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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] | 0 | pick box lid and place on box body | box body | [
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] | 16.5 | 165 | 67 | 22,608 | 0 |
[
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19.697904586791992,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
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] | 16.6 | 166 | 67 | 22,609 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.251708 | [
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19.697904586791992,
1.384677529335022,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 16.700001 | 167 | 67 | 22,610 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.28733 | [
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1.384677529335022,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.799999 | 168 | 67 | 22,611 | 0 |
[
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] | 17.799999 | 178 | 67 | 22,621 | 0 |
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[
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1.384677529335022,
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] | 0 | pick box lid and place on box body | box body | [
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] | 18 | 180 | 67 | 22,623 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.763471 | [
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19.697904586791992,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 18.1 | 181 | 67 | 22,624 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.783461 | [
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19.697904586791992,
1.384677529335022,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 18.200001 | 182 | 67 | 22,625 | 0 |
[
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[
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.860625 | [
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] | 18.6 | 186 | 67 | 22,629 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.87695 | [
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] | 18.700001 | 187 | 67 | 22,630 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.063745 | [
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] | 18.799999 | 188 | 67 | 22,631 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.066067 | [
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] | 18.9 | 189 | 67 | 22,632 | 0 |
[
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[
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0.3787449598312378,
0.07123062014579773,
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] | 19.1 | 191 | 67 | 22,634 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.079774 | [
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12.031462669372559,
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0.3787449598312378,
0.07123062014579773,
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] | 19.200001 | 192 | 67 | 22,635 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.086012 | [
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34.06070327758789,
12.031462669372559,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 19.299999 | 193 | 67 | 22,636 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.101146 | [
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34.06070327758789,
12.031462669372559,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 19.4 | 194 | 67 | 22,637 | 0 |
[
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0.006111925933510065,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.124102 | [
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34.06070327758789,
12.031462669372559,
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] | [
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0.052050065249204636,
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 19.5 | 195 | 67 | 22,638 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.219529 | [
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[
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34.06070327758789,
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] | 19.9 | 199 | 67 | 22,642 | 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 | 0.342183 | [
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34.06070327758789,
12.031462669372559,
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0.3787449598312378,
0.07123062014579773,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.387481 | [
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34.06070327758789,
12.031462669372559,
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0.3787449598312378,
0.07123062014579773,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.433884 | [
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34.06070327758789,
12.031462669372559,
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 20.299999 | 203 | 67 | 22,646 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.480931 | [
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34.06070327758789,
12.031462669372559,
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 20.4 | 204 | 67 | 22,647 | 0 |
[
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34.06070327758789,
12.031462669372559,
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 20.5 | 205 | 67 | 22,648 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.573394 | [
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34.06070327758789,
12.031462669372559,
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0.052050065249204636,
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 20.6 | 206 | 67 | 22,649 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.619208 | [
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34.06070327758789,
12.031462669372559,
7.762172698974609,
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] | [
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0.052050065249204636,
0.007666673511266708,
3.067552328109741,
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 20.700001 | 207 | 67 | 22,650 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.663553 | [
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34.06070327758789,
12.031462669372559,
7.762172698974609,
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] | [
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0.052050065249204636,
0.007666673511266708,
3.067552328109741,
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 20.799999 | 208 | 67 | 22,651 | 0 |
[
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0.0437772199511528,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.702705 | [
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34.06070327758789,
12.031462669372559,
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0.07123062014579773,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.865633 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.86454 | [
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] | [
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] | 22.5 | 225 | 67 | 22,668 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.863319 | [
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] | 22.6 | 226 | 67 | 22,669 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.862122 | [
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] | [
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0.07123062014579773,
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] | 22.700001 | 227 | 67 | 22,670 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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31.05309295654297,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 22.799999 | 228 | 67 | 22,671 | 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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31.05309295654297,
11.011552810668945,
2.998704433441162,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 22.9 | 229 | 67 | 22,672 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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31.05309295654297,
11.011552810668945,
2.998704433441162,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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31.05309295654297,
11.011552810668945,
2.998704433441162,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 23.1 | 231 | 67 | 22,674 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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31.05309295654297,
11.011552810668945,
2.998704433441162,
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30
] | [
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0.07123062014579773,
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[
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0.0126288291066885,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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31.05309295654297,
11.011552810668945,
2.998704433441162,
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] | [
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[
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0.0126288291066885,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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31.05309295654297,
11.011552810668945,
2.998704433441162,
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] | [
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0.3787449598312378,
0.07123062014579773,
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[
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0.0126288291066885,
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31.05309295654297,
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] | [
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0.3787449598312378,
0.07123062014579773,
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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 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
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] | 23.6 | 236 | 67 | 22,679 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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-0.029567483812570572,
-0.02662317268550396,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 23.700001 | 237 | 67 | 22,680 | 0 |
[
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] | [
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31.05309295654297,
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] | [
0.39368727803230286,
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.073881 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
0.39368727803230286,
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0.041016098111867905,
3.0161702632904053,
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-3.0793707370758057
] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 23.799999 | 238 | 67 | 22,681 | 0 |
[
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] | [
-15.584434509277344,
31.05309295654297,
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18
] | [
0.39368727803230286,
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] | 1 | [
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] | [
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0.5549501180648804,
0.0126288291066885,
-0.029567483812570572,
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] | release object on box body | Is the object released? | gripper_open | 0.170352 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
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3.0161702632904053,
1.0280635356903076,
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 23.9 | 239 | 67 | 22,682 | 0 |
[
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-0.8232288360595703,
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] | [
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31.05309295654297,
11.011552810668945,
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19.5
] | [
0.39368727803230286,
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.266822 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
0.39368727803230286,
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3.0161702632904053,
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24 | 240 | 67 | 22,683 | 0 |
[
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] | [
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31.05309295654297,
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] | [
0.39368727803230286,
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.363293 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.1 | 241 | 67 | 22,684 | 0 |
[
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] | [
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31.05309295654297,
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22.5
] | [
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.459764 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.200001 | 242 | 67 | 22,685 | 0 |
[
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] | [
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31.05309295654297,
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] | [
0.39368727803230286,
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.556234 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
0.39368727803230286,
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3.0161702632904053,
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.299999 | 243 | 67 | 22,686 | 0 |
[
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] | [
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31.05309295654297,
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25.5
] | [
0.39368727803230286,
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1.0280635356903076,
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] | 1 | [
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] | [
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0.0126288291066885,
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] | release object on box body | Is the object released? | gripper_open | 0.652705 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
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30
] | [
0.39368727803230286,
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.4 | 244 | 67 | 22,687 | 0 |
[
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] | [
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31.05309295654297,
11.011552810668945,
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27
] | [
0.39368727803230286,
0.07524768263101578,
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3.0161702632904053,
1.0280635356903076,
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] | 1 | [
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] | [
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0.5549501180648804,
0.0126288291066885,
-0.029567483812570572,
-0.02662317268550396,
0.5886651277542114
] | release object on box body | Is the object released? | gripper_open | 0.749176 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
0.39368727803230286,
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.5 | 245 | 67 | 22,688 | 0 |
[
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] | [
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31.05309295654297,
11.011552810668945,
2.998704433441162,
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] | [
0.39368727803230286,
0.07524768263101578,
0.041016098111867905,
3.0161702632904053,
1.0280635356903076,
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] | 1 | [
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] | [
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0.5549501180648804,
0.0126288291066885,
-0.029567483812570572,
-0.02662317268550396,
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] | release object on box body | Is the object released? | gripper_open | 0.845647 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
0.39368727803230286,
0.07524768263101578,
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.6 | 246 | 67 | 22,689 | 0 |
[
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31.05309295654297,
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] | [
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31.132122039794922,
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30
] | [
0.39368727803230286,
0.07524768263101578,
0.041016098111867905,
3.0161702632904053,
1.0280635356903076,
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] | 1 | [
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] | [
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0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.942118 | [
-15.584434509277344,
31.05309295654297,
11.011552810668945,
2.998704433441162,
-0.8232288360595703,
30
] | [
0.39368727803230286,
0.07524768263101578,
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] | 30 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.700001 | 247 | 67 | 22,690 | 0 |
[
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30
] | [
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30
] | [
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-0.02937137894332409,
-0.0266901683062315,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-15.433025360107422,
-1.365057349205017,
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6.246380805969238,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
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] | 24.799999 | 248 | 67 | 22,691 | 0 |
[
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30
] | [
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] | [
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0.006501482799649239,
-0.02913484163582325,
-0.026745600625872612,
0.6542428135871887
] | [
-0.20840655267238617,
0.5487847924232483,
0.0010623112320899963,
-0.028827879577875137,
-0.0266901683062315,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 24.9 | 249 | 67 | 22,692 | 0 |
[
-15.585819244384766,
30.94742202758789,
10.52328872680664,
3.0315358638763428,
-0.8267320990562439,
30
] | [
-15.582358360290527,
30.22159767150879,
10.427417755126953,
3.089517593383789,
-0.8253619074821472,
30
] | [
0.3950321674346924,
0.07554124295711517,
0.043645258992910385,
3.0132317543029785,
1.0375540256500244,
-3.081928014755249
] | 1 | [
-0.20842474699020386,
0.5530381798744202,
0.0043487693183124065,
-0.028984282165765762,
-0.02673320472240448,
0.6542428135871887
] | [
-0.20836926996707916,
0.5399056077003479,
0.0027229744009673595,
-0.027954325079917908,
-0.0266901683062315,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 25 | 250 | 67 | 22,693 | 0 |
[
-15.58462905883789,
30.698801040649414,
10.488846778869629,
3.0629234313964844,
-0.8271951079368591,
30
] | [
-15.57917308807373,
28.169679641723633,
10.561498641967773,
3.1568500995635986,
-0.8253619074821472,
30
] | [
0.3953915238380432,
0.07561025023460388,
0.045219406485557556,
3.0118775367736816,
1.0420267581939697,
-3.0831220149993896
] | 1 | [
-0.20840567350387573,
0.5485398173332214,
0.003764697350561619,
-0.028426729142665863,
-0.026747746393084526,
0.6542428135871887
] | [
-0.20831820368766785,
0.5027796626091003,
0.004996739327907562,
-0.026758262887597084,
-0.0266901683062315,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 25.1 | 251 | 67 | 22,694 | 0 |
[
-15.5827054977417,
30.182851791381836,
10.538354873657227,
3.135206937789917,
-0.8302808403968811,
30
] | [
-15.575275421142578,
27.34744644165039,
10.725573539733887,
3.239245653152466,
-0.8253619074821472,
30
] | [
0.39580038189888,
0.07568599283695221,
0.047956157475709915,
3.0095486640930176,
1.049143671989441,
-3.0852160453796387
] | 1 | [
-0.20837482810020447,
0.5392045974731445,
0.004604263696819544,
-0.0271427221596241,
-0.02684466354548931,
0.6542428135871887
] | [
-0.20825572311878204,
0.4879027307033539,
0.007779147010296583,
-0.025294629856944084,
-0.0266901683062315,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.003616 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 25.200001 | 252 | 67 | 22,695 | 0 |
[
-15.58005428314209,
29.347270965576172,
10.597288131713867,
3.1676905155181885,
-0.8283982872962952,
30
] | [
-15.570676803588867,
26.377208709716797,
10.919183731079102,
3.336472749710083,
-0.8253619074821472,
29.999998092651367
] | [
0.3965905010700226,
0.07583668828010559,
0.05268791317939758,
3.0054404735565186,
1.0625338554382324,
-3.0888051986694336
] | 1 | [
-0.20833232998847961,
0.5240861773490906,
0.00560366315767169,
-0.02656570076942444,
-0.026785535737872124,
0.6542428135871887
] | [
-0.20818200707435608,
0.47034794092178345,
0.011062419041991234,
-0.02356753684580326,
-0.0266901683062315,
0.654242753982544
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.017285 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 25.299999 | 253 | 67 | 22,696 | 0 |
[
-15.576621055603027,
28.25885772705078,
10.748541831970215,
3.272677421569824,
-0.8307666778564453,
29.499998092651367
] | [
-15.565457344055176,
25.27621841430664,
11.138884544372559,
3.4468023777008057,
-0.8253619074821472,
28.75
] | [
0.39725562930107117,
0.0759572759270668,
0.05838729441165924,
3.0003089904785156,
1.0775970220565796,
-3.093397378921509
] | 1 | [
-0.20827730000019073,
0.5043931603431702,
0.008168647065758705,
-0.024700764566659927,
-0.02685992419719696,
0.6433131694793701
] | [
-0.20809835195541382,
0.450427383184433,
0.014788140542805195,
-0.021607697010040283,
-0.0266901683062315,
0.6269187927246094
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.043068 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 25.4 | 254 | 67 | 22,697 | 0 |
[
-15.572513580322266,
27.15602684020996,
10.881834030151367,
3.3265535831451416,
-0.8279959559440613,
28.25
] | [
-15.559718132019043,
24.06546401977539,
11.380488395690918,
3.5681312084198,
-0.8253619074821472,
27.5
] | [
0.39795151352882385,
0.07607892900705338,
0.06438308209180832,
2.994661569595337,
1.0941252708435059,
-3.098419666290283
] | 1 | [
-0.20821145176887512,
0.48443931341171265,
0.010429036803543568,
-0.023743735626339912,
-0.02677289955317974,
0.6159891486167908
] | [
-0.2080063372850418,
0.4285208284854889,
0.0188852958381176,
-0.019452473148703575,
-0.0266901683062315,
0.5995947122573853
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.0807 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 25.5 | 255 | 67 | 22,698 | 0 |
[
-15.567859649658203,
26.02378273010254,
11.232266426086426,
3.434598207473755,
-0.8287398815155029,
26.999998092651367
] | [
-15.553470611572266,
22.747425079345703,
11.643501281738281,
3.7002112865448,
-0.8253619074821472,
26.249998092651367
] | [
0.3980087637901306,
0.07606320828199387,
0.06946723908185959,
2.989983081817627,
1.1065700054168701,
-3.102674961090088
] | 1 | [
-0.20813685655593872,
0.46395328640937805,
0.016371725127100945,
-0.021824486553668976,
-0.026796264573931694,
0.5886650681495667
] | [
-0.20790620148181915,
0.40467315912246704,
0.02334550954401493,
-0.01710626855492592,
-0.0266901683062315,
0.5722706913948059
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.119579 | [
-15.433025360107422,
-1.365057349205017,
16.72743034362793,
6.246380805969238,
-0.8253619074821472,
0
] | [
0.37867429852485657,
0.07121148705482483,
0.19996896386146545,
2.5260183811187744,
1.440754771232605,
2.7280008792877197
] | 0 | pick box lid and place on box body | box body | [
0.3787449598312378,
0.07123062014579773,
0.20000000298023224
] | 25.6 | 256 | 67 | 22,699 | 0 |
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