observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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] | 18 | 180 | 62 | 20,918 | 0 |
[
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47.64134979248047,
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55.0517578125,
13.09150505065918,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.1 | 181 | 62 | 20,919 | 0 |
[
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47.64134979248047,
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55.0517578125,
13.09150505065918,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.200001 | 182 | 62 | 20,920 | 0 |
[
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47.64134979248047,
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55.0517578125,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.299999 | 183 | 62 | 20,921 | 0 |
[
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47.64134979248047,
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55.0517578125,
13.09150505065918,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.4 | 184 | 62 | 20,922 | 0 |
[
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47.64134979248047,
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55.0517578125,
13.09150505065918,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 18.5 | 185 | 62 | 20,923 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.915426 | [
47.64134979248047,
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55.0517578125,
13.09150505065918,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 18.6 | 186 | 62 | 20,924 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.939551 | [
47.64134979248047,
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55.0517578125,
13.09150505065918,
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] | [
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2.6487536430358887,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 18.700001 | 187 | 62 | 20,925 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.958748 | [
47.64134979248047,
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.799999 | 188 | 62 | 20,926 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.96838 | [
47.64134979248047,
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55.0517578125,
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] | 18.9 | 189 | 62 | 20,927 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.972754 | [
47.64134979248047,
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55.0517578125,
13.09150505065918,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19 | 190 | 62 | 20,928 | 0 |
[
46.821678161621094,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.042275 | [
47.52399444580078,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.1 | 191 | 62 | 20,929 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.041219 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.200001 | 192 | 62 | 20,930 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.043135 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.299999 | 193 | 62 | 20,931 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.049324 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.4 | 194 | 62 | 20,932 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.056884 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.5 | 195 | 62 | 20,933 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.059552 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.6 | 196 | 62 | 20,934 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.072042 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
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0.007289598695933819,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.700001 | 197 | 62 | 20,935 | 0 |
[
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0.1636931449174881,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.091948 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
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0.007289598695933819,
3.078173875808716,
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2.2432892322540283
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 19.799999 | 198 | 62 | 20,936 | 0 |
[
46.89434814453125,
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0.15664079785346985,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.117777 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
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0.007289598695933819,
3.078173875808716,
0.7286314964294434,
2.2432892322540283
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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0.013000024482607841
] | 19.9 | 199 | 62 | 20,937 | 0 |
[
46.91813659667969,
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0.7613241672515869,
0.14912384748458862,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.148462 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
0.2048306167125702,
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0.007289598695933819,
3.078173875808716,
0.7286314964294434,
2.2432892322540283
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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0.013000024482607841
] | 20 | 200 | 62 | 20,938 | 0 |
[
46.944393157958984,
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0.7613597512245178,
0.14116497337818146,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.183137 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | [
0.2048306167125702,
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0.007289598695933819,
3.078173875808716,
0.7286314964294434,
2.2432892322540283
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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0.013000024482607841
] | 20.1 | 201 | 62 | 20,939 | 0 |
[
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47.52399444580078,
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[
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47.52399444580078,
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[
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47.52399444580078,
3.4721527099609375,
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[
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
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] | 20.799999 | 208 | 62 | 20,946 | 0 |
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
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[
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
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[
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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0.22003811597824097,
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[
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 21.200001 | 212 | 62 | 20,950 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.702952 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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0.007289598695933819,
3.078173875808716,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 21.299999 | 213 | 62 | 20,951 | 0 |
[
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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0.007289598695933819,
3.078173875808716,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 21.4 | 214 | 62 | 20,952 | 0 |
[
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47.52399444580078,
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47.52399444580078,
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[
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47.52399444580078,
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[
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.868307 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.877926 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | 0 | pick box lid and place on box body | box body | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.875894 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | 0 | pick box lid and place on box body | box body | [
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47.52399444580078,
3.4721527099609375,
55.496273040771484,
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] | 0 | pick box lid and place on box body | box body | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.868337 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.865323 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.860685 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 22.6 | 226 | 62 | 20,964 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.85759 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
5.61993932723999,
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3.078173875808716,
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0.22003811597824097,
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] | 22.700001 | 227 | 62 | 20,965 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.855398 | [
47.52399444580078,
3.4721527099609375,
55.496273040771484,
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[
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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47.50388717651367,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.5 | 235 | 62 | 20,973 | 0 |
[
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47.50388717651367,
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] | [
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[
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] | [
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[
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] | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
47.50388717651367,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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0.7508416175842285,
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] | release object on box body | Is the object released? | gripper_open | 0.017681 | [
47.50388717651367,
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54.5429801940918,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.1 | 241 | 62 | 20,979 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0.113986 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.200001 | 242 | 62 | 20,980 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0.210292 | [
47.50388717651367,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.299999 | 243 | 62 | 20,981 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.306598 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.4 | 244 | 62 | 20,982 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.402904 | [
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54.5429801940918,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.5 | 245 | 62 | 20,983 | 0 |
[
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.49921 | [
47.50388717651367,
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54.5429801940918,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.6 | 246 | 62 | 20,984 | 0 |
[
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.595515 | [
47.50388717651367,
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54.5429801940918,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.700001 | 247 | 62 | 20,985 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.691821 | [
47.50388717651367,
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54.5429801940918,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.799999 | 248 | 62 | 20,986 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.788127 | [
47.50388717651367,
-0.16996221244335175,
54.5429801940918,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 24.9 | 249 | 62 | 20,987 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
0.8029094934463501,
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0.7508416175842285,
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] | release object on box body | Is the object released? | gripper_open | 0.884433 | [
47.50388717651367,
-0.16996221244335175,
54.5429801940918,
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] | [
0.23537491261959076,
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3.0416407585144043,
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] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 25 | 250 | 62 | 20,988 | 0 |
[
47.50388717651367,
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54.5429801940918,
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] | [
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30
] | [
0.23537491261959076,
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0.04009995236992836,
3.0416407585144043,
0.9212149381637573,
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] | 1 | [
0.8029094934463501,
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0.7508416175842285,
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] | [
0.8028433322906494,
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0.7460218071937561,
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0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.980739 | [
47.50388717651367,
-0.16996221244335175,
54.5429801940918,
-0.6882324814796448,
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30
] | [
0.23537491261959076,
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0.04009995236992836,
3.0416407585144043,
0.9212149381637573,
2.2134206295013428
] | 30 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.013000024482607841
] | 25.1 | 251 | 62 | 20,989 | 0 |
[
47.49969482421875,
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54.46281814575195,
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30
] | [
47.500728607177734,
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54.261573791503906,
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30
] | [
0.23562492430210114,
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0.04077639430761337,
3.041020631790161,
0.9237838983535767,
2.2129557132720947
] | 1 | [
0.8028423190116882,
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] | [
0.8028588891029358,
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0.7460694909095764,
-0.09358621388673782,
-0.0269880723208189,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
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0
] | [
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2.5560364723205566,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
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] | 25.200001 | 252 | 62 | 20,990 | 0 |
[
47.500144958496094,
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30
] | [
47.50270080566406,
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30
] | [
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3.0402305126190186,
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] | 1 | [
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] | [
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0.7461664080619812,
-0.09071796387434006,
-0.0269880723208189,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
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0
] | [
0.2201247215270996,
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0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
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] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
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] | 25.299999 | 253 | 62 | 20,991 | 0 |
[
47.50103759765625,
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30
] | [
47.50566864013672,
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30
] | [
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] | 1 | [
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] | [
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-0.04270336776971817,
0.7463122606277466,
-0.08639945834875107,
-0.0269880723208189,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.002011 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 25.4 | 254 | 62 | 20,992 | 0 |
[
47.502620697021484,
-1.145140528678894,
54.32328796386719,
-0.4257762134075165,
-0.8368090987205505,
30
] | [
47.50946044921875,
-2.951432943344116,
54.28688049316406,
0.10993711650371552,
-0.8348467946052551,
30
] | [
0.23644520342350006,
-0.20435215532779694,
0.044837843626737595,
3.037993907928467,
0.9377796649932861,
2.2104663848876953
] | 1 | [
0.8028892278671265,
-0.027622288092970848,
0.7471160888671875,
-0.09039823710918427,
-0.027049705386161804,
0.6542428135871887
] | [
0.8029988408088684,
-0.06030408665537834,
0.7464986443519592,
-0.08088209480047226,
-0.0269880723208189,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.009219 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 25.5 | 255 | 62 | 20,993 | 0 |
[
47.50508499145508,
-2.110488176345825,
54.338043212890625,
-0.17918747663497925,
-0.8407601714134216,
30
] | [
47.514060974121094,
-5.506209373474121,
54.30021667480469,
0.48688560724258423,
-0.8348467946052551,
30
] | [
0.2369512915611267,
-0.20489107072353363,
0.048674583435058594,
3.0349972248077393,
0.9504950046539307,
2.2079272270202637
] | 1 | [
0.8029286861419678,
-0.04508861526846886,
0.7473663091659546,
-0.08601795881986618,
-0.027173802256584167,
0.6542428135871887
] | [
0.8030725717544556,
-0.10652843117713928,
0.7467247843742371,
-0.07418616861104965,
-0.0269880723208189,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.024383 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 25.6 | 256 | 62 | 20,994 | 0 |
[
47.50832748413086,
-3.367513656616211,
54.32601547241211,
0.0655268132686615,
-0.8392153978347778,
30
] | [
47.5193977355957,
-6.874332904815674,
54.315670013427734,
0.9237189292907715,
-0.8348467946052551,
29.499998092651367
] | [
0.2377031445503235,
-0.20569171011447906,
0.053976740688085556,
3.0307846069335938,
0.9689381122589111,
2.2044522762298584
] | 1 | [
0.8029806613922119,
-0.06783235818147659,
0.7471623420715332,
-0.08167097717523575,
-0.02712528221309185,
0.6542428135871887
] | [
0.803158164024353,
-0.13128229975700378,
0.7469868659973145,
-0.06642648577690125,
-0.0269880723208189,
0.6433131694793701
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.043599 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 25.700001 | 257 | 62 | 20,995 | 0 |
[
47.51240158081055,
-4.656836986541748,
54.32020950317383,
0.3732234537601471,
-0.8373480439186096,
29
] | [
47.52534103393555,
-8.39959716796875,
54.33290481567383,
1.4107640981674194,
-0.8348467946052551,
28.25
] | [
0.23831243813037872,
-0.20635049045085907,
0.05927610397338867,
3.0265159606933594,
0.9867399334907532,
2.2008795738220215
] | 1 | [
0.8030459880828857,
-0.09116047620773315,
0.7470638751983643,
-0.07620520889759064,
-0.027066633105278015,
0.6323835849761963
] | [
0.8032534122467041,
-0.1588793694972992,
0.747279167175293,
-0.0577748566865921,
-0.0269880723208189,
0.6159891486167908
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.074137 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 25.799999 | 258 | 62 | 20,996 | 0 |
[
47.51714324951172,
-6.029147624969482,
54.326194763183594,
0.7540841102600098,
-0.8367521166801453,
27.75
] | [
47.531890869140625,
-10.07919979095459,
54.35187911987305,
1.9470927715301514,
-0.8348467946052551,
27.000001907348633
] | [
0.2387905716896057,
-0.20687749981880188,
0.06475450098514557,
3.0219502449035645,
1.0045301914215088,
2.1969823837280273
] | 1 | [
0.8031219840049744,
-0.11599010974168777,
0.7471653819084167,
-0.06943979114294052,
-0.027047915384173393,
0.6050595641136169
] | [
0.8033584356307983,
-0.18926893174648285,
0.7476009130477905,
-0.04824778437614441,
-0.0269880723208189,
0.5886651873588562
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.108859 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 25.9 | 259 | 62 | 20,997 | 0 |
[
47.522491455078125,
-7.511225700378418,
54.33823013305664,
1.1947007179260254,
-0.8365699648857117,
26.499998092651367
] | [
47.53892135620117,
-11.882610321044922,
54.37225341796875,
2.5229556560516357,
-0.8348467946052551,
25.75
] | [
0.23917008936405182,
-0.2073063850402832,
0.07058421522378922,
3.0168724060058594,
1.0231221914291382,
2.192589044570923
] | 1 | [
0.8032077550888062,
-0.1428057998418808,
0.7473694682121277,
-0.06161290034651756,
-0.027042195200920105,
0.5777354836463928
] | [
0.8034710884094238,
-0.22189858555793762,
0.7479464411735535,
-0.038018446415662766,
-0.0269880723208189,
0.5613411068916321
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.145427 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 26 | 260 | 62 | 20,998 | 0 |
[
47.52848815917969,
-9.111886978149414,
54.35371017456055,
1.6865558624267578,
-0.8365395665168762,
25.25
] | [
47.546356201171875,
-13.789604187011719,
54.393798828125,
3.131894826889038,
-0.8348467946052551,
24.5
] | [
0.23945175111293793,
-0.20763824880123138,
0.07683136314153671,
3.0111172199249268,
1.0428650379180908,
2.1875503063201904
] | 1 | [
0.8033038377761841,
-0.17176705598831177,
0.7476319670677185,
-0.052875831723213196,
-0.02704123966395855,
0.5504114627838135
] | [
0.8035902976989746,
-0.2564024031162262,
0.7483118176460266,
-0.02720155566930771,
-0.0269880723208189,
0.5340170860290527
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.183936 | [
47.66820526123047,
-43.60256576538086,
55.03913879394531,
13.111928939819336,
-0.8348467946052551,
0
] | [
0.2201247215270996,
-0.18845108151435852,
0.19961799681186676,
2.5560364723205566,
1.4344667196273804,
1.7462016344070435
] | 0 | pick box lid and place on box body | box body | [
0.22003811597824097,
-0.1886986941099167,
0.20000000298023224
] | 26.1 | 261 | 62 | 20,999 | 0 |
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