810287475585938
] | 1 | [
1.1913830041885376,
-1.1968650817871094,
0.6564502716064453,
0.875633180141449,
-0.007455154322087765,
0.6542428135871887
] | [
1.190856695175171,
-1.1831166744232178,
0.6555532217025757,
0.8730088472366333,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.00312 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
-0.18380379676818848,
0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 6.9 | 69 | 54 | 18,163 | 0 |
[
71.72743225097656,
-65.50371551513672,
48.94414138793945,
53.905399322509766,
-0.21246463060379028,
30
] | [
71.64934539794922,
-64.28954315185547,
49.0711784362793,
53.57172393798828,
-0.2133983075618744,
30
] | [
0.1118892952799797,
-0.1829943060874939,
0.19729076325893402,
2.98360013961792,
1.2278316020965576,
1.782801866531372
] | 1 | [
1.1912153959274292,
-1.1920815706253052,
0.6558956503868103,
0.8747134804725647,
-0.007440133951604366,
0.6542428135871887
] | [
1.1899635791778564,
-1.1701130867004395,
0.6580499410629272,
0.8687862157821655,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.007397 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
-0.18380379676818848,
0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 7 | 70 | 54 | 18,164 | 0 |
[
71.70063781738281,
-65.0816650390625,
48.97550964355469,
53.78519058227539,
-0.21192187070846558,
30
] | [
71.56993103027344,
-63.265167236328125,
49.28102493286133,
53.23290252685547,
-0.2133983075618744,
30
] | [
0.11224530637264252,
-0.18365779519081116,
0.19619128108024597,
2.9865899085998535,
1.2218844890594482,
1.7860496044158936
] | 1 | [
1.1907857656478882,
-1.1844452619552612,
0.6564276218414307,
0.8725781440734863,
-0.007423087023198605,
0.6542428135871887
] | [
1.1886905431747437,
-1.1515787839889526,
0.6616085767745972,
0.8627675771713257,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.014699 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
-0.18380379676818848,
0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 7.1 | 71 | 54 | 18,165 | 0 |
[
71.65489959716797,
-64.59085083007812,
49.10088348388672,
53.59848403930664,
-0.2142409086227417,
30
] | [
71.4677963256836,
-63.78776168823242,
49.55089569091797,
52.79716491699219,
-0.2133983075618744,
30
] | [
0.1127246618270874,
-0.18446354568004608,
0.1946326345205307,
2.9900104999542236,
1.2142854928970337,
1.7899681329727173
] | 1 | [
1.1900526285171509,
-1.1755647659301758,
0.6585537195205688,
0.8692615628242493,
-0.007495923899114132,
0.6542428135871887
] | [
1.1870533227920532,
-1.1610342264175415,
0.6661850810050964,
0.8550273180007935,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.023742 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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] | 30 | pick box lid and place on box body | box lid | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.029117 | [
67.43113708496094,
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60.50812911987305,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 7.3 | 73 | 54 | 18,167 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.043203 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 7.4 | 74 | 54 | 18,168 | 0 |
[
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.064251 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 7.5 | 75 | 54 | 18,169 | 0 |
[
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.091427 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 7.6 | 76 | 54 | 18,170 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.122422 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 7.7 | 77 | 54 | 18,171 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.157684 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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30
] | [
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3.1201789379119873,
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 7.8 | 78 | 54 | 18,172 | 0 |
[
70.80142974853516,
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.195749 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
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0.0021845356095582247,
3.1201789379119873,
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1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 7.9 | 79 | 54 | 18,173 | 0 |
[
70.61985778808594,
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] | [
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] | [
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0.7512974739074707,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.236159 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
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1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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0.021999996155500412
] | 8 | 80 | 54 | 18,174 | 0 |
[
70.42845916748047,
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52.65234375,
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30
] | [
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] | [
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0.7352421879768372,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.279349 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 8.1 | 81 | 54 | 18,175 | 0 |
[
70.22921752929688,
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53.22006607055664,
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30
] | [
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] | [
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3.061633825302124,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.324799 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 8.2 | 82 | 54 | 18,176 | 0 |
[
70.02408599853516,
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46.63262939453125,
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30
] | [
69.45721435546875,
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30
] | [
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0.7026563882827759,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.372125 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
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1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 8.3 | 83 | 54 | 18,177 | 0 |
[
69.81495666503906,
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54.38245391845703,
45.74201965332031,
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30
] | [
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30
] | [
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0.6864173412322998,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.420621 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 8.4 | 84 | 54 | 18,178 | 0 |
[
69.60370635986328,
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54.95298385620117,
44.842308044433594,
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] | [
69.03182220458984,
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30
] | [
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0.7746604084968567,
0.670417845249176,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.469746 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 8.5 | 85 | 54 | 18,179 | 0 |
[
69.39224243164062,
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55.51754379272461,
43.942283630371094,
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30
] | [
68.82571411132812,
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56.48467254638672,
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.518939 | [
67.43113708496094,
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60.50812911987305,
35.57550811767578,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 8.6 | 86 | 54 | 18,180 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.567344 | [
67.43113708496094,
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60.50812911987305,
35.57550811767578,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 8.7 | 87 | 54 | 18,181 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.614675 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 8.8 | 88 | 54 | 18,182 | 0 |
[
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.66056 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 8.9 | 89 | 54 | 18,183 | 0 |
[
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.700682 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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30
] | [
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3.1201789379119873,
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1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 9 | 90 | 54 | 18,184 | 0 |
[
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.733189 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
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0.0021845356095582247,
3.1201789379119873,
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1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 9.1 | 91 | 54 | 18,185 | 0 |
[
68.32768249511719,
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] | [
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] | [
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0.5938845872879028,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.761327 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
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1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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0.021999996155500412
] | 9.2 | 92 | 54 | 18,186 | 0 |
[
68.21356201171875,
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38.919471740722656,
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30
] | [
67.92118072509766,
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] | [
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0.5862483978271484,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.787075 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 9.3 | 93 | 54 | 18,187 | 0 |
[
68.10490417480469,
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38.45185852050781,
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30
] | [
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] | [
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0.5783436894416809,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.811744 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 9.4 | 94 | 54 | 18,188 | 0 |
[
67.99842071533203,
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37.99441909790039,
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30
] | [
67.71034240722656,
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30
] | [
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3.1093873977661133,
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] | [
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0.8330633640289307,
0.5702701210975647,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.836049 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 9.5 | 95 | 54 | 18,189 | 0 |
[
67.89191436767578,
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37.5374755859375,
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30
] | [
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36.28982925415039,
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30
] | [
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1.1250293254852295,
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0.8380033373832703,
0.5617993474006653,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.860434 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 9.6 | 96 | 54 | 18,190 | 0 |
[
67.78372955322266,
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59.20787048339844,
37.07374572753906,
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30
] | [
67.48109436035156,
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59.98893737792969,
35.78865432739258,
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30
] | [
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3.112485408782959,
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1.1231461763381958,
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0.8431950211524963,
0.5528967380523682,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.885233 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 9.7 | 97 | 54 | 18,191 | 0 |
[
67.67241668701172,
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59.684940338134766,
36.49644470214844,
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30
] | [
67.43113708496094,
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60.119140625,
35.57550811767578,
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30
] | [
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3.114307403564453,
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1.1262130737304688,
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] | [
1.1223453283309937,
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0.8454030156135559,
0.549110472202301,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.911158 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 9.8 | 98 | 54 | 18,192 | 0 |
[
67.57717895507812,
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59.93601989746094,
36.227054595947266,
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30
] | [
67.43113708496094,
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60.119140625,
35.57550811767578,
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30
] | [
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3.1155834197998047,
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1.1223453283309937,
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0.8454030156135559,
0.549110472202301,
-0.007469458971172571,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.933119 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
-0.2133983075618744,
30
] | [
0.10516687482595444,
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0.0021845356095582247,
3.1201789379119873,
0.36389878392219543,
1.9591652154922485
] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 9.9 | 99 | 54 | 18,193 | 0 |
[
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30
] | [
67.43113708496094,
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30
] | [
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0.8454030156135559,
0.549110472202301,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.946068 | [
67.43113708496094,
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60.50812911987305,
35.57550811767578,
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] | [
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3.1201789379119873,
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 10 | 100 | 54 | 18,194 | 0 |
[
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30
] | [
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3.117133140563965,
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] | 1 | [
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0.8414151072502136,
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] | [
1.1236660480499268,
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0.8404169082641602,
0.5572314262390137,
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0.6454991102218628
] | Pick up the box lid | Is the box lid grasped? | move | 0.9495 | [
67.43113708496094,
-10.385296821594238,
60.50812911987305,
35.57550811767578,
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30
] | [
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3.1201789379119873,
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] | 30 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
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] | 10.1 | 101 | 54 | 18,195 | 0 |
[
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36.032676696777344,
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] | [
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] | [
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3.1175894737243652,
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] | 0 | [
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] | [
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0.8404169082641602,
0.5572314262390137,
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0.6017806529998779
] | grasp box lid | Is the object grasped? | gripper_close | 0.038216 | [
67.5135269165039,
-13.27481746673584,
59.82511520385742,
36.032676696777344,
-0.13669933378696442,
0
] | [
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-0.18259333074092865,
0.01288805902004242,
3.1175894737243652,
0.41959771513938904,
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
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] | 10.2 | 102 | 54 | 18,196 | 0 |
[
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36.032676696777344,
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] | [
67.5135269165039,
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59.82511520385742,
36.032676696777344,
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] | [
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0.01288805902004242,
3.1175894737243652,
0.41959771513938904,
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] | 0 | [
1.1236660480499268,
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0.5572314262390137,
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] | [
1.1236660480499268,
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0.8404169082641602,
0.5572314262390137,
-0.005060478113591671,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.105007 | [
67.5135269165039,
-13.27481746673584,
59.82511520385742,
36.032676696777344,
-0.13669933378696442,
0
] | [
0.12642619013786316,
-0.18259333074092865,
0.01288805902004242,
3.1175894737243652,
0.41959771513938904,
1.9590822458267212
] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 10.3 | 103 | 54 | 18,197 | 0 |
[
67.5135269165039,
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59.82511520385742,
36.032676696777344,
-0.13669933378696442,
24.799999237060547
] | [
67.5135269165039,
-13.27481746673584,
59.82511520385742,
36.032676696777344,
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] | [
0.12642619013786316,
-0.18259333074092865,
0.01288805902004242,
3.1175894737243652,
0.41959771513938904,
1.9590822458267212
] | 0 | [
1.1236660480499268,
-0.2470882087945938,
0.8404169082641602,
0.5572314262390137,
-0.005060478113591671,
0.5405747890472412
] | [
1.1236660480499268,
-0.2470882087945938,
0.8404169082641602,
0.5572314262390137,
-0.005060478113591671,
0.514343798160553
] | grasp box lid | Is the object grasped? | gripper_close | 0.171798 | [
67.5135269165039,
-13.27481746673584,
59.82511520385742,
36.032676696777344,
-0.13669933378696442,
0
] | [
0.12642619013786316,
-0.18259333074092865,
0.01288805902004242,
3.1175894737243652,
0.41959771513938904,
1.9590822458267212
] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 10.4 | 104 | 54 | 18,198 | 0 |
[
67.5135269165039,
-13.27481746673584,
59.82511520385742,
36.032676696777344,
-0.13669933378696442,
22.799997329711914
] | [
67.5135269165039,
-13.27481746673584,
59.82511520385742,
36.032676696777344,
-0.13669933378696442,
21.599998474121094
] | [
0.12642619013786316,
-0.18259333074092865,
0.01288805902004242,
3.1175894737243652,
0.41959771513938904,
1.9590822458267212
] | 0 | [
1.1236660480499268,
-0.2470882087945938,
0.8404169082641602,
0.5572314262390137,
-0.005060478113591671,
0.49685633182525635
] | [
1.1236660480499268,
-0.2470882087945938,
0.8404169082641602,
0.5572314262390137,
-0.005060478113591671,
0.47062528133392334
] | grasp box lid | Is the object grasped? | gripper_close | 0.238588 | [
67.5135269165039,
-13.27481746673584,
59.82511520385742,
36.032676696777344,
-0.13669933378696442,
0
] | [
0.12642619013786316,
-0.18259333074092865,
0.01288805902004242,
3.1175894737243652,
0.41959771513938904,
1.9590822458267212
] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
0.021999996155500412
] | 10.5 | 105 | 54 | 18,199 | 0 |
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