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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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.042355 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.053997 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.064525 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.072926 | [
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[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.115158 | [
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31.435482025146484,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.144131 | [
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31.435482025146484,
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] | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.17903 | [
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31.435482025146484,
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33.86600875854492,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.299999 | 193 | 64 | 21,608 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.213641 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 19.4 | 194 | 64 | 21,609 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.253737 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
0.3365168571472168,
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] | [
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0.007321617566049099,
3.114741563796997,
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] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 19.5 | 195 | 64 | 21,610 | 0 |
[
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0.009802417829632759,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.295496 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
0.3365168571472168,
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] | [
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0.007321617566049099,
3.114741563796997,
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] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 19.6 | 196 | 64 | 21,611 | 0 |
[
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0.009802417829632759,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.33903 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
0.3365168571472168,
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] | [
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0.007321617566049099,
3.114741563796997,
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] | 0 | pick box lid and place on box body | box body | [
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[
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31.435482025146484,
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31.435482025146484,
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[
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31.435482025146484,
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[
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31.435482025146484,
3.5231313705444336,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.620108 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.665483 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.710807 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
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[
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.774329 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.801434 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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0.18994833528995514,
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] | 20.799999 | 208 | 64 | 21,623 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.82429 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
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0.18994833528995514,
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[
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0.009802417829632759,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.846753 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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0.007321617566049099,
3.114741563796997,
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] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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[
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31.435482025146484,
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31.435482025146484,
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31.435482025146484,
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31.435482025146484,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.920435 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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[
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.921123 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.921222 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.921313 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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] | 0 | pick box lid and place on box body | box body | [
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[
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0.5187438130378723,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.921315 | [
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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0.30126604437828064,
0.18994833528995514,
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[
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31.435482025146484,
3.5231313705444336,
33.86600875854492,
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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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] | 22.5 | 225 | 64 | 21,640 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 22.6 | 226 | 64 | 21,641 | 0 |
[
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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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] | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 22.799999 | 228 | 64 | 21,643 | 0 |
[
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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 | [
0.30126604437828064,
0.18994833528995514,
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] | 22.9 | 229 | 64 | 21,644 | 0 |
[
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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 | [
0.30126604437828064,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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27.25952911376953,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
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] | 23.1 | 231 | 64 | 21,646 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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27.25952911376953,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.200001 | 232 | 64 | 21,647 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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27.25952911376953,
1.4301527738571167,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
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] | 23.299999 | 233 | 64 | 21,648 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.012156 | [
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27.25952911376953,
1.4301527738571167,
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] | [
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0.19715645909309387,
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] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 23.4 | 234 | 64 | 21,649 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.109003 | [
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27.25952911376953,
1.4301527738571167,
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] | [
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0.19715645909309387,
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] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 23.5 | 235 | 64 | 21,650 | 0 |
[
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] | [
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27.25952911376953,
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] | [
0.3115289807319641,
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] | [
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0.48631203174591064,
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0.5093008279800415,
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] | release object on box body | Is the object released? | gripper_open | 0.205851 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
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] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
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] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 23.6 | 236 | 64 | 21,651 | 0 |
[
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27.25952911376953,
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] | [
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27.25952911376953,
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] | [
0.3115289807319641,
0.19715645909309387,
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] | 1 | [
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] | [
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0.48631203174591064,
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0.5093008279800415,
0.05602451041340828,
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] | release object on box body | Is the object released? | gripper_open | 0.302698 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
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] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 23.700001 | 237 | 64 | 21,652 | 0 |
[
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27.25952911376953,
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] | [
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27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
21.59999656677246
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
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0.725024402141571,
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] | 1 | [
-0.627335250377655,
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] | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.47062522172927856
] | release object on box body | Is the object released? | gripper_open | 0.399546 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.013000023551285267
] | 23.799999 | 238 | 64 | 21,653 | 0 |
[
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
22.200000762939453
] | [
-41.718563079833984,
27.25952911376953,
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33.334415435791016,
1.808171033859253,
23.099998474121094
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 1 | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.4837408661842346
] | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.5034140944480896
] | release object on box body | Is the object released? | gripper_open | 0.496393 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.013000023551285267
] | 23.9 | 239 | 64 | 21,654 | 0 |
[
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
23.69999885559082
] | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
24.599998474121094
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 1 | [
-0.627335250377655,
0.48631203174591064,
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0.5093008279800415,
0.05602451041340828,
0.5165296792984009
] | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.5362029671669006
] | release object on box body | Is the object released? | gripper_open | 0.59324 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.013000023551285267
] | 24 | 240 | 64 | 21,655 | 0 |
[
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
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] | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
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] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
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] | 1 | [
-0.627335250377655,
0.48631203174591064,
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0.5093008279800415,
0.05602451041340828,
0.5493184328079224
] | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.5689918398857117
] | release object on box body | Is the object released? | gripper_open | 0.690088 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
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] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.013000023551285267
] | 24.1 | 241 | 64 | 21,656 | 0 |
[
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
26.69999885559082
] | [
-41.718563079833984,
27.25952911376953,
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33.334415435791016,
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27.599998474121094
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
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] | 1 | [
-0.627335250377655,
0.48631203174591064,
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0.5093008279800415,
0.05602451041340828,
0.5821073055267334
] | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.6017806529998779
] | release object on box body | Is the object released? | gripper_open | 0.786935 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.013000023551285267
] | 24.200001 | 242 | 64 | 21,657 | 0 |
[
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
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] | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
29.09999656677246
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 1 | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.6148961782455444
] | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.6345694065093994
] | release object on box body | Is the object released? | gripper_open | 0.883783 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.013000023551285267
] | 24.299999 | 243 | 64 | 21,658 | 0 |
[
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
29.700000762939453
] | [
-41.72871017456055,
27.292640686035156,
-0.6062941551208496,
33.411216735839844,
1.7948564291000366,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 1 | [
-0.627335250377655,
0.48631203174591064,
-0.14985406398773193,
0.5093008279800415,
0.05602451041340828,
0.6476850509643555
] | [
-0.6274979114532471,
0.4869111180305481,
-0.1843884438276291,
0.5106651186943054,
0.05560632050037384,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.980631 | [
-41.718563079833984,
27.25952911376953,
1.4301527738571167,
33.334415435791016,
1.808171033859253,
30
] | [
0.3115289807319641,
0.19715645909309387,
0.03899027034640312,
-3.1350913047790527,
0.725024402141571,
-2.5044398307800293
] | 30 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.013000023551285267
] | 24.4 | 244 | 64 | 21,659 | 0 |
[
-41.73002243041992,
27.296253204345703,
0.9037014842033386,
33.590858459472656,
1.8061555624008179,
30
] | [
-41.728858947753906,
27.114965438842773,
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33.45158767700195,
1.7948564291000366,
30
] | [
0.3121733069419861,
0.19770078361034393,
0.04037702828645706,
-3.135099172592163,
0.7287324666976929,
-2.5043084621429443
] | 1 | [
-0.627518892288208,
0.4869764745235443,
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] | [
-0.6275002956390381,
0.4836963713169098,
-0.18451368808746338,
0.5113822221755981,
0.05560632050037384,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
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] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
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] | 24.5 | 245 | 64 | 21,660 | 0 |
[
-41.73173141479492,
27.26161766052246,
0.39606499671936035,
33.70002365112305,
1.828381896018982,
30
] | [
-41.72916030883789,
26.753929138183594,
1.8751087188720703,
33.533626556396484,
1.7948564291000366,
30
] | [
0.3131416440010071,
0.19840778410434723,
0.042356058955192566,
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0.7360234260559082,
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] | 1 | [
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0.48634979128837585,
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] | [
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0.47716403007507324,
-0.14230842888355255,
0.5128395557403564,
0.05560632050037384,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 24.6 | 246 | 64 | 21,661 | 0 |
[
-41.73188018798828,
27.10338592529297,
0.4201589822769165,
33.70268249511719,
1.8250229358673096,
30
] | [
-41.729610443115234,
26.210346221923828,
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33.657142639160156,
1.7948564291000366,
30
] | [
0.31325405836105347,
0.19849134981632233,
0.04313927888870239,
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0.7384311556816101,
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] | 1 | [
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0.4834868609905243,
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0.5158425569534302,
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] | [
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0.46732884645462036,
-0.18515127897262573,
0.5150336027145386,
0.05560632050037384,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 24.700001 | 247 | 64 | 21,662 | 0 |
[
-41.73208999633789,
26.795005798339844,
0.4222801625728607,
33.71733093261719,
1.825607419013977,
30
] | [
-41.730186462402344,
24.135862350463867,
1.823651671409607,
33.814945220947266,
1.7948564291000366,
30
] | [
0.3135509490966797,
0.1987079381942749,
0.04482561722397804,
-3.13433837890625,
0.7437141537666321,
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] | 1 | [
-0.6275520920753479,
0.4779072701931,
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0.5161027908325195,
0.05657215416431427,
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] | [
-0.6275215744972229,
0.429794579744339,
-0.14318104088306427,
0.5178367495536804,
0.05560632050037384,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 24.799999 | 248 | 64 | 21,663 | 0 |
[
-41.73252868652344,
26.160154342651367,
0.3395152688026428,
33.892330169677734,
1.8179025650024414,
30
] | [
-41.73088836669922,
23.293025970458984,
-0.7151718735694885,
34.0064582824707,
1.7948564291000366,
30
] | [
0.3140711188316345,
0.19909055531024933,
0.04838252440094948,
-3.1344215869903564,
0.7534968256950378,
-2.5035388469696045
] | 1 | [
-0.6275590658187866,
0.4664207100868225,
-0.1683492660522461,
0.5192113518714905,
0.056330159306526184,
0.6542428135871887
] | [
-0.6275327801704407,
0.41454488039016724,
-0.18623481690883636,
0.5212386846542358,
0.05560632050037384,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.009868 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 24.9 | 249 | 64 | 21,664 | 0 |
[
-41.73260498046875,
25.221250534057617,
0.3732908070087433,
33.976036071777344,
1.8150217533111572,
30
] | [
-41.73169708251953,
22.316293716430664,
1.748025894165039,
34.228397369384766,
1.7948564291000366,
29.500001907348633
] | [
0.31475743651390076,
0.1995897889137268,
0.05335479974746704,
-3.134291410446167,
0.7684248685836792,
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] | 1 | [
-0.6275603175163269,
0.4494328200817108,
-0.16777649521827698,
0.5206982493400574,
0.05623967945575714,
0.6542428135871887
] | [
-0.6275457739830017,
0.39687255024909973,
-0.14446352422237396,
0.5251811146736145,
0.05560632050037384,
0.6433132290840149
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.025173 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25 | 250 | 64 | 21,665 | 0 |
[
-41.732112884521484,
24.26151466369629,
0.37883979082107544,
34.085731506347656,
1.8055217266082764,
29.000001907348633
] | [
-41.732601165771484,
21.227285385131836,
-0.8010291457176208,
34.47584915161133,
1.7948564291000366,
28.25
] | [
0.31541088223457336,
0.20006336271762848,
0.05851875990629196,
-3.1343612670898438,
0.7837483286857605,
-2.5037832260131836
] | 1 | [
-0.6275524497032166,
0.43206802010536194,
-0.16768239438533783,
0.5226468443870544,
0.055941298604011536,
0.6323836445808411
] | [
-0.6275602579116821,
0.37716880440711975,
-0.18769079446792603,
0.5295767188072205,
0.05560632050037384,
0.6159891486167908
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.057255 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.1 | 251 | 64 | 21,666 | 0 |
[
-41.732200622558594,
23.12442970275879,
0.2990167737007141,
34.18330383300781,
1.8043678998947144,
27.75
] | [
-41.73359680175781,
20.026554107666016,
-0.8508708477020264,
34.74833679199219,
1.7948564291000366,
27.000001907348633
] | [
0.31631872057914734,
0.2007228285074234,
0.06506544351577759,
-3.1341006755828857,
0.803941547870636,
-2.5036213397979736
] | 1 | [
-0.6275538206100464,
0.4114944040775299,
-0.16903604567050934,
0.524380087852478,
0.0559050589799881,
0.6050595641136169
] | [
-0.6275762319564819,
0.3554435968399048,
-0.18853601813316345,
0.5344170331954956,
0.05560632050037384,
0.5886651873588562
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.096213 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.200001 | 252 | 64 | 21,667 | 0 |
[
-41.73272705078125,
22.008907318115234,
0.1261550784111023,
34.44845962524414,
1.7951525449752808,
26.500001907348633
] | [
-41.73466873168945,
18.703704833984375,
-0.9043864011764526,
35.04090881347656,
1.7948564291000366,
25.750001907348633
] | [
0.31699997186660767,
0.20122338831424713,
0.07156519591808319,
-3.1341307163238525,
0.8223475813865662,
-2.503833532333374
] | 1 | [
-0.6275622844696045,
0.3913109302520752,
-0.17196746170520782,
0.529090166091919,
0.0556156225502491,
0.5777355432510376
] | [
-0.6275933980941772,
0.33150890469551086,
-0.18944354355335236,
0.5396141409873962,
0.05560632050037384,
0.5613411068916321
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.135428 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.299999 | 253 | 64 | 21,668 | 0 |
[
-41.733482360839844,
20.803800582885742,
0.10458295047283173,
34.67995071411133,
1.7934672832489014,
25.25
] | [
-41.73579788208008,
17.304866790771484,
-0.9609760642051697,
35.35028839111328,
1.7948564291000366,
24.5
] | [
0.3173988461494446,
0.20151838660240173,
0.07802167534828186,
-3.133913993835449,
0.8404051065444946,
-2.503697156906128
] | 1 | [
-0.6275743842124939,
0.3695065677165985,
-0.17233328521251678,
0.5332022309303284,
0.055562689900398254,
0.5504114627838135
] | [
-0.627611517906189,
0.3061992824077606,
-0.19040320813655853,
0.5451098084449768,
0.05560632050037384,
0.5340170860290527
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.175945 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.4 | 254 | 64 | 21,669 | 0 |
[
-41.734291076660156,
19.527801513671875,
0.07312016189098358,
34.94392013549805,
1.7921578884124756,
24
] | [
-41.73698425292969,
15.835901260375977,
1.4833904504776,
35.67517852783203,
1.7948564291000366,
23.250001907348633
] | [
0.3176881968975067,
0.20173415541648865,
0.08485779166221619,
-3.133662700653076,
0.8593359589576721,
-2.5035223960876465
] | 1 | [
-0.6275873184204102,
0.3464195132255554,
-0.1728668361902237,
0.5378912687301636,
0.055521562695503235,
0.5230874419212341
] | [
-0.6276305317878723,
0.27962085604667664,
-0.14895124733448029,
0.5508809685707092,
0.05560632050037384,
0.5066930651664734
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.217705 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.5 | 255 | 64 | 21,670 | 0 |
[
-41.7352180480957,
18.16973114013672,
0.017197830602526665,
35.20462417602539,
1.793972134590149,
22.750001907348633
] | [
-41.73821258544922,
14.319310188293457,
1.422037124633789,
36.01060485839844,
1.7948564291000366,
22
] | [
0.3179316222667694,
0.20191650092601776,
0.09226967394351959,
-3.1332502365112305,
0.8802236318588257,
-2.5031557083129883
] | 1 | [
-0.627602219581604,
0.3218475580215454,
-0.17381517589092255,
0.5425223112106323,
0.05557854846119881,
0.4957634508609772
] | [
-0.6276502013206482,
0.25218069553375244,
-0.1499916911125183,
0.5568393468856812,
0.05560632050037384,
0.47936898469924927
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.260742 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.6 | 256 | 64 | 21,671 | 0 |
[
-41.73638153076172,
16.758474349975586,
-0.02067948319017887,
35.509620666503906,
1.7935432195663452,
21.5
] | [
-41.73946762084961,
12.765830039978027,
1.3591915369033813,
36.35418701171875,
1.7948564291000366,
20.750001907348633
] | [
0.31794866919517517,
0.20193691551685333,
0.09980903565883636,
-3.1329052448272705,
0.9009813070297241,
-2.5028772354125977
] | 1 | [
-0.6276208758354187,
0.29631325602531433,
-0.17445750534534454,
0.5479400753974915,
0.05556507408618927,
0.46843937039375305
] | [
-0.6276703476905823,
0.224073126912117,
-0.1510574370622635,
0.5629425644874573,
0.05560632050037384,
0.4520449936389923
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.304774 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.700001 | 257 | 64 | 21,672 | 0 |
[
-41.73762130737305,
15.292737007141113,
-0.07004670053720474,
35.82817459106445,
1.7933989763259888,
20.250001907348633
] | [
-41.74074172973633,
11.189077377319336,
1.2954044342041016,
36.70291519165039,
1.7948564291000366,
19.500001907348633
] | [
0.31782224774360657,
0.2018536776304245,
0.10766661167144775,
-3.1325125694274902,
0.9226785898208618,
-2.502549886703491
] | 1 | [
-0.6276407241821289,
0.26979321241378784,
-0.1752946823835373,
0.5535987019538879,
0.05556054413318634,
0.4411153793334961
] | [
-0.6276907324790955,
0.19554445147514343,
-0.15213914215564728,
0.5691371560096741,
0.05560632050037384,
0.42472097277641296
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.34968 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.799999 | 258 | 64 | 21,673 | 0 |
[
-41.7388801574707,
13.781715393066406,
-0.11696936935186386,
36.151954650878906,
1.7939000129699707,
19
] | [
-41.74202346801758,
9.60438346862793,
1.2312960624694824,
37.053401947021484,
1.7948564291000366,
18.25
] | [
0.31752490997314453,
0.2016463577747345,
0.11574165523052216,
-3.1320552825927734,
0.9450605511665344,
-2.502152919769287
] | 1 | [
-0.6276609301567078,
0.24245384335517883,
-0.17609040439128876,
0.5593501925468445,
0.05557627975940704,
0.41379132866859436
] | [
-0.627711296081543,
0.16687211394309998,
-0.15322630107402802,
0.575363039970398,
0.05560632050037384,
0.39739689230918884
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.395262 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 25.9 | 259 | 64 | 21,674 | 0 |
[
-41.74014663696289,
12.24312686920166,
-0.1669771522283554,
36.48917770385742,
1.793911337852478,
17.75
] | [
-41.7432975769043,
8.025129318237305,
1.1674076318740845,
37.40268325805664,
1.7948564291000366,
17.000001907348633
] | [
0.31704023480415344,
0.20130328834056854,
0.12393251061439514,
-3.1315836906433105,
0.9677548408508301,
-2.501746892929077
] | 1 | [
-0.6276811957359314,
0.21461570262908936,
-0.17693844437599182,
0.5653404593467712,
0.055576637387275696,
0.3864672780036926
] | [
-0.6277317404747009,
0.1382981836795807,
-0.1543097347021103,
0.5815675258636475,
0.05560632050037384,
0.3700729012489319
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.441244 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26 | 260 | 64 | 21,675 | 0 |
[
-41.741397857666016,
10.687042236328125,
-0.22499695420265198,
36.82961654663086,
1.7940821647644043,
16.500001907348633
] | [
-41.74456024169922,
6.466220855712891,
1.1043424606323242,
37.747467041015625,
1.7948564291000366,
15.75
] | [
0.3163822889328003,
0.20083430409431458,
0.1322198361158371,
-3.131063222885132,
0.9908442497253418,
-2.5012919902801514
] | 1 | [
-0.6277012825012207,
0.18646098673343658,
-0.1779223531484604,
0.5713878273963928,
0.05558200180530548,
0.35914328694343567
] | [
-0.6277519464492798,
0.11009237915277481,
-0.15537920594215393,
0.5876920819282532,
0.05560632050037384,
0.34274882078170776
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.487393 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.1 | 261 | 64 | 21,676 | 0 |
[
-41.742645263671875,
9.12773609161377,
-0.2879936993122101,
37.170379638671875,
1.7943289279937744,
15.25
] | [
-41.745792388916016,
4.983632564544678,
1.042561650276184,
38.085227966308594,
1.7948564291000366,
14.500000953674316
] | [
0.3155491054058075,
0.20023809373378754,
0.14051000773906708,
-3.130497455596924,
1.0140703916549683,
-2.50079083442688
] | 1 | [
-0.6277212500572205,
0.15824797749519348,
-0.1789906620979309,
0.5774409770965576,
0.05558975413441658,
0.33181920647621155
] | [
-0.6277717351913452,
0.0832674652338028,
-0.15642689168453217,
0.593691885471344,
0.05560632050037384,
0.3154248297214508
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.533443 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.200001 | 262 | 64 | 21,677 | 0 |
[
-41.74388885498047,
7.591209888458252,
-0.3553224503993988,
37.50756072998047,
1.7946970462799072,
14.000001907348633
] | [
-41.746986389160156,
3.552849054336548,
0.9828441143035889,
38.41170883178711,
1.7948564291000366,
13.250001907348633
] | [
0.3145557641983032,
0.19952553510665894,
0.14865775406360626,
-3.1298880577087402,
1.0370213985443115,
-2.500243902206421
] | 1 | [
-0.6277412176132202,
0.1304471492767334,
-0.1801324337720871,
0.5834305286407471,
0.05560131371021271,
0.3044952154159546
] | [
-0.6277908682823181,
0.057379864156246185,
-0.15743958950042725,
0.5994913578033447,
0.05560632050037384,
0.28810080885887146
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.578955 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.299999 | 263 | 64 | 21,678 | 0 |
[
-41.74512481689453,
6.094040393829346,
-0.43161484599113464,
37.845184326171875,
1.7946134805679321,
12.75
] | [
-41.748130798339844,
2.180931806564331,
0.9255834817886353,
38.724754333496094,
1.7948564291000366,
12.000000953674316
] | [
0.31341904401779175,
0.19870895147323608,
0.15657849609851837,
-3.129270553588867,
1.0594043731689453,
-2.499690532684326
] | 1 | [
-0.6277610063552856,
0.10335841029882431,
-0.18142621219158173,
0.5894278883934021,
0.05559869110584259,
0.27717116475105286
] | [
-0.6278092265129089,
0.03255734592676163,
-0.15841062366962433,
0.60505211353302,
0.05560632050037384,
0.2607767581939697
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.623667 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.4 | 264 | 64 | 21,679 | 0 |
[
-41.746337890625,
4.60830545425415,
-0.37134119868278503,
38.0961799621582,
1.800295352935791,
11.500000953674316
] | [
-41.74900436401367,
1.1330571174621582,
-1.6219455003738403,
38.963863372802734,
1.7948564291000366,
10.750001907348633
] | [
0.31211045384407043,
0.19776563346385956,
0.16396984457969666,
-3.128293514251709,
1.080801010131836,
-2.498728036880493
] | 1 | [
-0.6277804374694824,
0.07647655159235,
-0.18040408194065094,
0.5938864350318909,
0.05577714741230011,
0.2498471438884735
] | [
-0.6278231739997864,
0.01359783299267292,
-0.20161202549934387,
0.6092995405197144,
0.05560632050037384,
0.23345273733139038
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.66776 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.5 | 265 | 64 | 21,680 | 0 |
[
-41.747467041015625,
3.3743820190429688,
-0.5251666903495789,
38.38107681274414,
1.8010658025741577,
10.250001907348633
] | [
-41.74955368041992,
1.8480440378189087,
-1.6494598388671875,
39.11428451538086,
1.7948564291000366,
9.5
] | [
0.31098535656929016,
0.19695638120174408,
0.17081764340400696,
-3.127584457397461,
1.1006718873977661,
-2.4980697631835938
] | 1 | [
-0.6277985572814941,
0.05415080487728119,
-0.1830126792192459,
0.5989472270011902,
0.05580134689807892,
0.22252312302589417
] | [
-0.6278319954872131,
0.0265343077480793,
-0.20207862555980682,
0.6119715571403503,
0.05560632050037384,
0.20612867176532745
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.70812 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.6 | 266 | 64 | 21,681 | 0 |
[
-41.74821472167969,
2.8285329341888428,
-0.5673821568489075,
38.690467834472656,
1.7968149185180664,
9
] | [
-41.750118255615234,
-0.2025313824415207,
-1.6776899099349976,
39.26862335205078,
1.7948564291000366,
8.250000953674316
] | [
0.3102208971977234,
0.19640783965587616,
0.17326340079307556,
-3.127671957015991,
1.105769395828247,
-2.4981961250305176
] | 1 | [
-0.627810537815094,
0.04427459090948105,
-0.18372857570648193,
0.6044430732727051,
0.05566783249378204,
0.19519905745983124
] | [
-0.627841055393219,
-0.01056737545877695,
-0.20255735516548157,
0.6147131323814392,
0.05560632050037384,
0.1788046509027481
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.739654 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.700001 | 267 | 64 | 21,682 | 0 |
[
-41.74890899658203,
2.121823787689209,
-0.5992966294288635,
38.958587646484375,
1.7923704385757446,
7.750001430511475
] | [
-41.75069808959961,
-0.8967606425285339,
-1.7066653966903687,
39.427032470703125,
1.7948564291000366,
7.000002384185791
] | [
0.3093373477458954,
0.19577251374721527,
0.17663584649562836,
-3.1276533603668213,
1.1143354177474976,
-2.498230457305908
] | 1 | [
-0.627821683883667,
0.03148788958787918,
-0.18426978588104248,
0.6092058420181274,
0.05552824214100838,
0.16787505149841309
] | [
-0.627850353717804,
-0.02312827669084072,
-0.2030487209558487,
0.6175270080566406,
0.05560632050037384,
0.15148065984249115
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.773041 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.799999 | 268 | 64 | 21,683 | 0 |
[
-41.74958801269531,
1.40683114528656,
-0.673387885093689,
39.15180206298828,
1.7921274900436401,
6.5
] | [
-41.75129318237305,
-1.6102832555770874,
0.7673469185829163,
39.589847564697266,
1.7948564291000366,
5.750000476837158
] | [
0.308525025844574,
0.1951874941587448,
0.18041786551475525,
-3.127281665802002,
1.1250951290130615,
-2.4978883266448975
] | 1 | [
-0.6278325319290161,
0.018551308661699295,
-0.18552623689174652,
0.612637996673584,
0.05552060902118683,
0.14055098593235016
] | [
-0.627859890460968,
-0.03603825718164444,
-0.16109402477741241,
0.6204192042350769,
0.05560632050037384,
0.12415657937526703
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.806031 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 26.9 | 269 | 64 | 21,684 | 0 |
[
-41.75023651123047,
0.6823142170906067,
-0.5468196868896484,
39.30991744995117,
1.7937291860580444,
5.250000953674316
] | [
-41.75190734863281,
-2.346508026123047,
-1.767174482345581,
39.757843017578125,
1.7948564291000366,
4.500001907348633
] | [
0.3075779974460602,
0.19450387358665466,
0.18339596688747406,
-3.126868724822998,
1.1332471370697021,
-2.497483253479004
] | 1 | [
-0.6278429627418518,
0.00544240465387702,
-0.1833798736333847,
0.6154466867446899,
0.05557091534137726,
0.113226979970932
] | [
-0.627869725227356,
-0.04935899376869202,
-0.20407484471797943,
0.6234033703804016,
0.05560632050037384,
0.09683258086442947
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.839377 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 27 | 270 | 64 | 21,685 | 0 |
[
-41.750877380371094,
-0.026064757257699966,
-0.6069316267967224,
39.51007080078125,
1.7920477390289307,
4.000001907348633
] | [
-41.752540588378906,
-1.7349765300750732,
0.7047863006591797,
39.93186950683594,
1.7948564291000366,
3.25
] | [
0.30668774247169495,
0.1938624083995819,
0.1870272159576416,
-3.1265814304351807,
1.1435273885726929,
-2.497234344482422
] | 1 | [
-0.6278532147407532,
-0.0073745111003518105,
-0.18439926207065582,
0.619002103805542,
0.05551810562610626,
0.08590296655893326
] | [
-0.6278798580169678,
-0.03829437121748924,
-0.1621549427509308,
0.6264947056770325,
0.05560632050037384,
0.06950850784778595
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.871795 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 27.1 | 271 | 64 | 21,686 | 0 |
[
-41.75151443481445,
-0.7934743165969849,
-0.5906862020492554,
39.5623893737793,
1.799092173576355,
2.750000476837158
] | [
-41.753196716308594,
-2.5218024253845215,
-1.831847071647644,
40.111412048339844,
1.7948564291000366,
2.0000011920928955
] | [
0.30580979585647583,
0.193227156996727,
0.19098138809204102,
-3.1255593299865723,
1.1562023162841797,
-2.4962007999420166
] | 1 | [
-0.6278634667396545,
-0.021259484812617302,
-0.18412376940250397,
0.6199314594268799,
0.05573935806751251,
0.05857890099287033
] | [
-0.627890408039093,
-0.05253065004944801,
-0.20517157018184662,
0.6296840310096741,
0.05560632050037384,
0.0421844981610775
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.904094 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 27.200001 | 272 | 64 | 21,687 | 0 |
[
-41.75214767456055,
-1.619073510169983,
-0.645018994808197,
39.769256591796875,
1.797031283378601,
1.5000015497207642
] | [
-41.73298645019531,
-1.7406747341156006,
-0.6815058588981628,
39.86389923095703,
1.793965220451355,
0
] | [
0.3047008812427521,
0.19242697954177856,
0.19516685605049133,
-3.125166416168213,
1.1683859825134277,
-2.4958558082580566
] | 1 | [
-0.6278735995292664,
-0.036197301000356674,
-0.18504515290260315,
0.6236061453819275,
0.055674631148576736,
0.03125489130616188
] | [
-0.6275664567947388,
-0.038397468626499176,
-0.18566390872001648,
0.6252872943878174,
0.0555783286690712,
-0.0015339808305725455
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.936073 | [
-41.754329681396484,
-3.639848470687866,
0.2894570529460907,
40.4207763671875,
1.7948564291000366,
0
] | [
0.3012293875217438,
0.1899217665195465,
0.19997408986091614,
-3.1249048709869385,
1.177527904510498,
-2.4956061840057373
] | 0 | pick box lid and place on box body | box body | [
0.30126604437828064,
0.18994833528995514,
0.20000000298023224
] | 27.299999 | 273 | 64 | 21,688 | 0 |
[
-41.746524810791016,
-1.7734627723693848,
-0.813566267490387,
39.78451156616211,
1.7981129884719849,
0
] | [
-41.516170501708984,
-1.994850993156433,
-0.47050029039382935,
40.02598571777344,
1.7840425968170166,
0
] | [
0.30460289120674133,
0.19231897592544556,
0.1967427134513855,
-3.1248369216918945,
1.1737651824951172,
-2.495629072189331
] | 1 | [
-0.627783477306366,
-0.03899071365594864,
-0.18790340423583984,
0.6238771080970764,
0.05570860207080841,
-0.0015339808305725455
] | [
-0.624090850353241,
-0.0429963581264019,
-0.18208563327789307,
0.6281665563583374,
0.05526667833328247,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.4 | 274 | 64 | 21,689 | 0 | ||
[
-41.67338562011719,
-1.8393288850784302,
-0.6956945657730103,
39.862789154052734,
1.793831706047058,
0
] | [
-41.060787200927734,
-2.528700828552246,
-0.027322720736265182,
40.366416931152344,
1.76320219039917,
0
] | [
0.3046181797981262,
0.1918565332889557,
0.19634971022605896,
-3.125258207321167,
1.1715701818466187,
-2.4972422122955322
] | 1 | [
-0.626611053943634,
-0.0401824489235878,
-0.18590451776981354,
0.6252675652503967,
0.05557413771748543,
-0.0015339808305725455
] | [
-0.6167910099029541,
-0.05265546590089798,
-0.17457015812397003,
0.6342138051986694,
0.054612115025520325,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.001647 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.5 | 275 | 64 | 21,690 | 0 | ||
[
-41.46537780761719,
-2.067110300064087,
-0.4551877975463867,
40.037513732910156,
1.7836332321166992,
0
] | [
-40.371822357177734,
-3.3363773822784424,
0.6431733965873718,
40.88146209716797,
1.731671929359436,
0
] | [
0.30470094084739685,
0.19057303667068481,
0.19601155817508698,
-3.1261496543884277,
1.1685147285461426,
-2.5015223026275635
] | 1 | [
-0.6232766509056091,
-0.0443037673830986,
-0.18182596564292908,
0.6283712983131409,
0.05525381863117218,
-0.0015339808305725455
] | [
-0.605746865272522,
-0.06726900488138199,
-0.163199782371521,
0.6433627605438232,
0.053621806204319,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.006562 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.6 | 276 | 64 | 21,691 | 0 | ||
[
-41.08321762084961,
-2.5052130222320557,
-0.06076673045754433,
40.33344650268555,
1.765870451927185,
0
] | [
-39.45683288574219,
-4.409028053283691,
1.533638834953308,
41.56548309326172,
1.6897977590560913,
0
] | [
0.3048604428768158,
0.18823441863059998,
0.19577550888061523,
-3.1276168823242188,
1.1645046472549438,
-2.509216785430908
] | 1 | [
-0.6171505451202393,
-0.05223049223423004,
-0.17513731122016907,
0.6336281299591064,
0.05469592288136482,
-0.0015339808305725455
] | [
-0.5910794734954834,
-0.08667679876089096,
-0.1480991244316101,
0.6555134057998657,
0.052306611090898514,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.015346 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.700001 | 277 | 64 | 21,692 | 0 | ||
[
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0.5135544538497925,
40.769927978515625,
1.7393817901611328,
0
] | [
-38.32583999633789,
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2.6343188285827637,
42.41098403930664,
1.6380380392074585,
0
] | [
0.30507102608680725,
0.18471448123455048,
0.1955823451280594,
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1.159162998199463,
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] | 1 | [
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] | [
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0.6705324649810791,
0.05068092793226242,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.028509 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
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0,
0
] | 27.799999 | 278 | 64 | 21,693 | 0 | ||
[
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41.355831146240234,
1.7036397457122803,
0
] | [
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3.933157205581665,
43.40869903564453,
1.5769599676132202,
0
] | [
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0.17996610701084137,
0.19538341462612152,
-3.132469415664673,
1.1522828340530396,
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] | 1 | [
-0.5953673124313354,
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0.6517892479896545,
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] | [
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-0.10740771889686584,
0.6882553696632385,
0.048762574791908264,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.046277 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.9 | 279 | 64 | 21,694 | 0 | ||
[
-38.737979888916016,
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2.242079257965088,
42.09298324584961,
1.658583641052246,
0
] | [
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5.415917873382568,
44.54769515991211,
1.5072330236434937,
0
] | [
0.3054285943508148,
0.17399862408638,
0.19513709843158722,
-3.135784864425659,
1.14377760887146,
-2.5556442737579346
] | 1 | [
-0.5795561671257019,
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-0.13608528673648834,
0.6648836135864258,
0.05132623016834259,
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] | [
-0.5271322131156921,
-0.1712915003299713,
-0.08226282894611359,
0.7084879279136658,
0.046572569757699966,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.068675 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28 | 280 | 64 | 21,695 | 0 | ||
[
-37.552005767822266,
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3.395542621612549,
42.97819519042969,
1.6044070720672607,
0
] | [
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-11.073721885681152,
7.066362380981445,
45.81550216674805,
1.429620623588562,
0
] | [
0.3054210841655731,
0.166864275932312,
0.19480471312999725,
-3.1395790576934814,
1.133642315864563,
-2.5788137912750244
] | 1 | [
-0.5605449080467224,
-0.12691983580589294,
-0.11652467399835587,
0.6806080937385559,
0.04962464049458504,
-0.0015339808305725455
] | [
-0.4999467432498932,
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-0.05427433177828789,
0.7310085892677307,
0.044134899973869324,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.095594 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.1 | 281 | 64 | 21,696 | 0 | ||
[
-36.176025390625,
-8.246280670166016,
4.732166290283203,
44.004791259765625,
1.5415197610855103,
0
] | [
-31.922122955322266,
-13.24203872680664,
8.866399765014648,
47.198219299316406,
1.3449735641479492,
0
] | [
0.30516624450683594,
0.158650204539299,
0.1943485289812088,
3.1394453048706055,
1.1219251155853271,
-2.6054768562316895
] | 1 | [
-0.5384877920150757,
-0.15610536932945251,
-0.09385799616575241,
0.6988440155982971,
0.047649458050727844,
-0.0015339808305725455
] | [
-0.47029730677604675,
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-0.023749014362692833,
0.7555704712867737,
0.041476283222436905,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.126819 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.200001 | 282 | 64 | 21,697 | 0 | ||
[
-34.62305450439453,
-10.067242622375488,
6.239960193634033,
45.16336441040039,
1.470582365989685,
0
] | [
-29.939058303833008,
-15.566802978515625,
10.79631233215332,
48.680702209472656,
1.2542191743850708,
0
] | [
0.3045669198036194,
0.14947263896465302,
0.19373179972171783,
3.1350419521331787,
1.108712911605835,
-2.635305643081665
] | 1 | [
-0.5135934948921204,
-0.18905258178710938,
-0.06828859448432922,
0.7194243669509888,
0.04542143642902374,
-0.0015339808305725455
] | [
-0.4385085999965668,
-0.2885577976703644,
0.008978746831417084,
0.7819045782089233,
0.038625847548246384,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.162059 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.299999 | 283 | 64 | 21,698 | 0 | ||
[
-32.90887451171875,
-12.077448844909668,
7.904084205627441,
46.44243621826172,
1.392209529876709,
0
] | [
-27.844263076782227,
-18.022550582885742,
12.8349609375,
50.24671173095703,
1.1583514213562012,
0
] | [
0.3035305142402649,
0.13947249948978424,
0.1929197758436203,
3.130507469177246,
1.0941218137741089,
-2.6679418087005615
] | 1 | [
-0.486115038394928,
-0.22542385756969452,
-0.040068112313747406,
0.7421451210975647,
0.04295988380908966,
-0.0015339808305725455
] | [
-0.4049288332462311,
-0.3329903781414032,
0.04355047270655632,
0.809722363948822,
0.03561480715870857,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.200959 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.4 | 284 | 64 | 21,699 | 0 |
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