observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.217323 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.260689 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.306664 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.354749 | [
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.404421 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.455136 | [
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72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.506339 | [
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72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.557472 | [
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72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.607971 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.657286 | [
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72.29020690917969,
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] | 32.900002 | 329 | 68 | 23,109 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.704876 | [
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100,
72.29020690917969,
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] | 33 | 330 | 68 | 23,110 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.750219 | [
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72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.792819 | [
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100,
72.29020690917969,
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[
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3.104229211807251
] | 1 | [
-0.02078903280198574,
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1.357890009880066,
1.199044108390808,
0.0024225274100899696,
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] | [
-0.03104560635983944,
-1.714859127998352,
1.4510818719863892,
1.2002482414245605,
0.0036778338253498077,
0.00386995542794466
] | Move to safe position | Is the robot at safe position? | move_free | 0.832211 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
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] | [
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] | 0.266487 | [
0,
0,
0
] | 33.299999 | 333 | 68 | 23,113 | 0 | ||
[
-4.120325565338135,
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] | [
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] | [
0.172349214553833,
0.003256490919739008,
0.043198421597480774,
3.1071488857269287,
0.6442595720291138,
3.1089320182800293
] | 1 | [
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] | [
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1.4752349853515625,
1.2006051540374756,
0.003993861842900515,
0.004014020785689354
] | Move to safe position | Is the robot at safe position? | move_free | 0.867962 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
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] | 0.266487 | [
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0,
0
] | 33.400002 | 334 | 68 | 23,114 | 0 | ||
[
-4.333011150360107,
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94.22673034667969,
72.21965026855469,
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0.2560758888721466
] | [
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98.3983154296875,
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] | [
0.17138156294822693,
0.0036816750653088093,
0.039037298411130905,
3.1078689098358154,
0.6383830308914185,
3.11309552192688
] | 1 | [
-0.028041116893291473,
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1.4238048791885376,
1.2000386714935303,
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] | [
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1.4945473670959473,
1.2008905410766602,
0.004246551543474197,
0.004129212349653244
] | Move to safe position | Is the robot at safe position? | move_free | 0.899681 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
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3.1100752353668213,
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3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.5 | 335 | 68 | 23,115 | 0 | ||
[
-4.516335487365723,
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95.80176544189453,
72.24226379394531,
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0.26080021262168884
] | [
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99,
72.27947235107422,
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] | [
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0.004044589586555958,
0.0354459285736084,
3.1084816455841064,
0.6333177089691162,
3.1166787147521973
] | 1 | [
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] | [
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1.5047507286071777,
1.201101303100586,
0.004433132708072662,
0.004214267712086439
] | Move to safe position | Is the robot at safe position? | move_free | 0.927021 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
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] | 0.266487 | [
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0,
0
] | 33.599998 | 336 | 68 | 23,116 | 0 | ||
[
-4.668277740478516,
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97.04745483398438,
72.26496887207031,
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] | [
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99,
72.28700256347656,
0.16933611035346985,
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] | [
0.17007312178611755,
0.0043460470624268055,
0.03267466276884079,
3.10891056060791,
0.6300063133239746,
3.1195878982543945
] | 1 | [
-0.033415473997592926,
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1.4716391563415527,
1.2008436918258667,
0.003902987577021122,
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] | [
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1.5047507286071777,
1.201235055923462,
0.004551561549305916,
0.0042682550847530365
] | Move to safe position | Is the robot at safe position? | move_free | 0.949012 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.700001 | 337 | 68 | 23,117 | 0 | ||
[
-4.787195682525635,
-96.15652465820312,
97.8211441040039,
72.28036499023438,
0.1558331996202469,
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] | [
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99,
72.29011535644531,
0.1708955615758896,
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] | [
0.17001201212406158,
0.004592583514750004,
0.03124966099858284,
3.109013795852661,
0.6308948993682861,
3.1217362880706787
] | 1 | [
-0.03532174229621887,
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1.4847595691680908,
1.2011171579360962,
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] | [
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1.5047507286071777,
1.2012903690338135,
0.004600541200488806,
0.004290582612156868
] | Move to safe position | Is the robot at safe position? | move_free | 0.963989 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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3.1100752353668213,
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3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.799999 | 338 | 68 | 23,118 | 0 | ||
[
-5.004146575927734,
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99.92044830322266,
72.2813491821289,
0.022839713841676712,
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] | [
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99,
72.26900482177734,
0.023990415036678314,
0.04229835793375969
] | [
0.16891607642173767,
0.00503989914432168,
0.026154953986406326,
3.1066834926605225,
0.6210802793502808,
3.1204655170440674
] | 1 | [
-0.038799483329057693,
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1.5203598737716675,
1.2011345624923706,
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] | [
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1.5047507286071777,
1.2009153366088867,
-0.000013493281585397199,
-0.0006093714036978781
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000942 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0 | 0 | 69 | 23,119 | 0 | ||
[
-5.0004401206970215,
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99.55490112304688,
72.27155303955078,
0.02393660694360733,
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] | [
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99,
72.2724838256836,
0.02225591614842415,
0.04199739545583725
] | [
0.1695011407136917,
0.005054562818259001,
0.02748107723891735,
3.106257438659668,
0.6271660923957825,
3.120184898376465
] | 1 | [
-0.038740068674087524,
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1.5141608715057373,
1.200960636138916,
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] | [
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-1.7657053470611572,
1.5047507286071777,
1.200977087020874,
-0.00006797086825827137,
-0.000615950208157301
] | Move to initial position | Is the robot at initial position? | move_initial | 0.005012 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0.1 | 1 | 69 | 23,120 | 0 | ||
[
-4.980504035949707,
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99.3338623046875,
72.26760864257812,
0.023959379643201828,
0.041812896728515625
] | [
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-96.65464782714844,
98.7652816772461,
72.27861022949219,
0.019207369536161423,
0.04146841913461685
] | [
0.16967444121837616,
0.005019398406147957,
0.028084062039852142,
3.1061325073242188,
0.6288504600524902,
3.1197926998138428
] | 1 | [
-0.03842049092054367,
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1.5104124546051025,
1.2008905410766602,
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] | [
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1.5007704496383667,
1.2010859251022339,
-0.0001637203968130052,
-0.0006275132182054222
] | Move to initial position | Is the robot at initial position? | move_initial | 0.008395 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0.2 | 2 | 69 | 23,121 | 0 | ||
[
-4.935229301452637,
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99.13936614990234,
72.27293395996094,
0.02222864329814911,
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] | [
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72.28730773925781,
0.014878163114190102,
0.0407172292470932
] | [
0.16953110694885254,
0.004919326398521662,
0.02828490361571312,
3.1062283515930176,
0.6270343065261841,
3.119079113006592
] | 1 | [
-0.03769473358988762,
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1.5071141719818115,
1.200985074043274,
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] | [
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1.4833757877349854,
1.2012404203414917,
-0.00029969323077239096,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.012852 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0.3 | 3 | 69 | 23,122 | 0 | ||
[
-4.859488010406494,
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98.6617431640625,
72.28326416015625,
0.019070805981755257,
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] | [
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96.421630859375,
72.29847717285156,
0.009315748699009418,
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] | [
0.16953499615192413,
0.004761348944157362,
0.02917535975575447,
3.106193780899048,
0.626531720161438,
3.117764472961426
] | 1 | [
-0.03648059442639351,
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1.4990146160125732,
1.2011686563491821,
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] | [
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-1.72325599193573,
1.4610264301300049,
1.2014389038085938,
-0.0004743989557027817,
-0.0006650316063314676
] | Move to initial position | Is the robot at initial position? | move_initial | 0.021954 | [
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
] | 0.4 | 4 | 69 | 23,123 | 0 | ||
[
-4.750713348388672,
-96.0494613647461,
97.8718490600586,
72.2933578491211,
0.015112125314772129,
0.03930836170911789
] | [
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-93.64019775390625,
94.82595825195312,
72.31200408935547,
0.0025810599327087402,
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] | [
0.16973724961280823,
0.0045411717146635056,
0.030848653987050056,
3.1060144901275635,
0.6277216076850891,
3.1158149242401123
] | 1 | [
-0.03473692387342453,
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1.4856194257736206,
1.2013479471206665,
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] | [
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-1.701163411140442,
1.4339667558670044,
1.2016791105270386,
-0.0006859237910248339,
-0.000690575921908021
] | Move to initial position | Is the robot at initial position? | move_initial | 0.036115 | [
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
] | 0.5 | 5 | 69 | 23,124 | 0 | ||
[
-4.608037948608398,
-95.179931640625,
96.78225708007812,
72.30438232421875,
0.010170415043830872,
0.038061875849962234
] | [
-4.120453834533691,
-92.2199935913086,
92.97001647949219,
72.3277359008789,
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0.03722427785396576
] | [
0.17011940479278564,
0.004255075938999653,
0.0332450345158577,
3.105710506439209,
0.6302603483200073,
3.1132235527038574
] | 1 | [
-0.03244982287287712,
-1.7290222644805908,
1.4671419858932495,
1.2015438079833984,
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] | [
-0.024633802473545074,
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1.4024933576583862,
1.2019585371017456,
-0.0009319508681073785,
-0.0007202868582680821
] | Move to initial position | Is the robot at initial position? | move_initial | 0.05525 | [
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
] | 0.6 | 6 | 69 | 23,125 | 0 | ||
[
-4.431771755218506,
-94.10662078857422,
95.40742492675781,
72.31681060791016,
0.004165971651673317,
0.036630500108003616
] | [
-3.8569860458374023,
-90.6161880493164,
90.8741455078125,
72.34550476074219,
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0.035689372569322586
] | [
0.17067721486091614,
0.003901782678440213,
0.03631210699677467,
3.105294704437256,
0.6339207887649536,
3.1100003719329834
] | 1 | [
-0.02962425909936428,
-1.7096025943756104,
1.4438272714614868,
1.201764464378357,
-0.0006361444829963148,
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] | [
-0.020410388708114624,
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1.3669512271881104,
1.202274203300476,
-0.0012097834842279553,
-0.0007538387435488403
] | Move to initial position | Is the robot at initial position? | move_initial | 0.079192 | [
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
] | 0.7 | 7 | 69 | 23,126 | 0 | ||
[
-4.223093032836914,
-92.83641815185547,
93.7637939453125,
72.33094024658203,
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0.03502991795539856
] | [
-3.5662424564361572,
-88.84634399414062,
88.56129455566406,
72.3651123046875,
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] | [
0.171415314078331,
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0.03999940678477287,
3.1047773361206055,
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3.106170177459717
] | 1 | [
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1.32772958278656,
1.2026225328445435,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.107706 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0,
0
] | 0.8 | 8 | 69 | 23,127 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.140493 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 0.9 | 9 | 69 | 23,128 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.177204 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0
] | 1 | 10 | 69 | 23,129 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.2038236856460571,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.217443 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0
] | 1.1 | 11 | 69 | 23,130 | 0 | ||
[
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] | [
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] | [
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3.1018216609954834,
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] | 1 | [
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] | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.260772 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.2 | 12 | 69 | 23,131 | 0 | ||
[
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] | [
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] | [
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3.100893020629883,
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] | 1 | [
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] | [
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1.2047102451324463,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.30672 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0,
0
] | 1.3 | 13 | 69 | 23,132 | 0 | ||
[
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] | [
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] | [
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0.07185772806406021,
3.099902629852295,
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3.0728509426116943
] | 1 | [
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] | [
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1.0413939952850342,
1.205165147781372,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.354785 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.4 | 14 | 69 | 23,133 | 0 | ||
[
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] | [
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] | [
0.18241868913173676,
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0.07814133912324905,
3.0988593101501465,
0.6890887022018433,
3.0661094188690186
] | 1 | [
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1.204520583152771,
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] | [
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0.9900685548782349,
1.2056208848953247,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.40444 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
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0
] | 1.5 | 15 | 69 | 23,134 | 0 | ||
[
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72.49554443359375,
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] | [
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] | [
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0.0844961479306221,
3.0977704524993896,
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3.059204578399658
] | 1 | [
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] | [
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1.2060725688934326,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.455142 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1.6 | 16 | 69 | 23,135 | 0 | ||
[
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72.5191421508789,
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] | [
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62.7091064453125,
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] | [
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0.09084225445985794,
3.096649169921875,
0.7065878510475159,
3.052215337753296
] | 1 | [
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1.205358624458313,
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] | [
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0.8893240690231323,
1.2065154314041138,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.506337 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
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0,
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] | 1.7 | 17 | 69 | 23,136 | 0 | ||
[
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] | [
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] | [
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0.0971018522977829,
3.095505714416504,
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3.045215368270874
] | 1 | [
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] | [
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0.8410089015960693,
1.206944465637207,
-0.005321069620549679,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.557464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
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0,
0
] | 1.8 | 18 | 69 | 23,137 | 0 | ||
[
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] | [
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57.1337776184082,
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] | [
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0.10320056974887848,
3.094353675842285,
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3.038283109664917
] | 1 | [
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] | [
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0.7947767972946167,
1.2073549032211304,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.607963 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 69 | 23,138 | 0 | ||
[
-0.22381477057933807,
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61.96730041503906,
72.58770751953125,
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] | [
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-62.828025817871094,
54.56022644042969,
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] | [
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0.10906928032636642,
3.0932044982910156,
0.7325289845466614,
3.031491279602051
] | 1 | [
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1.2065765857696533,
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] | [
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0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
-0.0013351710513234138
] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
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] | 2 | 20 | 69 | 23,139 | 0 | ||
[
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59.212825775146484,
72.60902404785156,
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] | [
1.0087400674819946,
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72.67362976074219,
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] | [
0.19899266958236694,
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0.11464529484510422,
3.0920727252960205,
0.7407094240188599,
3.024916648864746
] | 1 | [
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0.8300336003303528,
1.2069553136825562,
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] | [
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-1.1105420589447021,
0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
-0.001373474020510912
] | Move to initial position | Is the robot at initial position? | move_initial | 0.704875 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.1 | 21 | 69 | 23,140 | 0 | ||
[
0.4521801769733429,
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56.588233947753906,
72.62915802001953,
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0.00668328907340765
] | [
1.2834818363189697,
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49.98200225830078,
72.69215393066406,
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0.005742161069065332
] | [
0.20191989839076996,
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0.11987325549125671,
3.090972900390625,
0.7485051155090332,
3.0186331272125244
] | 1 | [
0.04866597428917885,
-1.171916127204895,
0.785525381565094,
1.2073129415512085,
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] | [
0.061991821974515915,
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0.6734958291053772,
1.2084319591522217,
-0.006630517542362213,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.750227 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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3.0845351219177246,
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2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.2 | 22 | 69 | 23,141 | 0 | ||
[
0.7620851993560791,
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54.12232971191406,
72.64794921875,
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] | [
1.5291792154312134,
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48.02749252319336,
72.70872497558594,
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0.004310782998800278
] | [
0.20476315915584564,
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0.12470497936010361,
3.0899202823638916,
0.7558282613754272,
3.012712240219116
] | 1 | [
0.053633783012628555,
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0.7437081933021545,
1.2076467275619507,
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] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
-0.0014397504273802042
] | Move to initial position | Is the robot at initial position? | move_initial | 0.792838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.3 | 23 | 69 | 23,142 | 0 | ||
[
1.0486621856689453,
-60.75917053222656,
51.842098236083984,
72.66519165039062,
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0.003789191134274006
] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
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0.003064300399273634
] | [
0.20746982097625732,
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0.12910054624080658,
3.0889298915863037,
0.762599766254425,
3.0072224140167236
] | 1 | [
0.05822763964533806,
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0.7050396800041199,
1.2079529762268066,
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] | [
0.0693601742386818,
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0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
-0.0014669975498691201
] | Move to initial position | Is the robot at initial position? | move_initial | 0.832241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.4 | 24 | 69 | 23,143 | 0 | ||
[
1.308769941329956,
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49.77259826660156,
72.68077850341797,
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] | [
1.9230180978775024,
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44.894527435302734,
72.73528289794922,
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] | [
0.2099885195493698,
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0.13302694261074066,
3.0880165100097656,
0.7687429785728455,
3.002225875854492
] | 1 | [
0.06239719316363335,
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0.6699447631835938,
1.208229899406433,
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] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
-0.001489904592745006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.868004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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] | 0 | [
0,
0,
0
] | 2.5 | 25 | 69 | 23,144 | 0 | ||
[
1.5395591259002686,
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47.93645477294922,
72.69451904296875,
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0.0016554320463910699
] | [
2.066845417022705,
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43.750389099121094,
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0.0011784601956605911
] | [
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0.1364586055278778,
3.0871946811676025,
0.7741912007331848,
2.9977829456329346
] | 1 | [
0.06609676778316498,
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0.6388071179389954,
1.2084739208221436,
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] | [
0.07454922050237656,
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0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
-0.0015082205645740032
] | Move to initial position | Is the robot at initial position? | move_initial | 0.899736 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 69 | 23,145 | 0 | ||
[
1.73849356174469,
-56.560569763183594,
46.35379409790039,
72.70623779296875,
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] | [
2.1730449199676514,
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42.90557861328125,
72.75214385986328,
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0.0005597662529908121
] | [
0.21427392959594727,
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0.13937649130821228,
3.0864765644073486,
0.7788882851600647,
2.993943929672241
] | 1 | [
0.06928570568561554,
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0.6119681000709534,
1.2086820602416992,
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] | [
0.07625160366296768,
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0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
-0.0015217447653412819
] | Move to initial position | Is the robot at initial position? | move_initial | 0.927087 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.7 | 27 | 69 | 23,146 | 0 | ||
[
1.9034013748168945,
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45.0419921875,
72.7159423828125,
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0.0003752684569917619
] | [
2.2404532432556152,
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42.369346618652344,
72.7566909790039,
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0.00016706023598089814
] | [
0.21595779061317444,
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0.1417657434940338,
3.0858752727508545,
0.7827785611152649,
2.9907562732696533
] | 1 | [
0.0719291940331459,
-1.0121089220046997,
0.5897223949432373,
1.2088545560836792,
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] | [
0.07733216881752014,
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0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0015303289983421564
] | Move to initial position | Is the robot at initial position? | move_initial | 0.949759 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 69 | 23,147 | 0 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
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0.0000046465038394671865
] | [
0.21729041635990143,
-0.013181240297853947,
0.1436169445514679,
3.0854008197784424,
0.7858226299285889,
2.9882583618164062
] | 1 | [
0.07399813830852509,
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0.5723121762275696,
1.2089886665344238,
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] | [
0.07777906209230423,
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0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015338791999965906
] | Move to initial position | Is the robot at initial position? | move_initial | 0.967503 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.9 | 29 | 69 | 23,148 | 0 | ||
[
2.1252822875976562,
-54.184364318847656,
43.2505989074707,
72.71295928955078,
-0.2119712084531784,
0
] | [
2.022127151489258,
-53.78032684326172,
42.98725128173828,
72.56727600097656,
-0.21320094168186188,
0
] | [
0.21832643449306488,
-0.013526145368814468,
0.14501172304153442,
3.085059642791748,
0.7883502840995789,
2.9864895343780518
] | 1 | [
0.0754859670996666,
-0.9872770309448242,
0.5593436360359192,
1.208801507949829,
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] | [
0.07383237779140472,
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0.554877758026123,
1.2062137126922607,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.000316 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3 | 30 | 69 | 23,149 | 0 |
[
2.0944645404815674,
-54.03849411010742,
43.154117584228516,
72.6718521118164,
-0.21283657848834991,
0
] | [
1.6699925661087036,
-53.318260192871094,
42.72336959838867,
72.01058197021484,
-0.21320094168186188,
0
] | [
0.2185867577791214,
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0.14506831765174866,
3.0850632190704346,
0.7880766987800598,
2.986966848373413
] | 1 | [
0.07499195635318756,
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0.5577074885368347,
1.2080713510513306,
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] | [
0.06818762421607971,
-0.9716063737869263,
0.550402820110321,
1.1963248252868652,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.001633 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.1 | 31 | 69 | 23,150 | 0 |
[
1.9528672695159912,
-53.789039611816406,
43.00523376464844,
72.45621490478516,
-0.21409668028354645,
0
] | [
1.0460824966430664,
-52.499568939208984,
42.255828857421875,
71.02424621582031,
-0.21320094168186188,
0
] | [
0.21933898329734802,
-0.01310056820511818,
0.1453789919614792,
3.08481502532959,
0.7899103760719299,
2.989032745361328
] | 1 | [
0.07272213697433472,
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0.555182695388794,
1.2042407989501953,
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] | [
0.05818628892302513,
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0.5424742102622986,
1.1788040399551392,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.004986 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.2 | 32 | 69 | 23,151 | 0 |
[
1.6410783529281616,
-53.34168243408203,
42.74610900878906,
71.9697494506836,
-0.21515941619873047,
0
] | [
0.1984001100063324,
-52.717864990234375,
41.6205940246582,
69.68414306640625,
-0.21320094168186188,
0
] | [
0.22089888155460358,
-0.0122994938865304,
0.14609327912330627,
3.0842185020446777,
0.7948341369628906,
2.9935824871063232
] | 1 | [
0.06772413104772568,
-0.9720301628112793,
0.5507884621620178,
1.1955995559692383,
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] | [
0.04459785297513008,
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0.5317018032073975,
1.1549991369247437,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.011751 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.3 | 33 | 69 | 23,152 | 0 |
[
1.1318209171295166,
-53.165035247802734,
42.356380462646484,
71.17048645019531,
-0.21600580215454102,
0
] | [
-0.8687860369682312,
-51.31751251220703,
38.601318359375,
67.99702453613281,
-0.21320094168186188,
0
] | [
0.22310476005077362,
-0.010938530787825584,
0.1486774981021881,
3.082136869430542,
0.8123854398727417,
3.0002288818359375
] | 1 | [
0.059560682624578476,
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0.544179379940033,
1.1814018487930298,
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] | [
0.027490755543112755,
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0.4805004298686981,
1.1250300407409668,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.020023 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.4 | 34 | 69 | 23,153 | 0 |
[
0.4167141318321228,
-52.53963088989258,
41.6088981628418,
70.0379409790039,
-0.21612346172332764,
0
] | [
-2.1382272243499756,
-49.651763916015625,
39.86958312988281,
65.99016571044922,
-0.21320094168186188,
0
] | [
0.22656504809856415,
-0.008986600674688816,
0.15210306644439697,
3.079521417617798,
0.8337900042533875,
3.0097718238830566
] | 1 | [
0.04809745028614998,
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0.531503438949585,
1.1612838506698608,
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] | [
0.007141486741602421,
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0.5020078420639038,
1.089381217956543,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.034052 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.5 | 35 | 69 | 23,154 | 0 |
[
-0.5026860237121582,
-51.501617431640625,
40.658538818359375,
68.61753845214844,
-0.21896247565746307,
0
] | [
-3.576950788497925,
-47.76388168334961,
36.54421615600586,
63.71568298339844,
-0.21320094168186188,
0
] | [
0.23100917041301727,
-0.006362795829772949,
0.15576577186584473,
3.0765388011932373,
0.8562697172164917,
3.022219657897949
] | 1 | [
0.03335937485098839,
-0.9387372732162476,
0.5153871178627014,
1.1360524892807007,
-0.0076442197896540165,
-0.0015339808305725455
] | [
-0.015921395272016525,
-0.8711093068122864,
0.4456157684326172,
1.0489784479141235,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.052968 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.6 | 36 | 69 | 23,155 | 0 |
[
-1.6170740127563477,
-50.17925262451172,
39.59383773803711,
66.80719757080078,
-0.21484439074993134,
0
] | [
-5.182240009307861,
-45.61232376098633,
35.32484817504883,
61.177879333496094,
-0.21320094168186188,
0
] | [
0.2364492416381836,
-0.0030130341183394194,
0.15987558662891388,
3.073140859603882,
0.8824657797813416,
3.0375707149505615
] | 1 | [
0.015495624393224716,
-0.914811372756958,
0.4973317086696625,
1.1038944721221924,
-0.007514878176152706,
-0.0015339808305725455
] | [
-0.04165434092283249,
-0.8321805000305176,
0.42493751645088196,
1.0038981437683105,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.076425 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.7 | 37 | 69 | 23,156 | 0 |
[
-2.913128614425659,
-48.53840255737305,
38.36079406738281,
64.7485122680664,
-0.21393726766109467,
0
] | [
-6.924709796905518,
-43.22110366821289,
34.00128173828125,
58.4232063293457,
-0.21320094168186188,
0
] | [
0.24264313280582428,
0.0011253277771174908,
0.16423507034778595,
3.069173574447632,
0.9101464152336121,
3.055265426635742
] | 1 | [
-0.005280259530991316,
-0.8851229548454285,
0.4764215648174286,
1.0673251152038574,
-0.007486387155950069,
-0.0015339808305725455
] | [
-0.06958630681037903,
-0.7889154553413391,
0.4024922847747803,
0.9549655318260193,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.103854 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.8 | 38 | 69 | 23,157 | 0 |
[
-4.375952243804932,
-46.58951950073242,
36.94527816772461,
62.47606658935547,
-0.21690532565116882,
0.28571537137031555
] | [
-8.781962394714355,
-40.672367095947266,
32.59052658081055,
55.4870719909668,
-0.21320094168186188,
1.1428574323654175
] | [
0.249494269490242,
0.006103733088821173,
0.16881826519966125,
3.0645370483398438,
0.9391218423843384,
3.0749564170837402
] | 1 | [
-0.02872946672141552,
-0.849861204624176,
0.4524170160293579,
1.0269584655761719,
-0.007579608354717493,
0.0047115362249314785
] | [
-0.09935824573040009,
-0.7428004145622253,
0.37856847047805786,
0.9028095006942749,
-0.0074632600881159306,
0.023447997868061066
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.135762 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 3.9 | 39 | 69 | 23,158 | 0 |
[
-5.988205432891846,
-44.42926788330078,
35.47952651977539,
59.91916275024414,
-0.2160741239786148,
1.7142854928970337
] | [
-10.748406410217285,
-37.97378921508789,
31.096830368041992,
52.378318786621094,
-0.21320094168186188,
2.571427583694458
] | [
0.25689178705215454,
0.01196188386529684,
0.17349790036678314,
3.0593206882476807,
0.9701659083366394,
3.096558094024658
] | 1 | [
-0.05457404628396034,
-0.8107751607894897,
0.42756059765815735,
0.9815389513969421,
-0.007553501985967159,
0.03593897446990013
] | [
-0.13088053464889526,
-0.6939741969108582,
0.35323813557624817,
0.8475871682167053,
-0.0074632600881159306,
0.05467543751001358
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.174153 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4 | 40 | 69 | 23,159 | 0 |
[
-7.731720447540283,
-42.06708526611328,
33.993316650390625,
57.156028747558594,
-0.21535298228263855,
3.1428589820861816
] | [
-12.791394233703613,
-35.170166015625,
29.54499053955078,
49.148555755615234,
-0.21320094168186188,
4.000000953674316
] | [
0.26460376381874084,
0.01872323453426361,
0.17795954644680023,
3.0535361766815186,
1.001550555229187,
3.1196959018707275
] | 1 | [
-0.08252276480197906,
-0.7680354714393616,
0.40235719084739685,
0.9324560165405273,
-0.007530852220952511,
0.06716648489236832
] | [
-0.16362984478473663,
-0.6432474255561829,
0.3269217908382416,
0.7902153134346008,
-0.0074632600881159306,
0.08590294420719147
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.215203 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.1 | 41 | 69 | 23,160 | 0 |
[
-9.588515281677246,
-39.535823822021484,
32.50172424316406,
54.21722412109375,
-0.2148975282907486,
4.5714287757873535
] | [
-14.896123886108398,
-32.310184478759766,
30.179832458496094,
45.82118606567383,
-0.21320094168186188,
5.4285712242126465
] | [
0.2724688947200775,
0.026394782587885857,
0.1821260154247284,
3.047109842300415,
1.0330694913864136,
-3.1391849517822266
] | 1 | [
-0.11228737235069275,
-0.7222365736961365,
0.37706252932548523,
0.8802525401115417,
-0.007516547106206417,
0.09839391708374023
] | [
-0.19736886024475098,
-0.5915008783340454,
0.33768752217292786,
0.7311095595359802,
-0.0074632600881159306,
0.11713038384914398
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.258481 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.2 | 42 | 69 | 23,161 | 0 |
[
-11.539390563964844,
-36.88188934326172,
30.989025115966797,
51.115211486816406,
-0.21309468150138855,
5.999999046325684
] | [
-17.045326232910156,
-29.45293617248535,
26.313735961914062,
42.42350769042969,
-0.21320094168186188,
6.857144355773926
] | [
0.28034961223602295,
0.03496164828538895,
0.18615715205669403,
3.039795160293579,
1.0656031370162964,
-3.114227533340454
] | 1 | [
-0.14356009662151337,
-0.6742181181907654,
0.3514099419116974,
0.8251499533653259,
-0.007459922693669796,
0.12962135672569275
] | [
-0.23182079195976257,
-0.5398038029670715,
0.2721256613731384,
0.6707549095153809,
-0.0074632600881159306,
0.14835788309574127
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.303661 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.3 | 43 | 69 | 23,162 | 0 |
[
-13.565526962280273,
-34.14065170288086,
29.258312225341797,
47.91693878173828,
-0.21342109143733978,
7.428572654724121
] | [
-19.216320037841797,
-26.56671905517578,
26.89824104309082,
38.99137878417969,
-0.21320094168186188,
8.285714149475098
] | [
0.2881360948085785,
0.044395819306373596,
0.19087909162044525,
3.030395984649658,
1.1019022464752197,
-3.0900609493255615
] | 1 | [
-0.17603926360607147,
-0.6246200799942017,
0.3220602571964264,
0.7683374881744385,
-0.007470174692571163,
0.16084887087345123
] | [
-0.26662203669548035,
-0.48758262395858765,
0.28203779458999634,
0.6097882986068726,
-0.0074632600881159306,
0.1795853227376938
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.350594 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.4 | 44 | 69 | 23,163 | 0 |
[
-15.647677421569824,
-31.352357864379883,
27.728788375854492,
44.605934143066406,
-0.2114170789718628,
8.857142448425293
] | [
-21.391828536987305,
-23.67449951171875,
23.01243019104004,
35.5521125793457,
-0.21320094168186188,
9.714284896850586
] | [
0.2954825758934021,
0.05459577217698097,
0.19458849728107452,
3.0204203128814697,
1.1359285116195679,
-3.0656323432922363
] | 1 | [
-0.20941634476184845,
-0.5741706490516663,
0.29612234234809875,
0.7095224261283875,
-0.007407232187688351,
0.19207629561424255
] | [
-0.30149564146995544,
-0.4352528154850006,
0.21614159643650055,
0.548694908618927,
-0.0074632600881159306,
0.2108127772808075
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.398094 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.5 | 45 | 69 | 23,164 | 0 |
[
-17.7665958404541,
-28.512863159179688,
25.98586082458496,
41.26838684082031,
-0.21246463060379028,
10.28571605682373
] | [
-23.551025390625,
-20.803964614868164,
23.605852127075195,
32.138633728027344,
-0.21320094168186188,
11.142858505249023
] | [
0.3024430572986603,
0.06550578027963638,
0.19891312718391418,
3.007474184036255,
1.1730291843414307,
-3.0435214042663574
] | 1 | [
-0.24338281154632568,
-0.522794783115387,
0.2665655016899109,
0.6502359509468079,
-0.007440133951604366,
0.22330380976200104
] | [
-0.3361077904701233,
-0.3833153545856476,
0.22620494663715363,
0.4880595803260803,
-0.0074632600881159306,
0.24204029142856598
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.446608 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.6 | 46 | 69 | 23,165 | 0 |
[
-19.902978897094727,
-25.66994285583496,
24.441543579101562,
37.8668098449707,
-0.2100469022989273,
11.714285850524902
] | [
-25.677522659301758,
-17.934669494628906,
19.757312774658203,
28.776851654052734,
-0.21320094168186188,
12.571428298950195
] | [
0.3087412714958191,
0.07697083801031113,
0.2022407203912735,
2.9933295249938965,
1.2078107595443726,
-3.022382974624634
] | 1 | [
-0.2776292562484741,
-0.47135698795318604,
0.24037672579288483,
0.5898120403289795,
-0.007364197634160519,
0.25453123450279236
] | [
-0.37019574642181396,
-0.3314003348350525,
0.16094081103801727,
0.4283425807952881,
-0.0074632600881159306,
0.2732677161693573
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.49507 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.7 | 47 | 69 | 23,166 | 0 |
[
-22.037548065185547,
-22.806148529052734,
22.71000862121582,
34.51026916503906,
-0.21157649159431458,
13.14285659790039
] | [
-27.746868133544922,
-15.130561828613281,
18.18558120727539,
25.505420684814453,
-0.21320094168186188,
14.000001907348633
] | [
0.31443414092063904,
0.08889487385749817,
0.2059953510761261,
2.9748990535736084,
1.2444591522216797,
-3.0055313110351562
] | 1 | [
-0.31184661388397217,
-0.41954147815704346,
0.2110130786895752,
0.5301881432533264,
-0.0074122389778494835,
0.28575870394706726
] | [
-0.4033675789833069,
-0.2806647717952728,
0.13428713381290436,
0.3702305257320404,
-0.0074632600881159306,
0.3044952154159546
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.543766 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.8 | 48 | 69 | 23,167 | 0 |
[
-24.151105880737305,
-19.96178436279297,
21.17406463623047,
31.173704147338867,
-0.21181559562683105,
14.571429252624512
] | [
-29.743549346923828,
-12.424920082092285,
16.66904067993164,
22.348867416381836,
-0.21320094168186188,
15.428571701049805
] | [
0.3193286657333374,
0.10108419507741928,
0.20861145853996277,
2.954383611679077,
1.2777303457260132,
-2.9911952018737793
] | 1 | [
-0.3457271456718445,
-0.3680775463581085,
0.1849663108587265,
0.47091904282569885,
-0.007419749163091183,
0.31698617339134216
] | [
-0.43537455797195435,
-0.2317107617855072,
0.10856939852237701,
0.314159095287323,
-0.0074632600881159306,
0.3357226550579071
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.5917 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 4.9 | 49 | 69 | 23,168 | 0 |
[
-26.223875045776367,
-17.187232971191406,
19.773035049438477,
27.819801330566406,
-0.20579977333545685,
16
] | [
-31.65191650390625,
-9.838947296142578,
15.219574928283691,
19.331924438476562,
-0.21320094168186188,
16.857141494750977
] | [
0.32343295216560364,
0.11337816715240479,
0.21070854365825653,
2.9301211833953857,
1.3101980686187744,
-2.981259822845459
] | 1 | [
-0.37895384430885315,
-0.3178767263889313,
0.1612074226140976,
0.41134199500083923,
-0.007230802439153194,
0.34821364283561707
] | [
-0.4659658670425415,
-0.1849219650030136,
0.08398912847042084,
0.26056763529777527,
-0.0074632600881159306,
0.3669500946998596
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.638895 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5 | 50 | 69 | 23,169 | 0 |
[
-28.237071990966797,
-14.44283390045166,
18.305084228515625,
24.724973678588867,
-0.21230141818523407,
17.428573608398438
] | [
-32.758644104003906,
-8.339252471923828,
16.61237907409668,
17.58229637145996,
-0.21320094168186188,
18.285715103149414
] | [
0.32671451568603516,
0.1255948394536972,
0.21232184767723083,
2.9006810188293457,
1.3395529985427856,
-2.9775941371917725
] | 1 | [
-0.4112255871295929,
-0.26822149753570557,
0.13631367683410645,
0.3563670516014099,
-0.007435007952153683,
0.37944114208221436
] | [
-0.48370683193206787,
-0.1577875316143036,
0.10760851949453354,
0.22948811948299408,
-0.0074632600881159306,
0.3981775939464569
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.684399 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.1 | 51 | 69 | 23,170 | 0 |
[
-29.95811653137207,
-12.133169174194336,
17.617856979370117,
21.926837921142578,
-0.20520387589931488,
18.85714340209961
] | [
-33.700286865234375,
-7.06326150894165,
15.897171974182129,
16.093652725219727,
-0.21320094168186188,
19.714284896850586
] | [
0.328836590051651,
0.13615968823432922,
0.2113313376903534,
2.878953456878662,
1.358532190322876,
-2.9711549282073975
] | 1 | [
-0.43881410360336304,
-0.22643202543258667,
0.12465957552194595,
0.306662380695343,
-0.007212086580693722,
0.41066858172416687
] | [
-0.49880146980285645,
-0.13470064103603363,
0.09547992795705795,
0.203044593334198,
-0.0074632600881159306,
0.4294050335884094
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.723417 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.2 | 52 | 69 | 23,171 | 0 |
[
-31.370738983154297,
-10.208834648132324,
17.01495361328125,
19.75051498413086,
-0.20976224541664124,
20.28571319580078
] | [
-34.66753387451172,
-5.752481937408447,
15.162516593933105,
14.56452751159668,
-0.21320094168186188,
21.142858505249023
] | [
0.33016395568847656,
0.14492255449295044,
0.21007226407527924,
2.8593783378601074,
1.3720201253890991,
-2.9677021503448486
] | 1 | [
-0.46145856380462646,
-0.19161444902420044,
0.11443544924259186,
0.2680032551288605,
-0.00735525693744421,
0.4418960213661194
] | [
-0.5143065452575684,
-0.11098431795835495,
0.08302152901887894,
0.1758819818496704,
-0.0074632600881159306,
0.4606325328350067
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.755838 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.3 | 53 | 69 | 23,172 | 0 |
[
-32.606292724609375,
-8.533527374267578,
16.172229766845703,
17.818584442138672,
-0.21181559562683105,
21.71428680419922
] | [
-35.66239547729492,
-4.404270648956299,
14.406888961791992,
12.991751670837402,
-0.21320094168186188,
22.571428298950195
] | [
0.33114466071128845,
0.15270526707172394,
0.2105247974395752,
2.8302602767944336,
1.3894728422164917,
-2.9765026569366455
] | 1 | [
-0.4812646210193634,
-0.1613026112318039,
0.1001444011926651,
0.2336854189634323,
-0.007419749163091183,
0.4731235206127167
] | [
-0.5302542448043823,
-0.0865907222032547,
0.07020747661590576,
0.14794398844242096,
-0.0074632600881159306,
0.49185997247695923
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.785555 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.4 | 54 | 69 | 23,173 | 0 |
[
-33.74480056762695,
-6.994783401489258,
15.524513244628906,
16.016138076782227,
-0.2117169201374054,
23.14285659790039
] | [
-36.688751220703125,
-3.0133793354034424,
13.627341270446777,
11.369186401367188,
-0.21320094168186188,
23.999998092651367
] | [
0.3317645788192749,
0.15989981591701508,
0.21030935645103455,
2.8019118309020996,
1.4038174152374268,
-2.9861724376678467
] | 1 | [
-0.49951502680778503,
-0.13346165418624878,
0.08916032314300537,
0.2016676664352417,
-0.007416649721562862,
0.5043509602546692
] | [
-0.5467068552970886,
-0.061424899846315384,
0.05698778107762337,
0.11912155151367188,
-0.0074632600881159306,
0.5230873823165894
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.813048 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.5 | 55 | 69 | 23,174 | 0 |
[
-34.835689544677734,
-5.517777919769287,
14.645825386047363,
14.29680061340332,
-0.21251016855239868,
24.571430206298828
] | [
-37.73910140991211,
-1.5899649858474731,
12.824790954589844,
9.708681106567383,
-0.21320094168186188,
25.428571701049805
] | [
0.3322136104106903,
0.1668684035539627,
0.21126164495944977,
2.7593488693237305,
1.4212970733642578,
-3.0107219219207764
] | 1 | [
-0.5170021057128906,
-0.10673774033784866,
0.07425939291715622,
0.17112621665000916,
-0.007441564463078976,
0.5355784893035889
] | [
-0.5635440349578857,
-0.035670630633831024,
0.04337800666689873,
0.08962517231702805,
-0.0074632600881159306,
0.554314911365509
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.839997 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.6 | 56 | 69 | 23,175 | 0 |
[
-35.909881591796875,
-4.066128730773926,
13.972166061401367,
12.5888671875,
-0.21173210442066193,
26
] | [
-38.83019256591797,
-0.11134756356477737,
11.895743370056152,
7.9837775230407715,
-0.21320094168186188,
26.85714340209961
] | [
0.33238086104393005,
0.17371949553489685,
0.2112368941307068,
2.716219663619995,
1.4355388879776,
-3.036193370819092
] | 1 | [
-0.5342214703559875,
-0.08047261089086533,
0.06283537298440933,
0.14078734815120697,
-0.0074171265587210655,
0.566805899143219
] | [
-0.5810343623161316,
-0.008917558938264847,
0.027623072266578674,
0.058984849601984024,
-0.0074632600881159306,
0.5855423808097839
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.866053 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.7 | 57 | 69 | 23,176 | 0 |
[
-36.98887634277344,
-2.607391834259033,
13.043561935424805,
10.87373161315918,
-0.21109825372695923,
27.428569793701172
] | [
-39.964630126953125,
1.4260179996490479,
10.92978286743164,
6.190340995788574,
-0.21320094168186188,
28.285715103149414
] | [
0.332397997379303,
0.1806563287973404,
0.21238204836845398,
2.6460227966308594,
1.4532870054244995,
-3.0885348320007324
] | 1 | [
-0.551517903804779,
-0.054079245775938034,
0.047087959945201874,
0.110320545732975,
-0.007397218607366085,
0.5980333089828491
] | [
-0.5992195010185242,
0.018898462876677513,
0.011242161504924297,
0.02712714485824108,
-0.0074632600881159306,
0.6167698502540588
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.892385 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.8 | 58 | 69 | 23,177 | 0 |
[
-38.086952209472656,
-1.0924185514450073,
12.12834358215332,
9.254036903381348,
-0.22049206495285034,
28.85714340209961
] | [
-41.16672134399414,
3.0550618171691895,
9.906219482421875,
4.2899556159973145,
-0.21320094168186188,
29.71428680419922
] | [
0.3321744501590729,
0.18771854043006897,
0.2127990573644638,
2.5650582313537598,
1.4676381349563599,
3.1317498683929443
] | 1 | [
-0.5691201686859131,
-0.026668373495340347,
0.031567543745040894,
0.08154910057783127,
-0.007692261599004269,
0.6292608380317688
] | [
-0.618489146232605,
0.04837324842810631,
-0.006115587893873453,
-0.006630346644669771,
-0.0074632600881159306,
0.6479973196983337
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.917861 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 5.9 | 59 | 69 | 23,178 | 0 |
[
-39.22144317626953,
0.4158957302570343,
11.249473571777344,
7.340644359588623,
-0.21097300946712494,
30
] | [
-41.42783737182617,
3.4089226722717285,
9.683880805969238,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.33167508244514465,
0.19499127566814423,
0.21382030844688416,
2.429473400115967,
1.4851011037826538,
3.014970541000366
] | 1 | [
-0.5873061418533325,
0.0006220141076482832,
0.016663527116179466,
0.04756055399775505,
-0.007393284700810909,
0.6542428135871887
] | [
-0.6226748824119568,
0.05477575957775116,
-0.009886042214930058,
-0.013963153585791588,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.943323 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 6 | 60 | 69 | 23,179 | 0 |
[
-40.09271240234375,
1.6039130687713623,
10.650400161743164,
5.990659713745117,
-0.21230141818523407,
30
] | [
-41.42783737182617,
3.4089226722717285,
9.683880805969238,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.3311115503311157,
0.2005636990070343,
0.21366490423679352,
2.3206775188446045,
1.4941794872283936,
2.92049503326416
] | 1 | [
-0.601272702217102,
0.022117171436548233,
0.006504345219582319,
0.02358010597527027,
-0.007435007952153683,
0.6542428135871887
] | [
-0.6226748824119568,
0.05477575957775116,
-0.009886042214930058,
-0.013963153585791588,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.961262 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 6.1 | 61 | 69 | 23,180 | 0 |
[
-40.62004852294922,
2.3214938640594482,
10.2841157913208,
5.171886920928955,
-0.21341729164123535,
30
] | [
-41.42783737182617,
3.4089226722717285,
9.683880805969238,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.3306988477706909,
0.2039308100938797,
0.2135787159204483,
2.2406280040740967,
1.4992144107818604,
2.849116086959839
] | 1 | [
-0.6097259521484375,
0.035100579261779785,
0.000292837037704885,
0.009035837836563587,
-0.007470055483281612,
0.6542428135871887
] | [
-0.6226748824119568,
0.05477575957775116,
-0.009886042214930058,
-0.013963153585791588,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.971472 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 6.2 | 62 | 69 | 23,181 | 0 |
[
-40.93912887573242,
2.753735065460205,
10.056217193603516,
4.670079708099365,
-0.21378165483474731,
30
] | [
-41.42783737182617,
3.4089226722717285,
9.683880805969238,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.3304230272769928,
0.20596560835838318,
0.21357862651348114,
2.183760404586792,
1.5021681785583496,
2.7975027561187744
] | 1 | [
-0.6148408055305481,
0.04292124882340431,
-0.003571903333067894,
0.00012198678450658917,
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0.6542428135871887
] | [
-0.6226748824119568,
0.05477575957775116,
-0.009886042214930058,
-0.013963153585791588,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.977051 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 6.3 | 63 | 69 | 23,182 | 0 |
[
-41.132205963134766,
3.014086961746216,
9.914462089538574,
4.362417697906494,
-0.21378165483474731,
30
] | [
-41.42783737182617,
3.4089226722717285,
9.683880805969238,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.3302464187145233,
0.20719566941261292,
0.21361306309700012,
2.145054817199707,
1.5039324760437012,
2.7619807720184326
] | 1 | [
-0.617935836315155,
0.047631874680519104,
-0.00597580848261714,
-0.005343166645616293,
-0.007481499575078487,
0.6542428135871887
] | [
-0.6226748824119568,
0.05477575957775116,
-0.009886042214930058,
-0.013963153585791588,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.979981 | [
-41.42783737182617,
5.0573601722717285,
10.515439987182617,
3.8771536350250244,
-0.21320094168186188,
30
] | [
0.331916868686676,
0.21048083901405334,
0.19983139634132385,
2.499131917953491,
1.4772660732269287,
3.1197142601013184
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.20000000298023224
] | 6.4 | 64 | 69 | 23,183 | 0 |
[
-41.231285095214844,
3.1369500160217285,
9.79861068725586,
4.256752014160156,
-0.2178124487400055,
30
] | [
-41.2476806640625,
2.884801149368286,
8.914182662963867,
4.201070785522461,
-0.21378165483474731,
30
] | [
0.33013516664505005,
0.20781508088111877,
0.21376095712184906,
2.1234288215637207,
1.5046886205673218,
2.7419862747192383
] | 1 | [
-0.6195241212844849,
0.04985487461090088,
-0.007940434850752354,
-0.007220158819109201,
-0.007608099840581417,
0.6542428135871887
] | [
-0.6197869181632996,
0.04529266804456711,
-0.02293870411813259,
-0.008209251798689365,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.000182 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 6.5 | 65 | 69 | 23,184 | 0 |
[
-41.236202239990234,
3.038743734359741,
9.45647144317627,
4.242905616760254,
-0.2171444445848465,
30
] | [
-41.316261291503906,
2.9059560298919678,
8.889705657958984,
4.187388896942139,
-0.21378165483474731,
30
] | [
0.3300394117832184,
0.20778121054172516,
0.21608702838420868,
2.0164408683776855,
1.50845205783844,
2.6352977752685547
] | 1 | [
-0.6196029186248779,
0.04807800054550171,
-0.013742486014962196,
-0.00746611924842,
-0.00758711900562048,
0.6542428135871887
] | [
-0.6208862662315369,
0.045675430446863174,
-0.023353789001703262,
-0.008452290669083595,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.014219 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 6.6 | 66 | 69 | 23,185 | 0 |
[
-41.26244354248047,
2.9791080951690674,
9.21744155883789,
4.199717998504639,
-0.21387654542922974,
30
] | [
-41.42949295043945,
2.940882921218872,
8.849292755126953,
4.164799690246582,
-0.21378165483474731,
30
] | [
0.32990726828575134,
0.20787076652050018,
0.2177538424730301,
1.9281736612319946,
1.5108507871627808,
2.5476183891296387
] | 1 | [
-0.6200236082077026,
0.046998992562294006,
-0.017795993015170097,
-0.008233282715082169,
-0.007484479807317257,
0.6542428135871887
] | [
-0.6227014064788818,
0.04630737379193306,
-0.024039117619395256,
-0.008853553794324398,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.026924 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 6.7 | 67 | 69 | 23,186 | 0 |
[
-41.32025146484375,
2.958190441131592,
9.064787864685059,
4.17437219619751,
-0.21276067197322845,
30
] | [
-41.58375549316406,
2.988466262817383,
8.794236183166504,
4.134024620056152,
-0.21378165483474731,
30
] | [
0.32970741391181946,
0.2081349790096283,
0.21871048212051392,
1.8738698959350586,
1.5119907855987549,
2.494337558746338
] | 1 | [
-0.6209502220153809,
0.04662052541971207,
-0.020384717732667923,
-0.00868351198732853,
-0.007449432276189327,
0.6542428135871887
] | [
-0.6251742243766785,
0.0471683144569397,
-0.02497277595102787,
-0.009400226175785065,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.043526 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 6.8 | 68 | 69 | 23,187 | 0 |
[
-41.413330078125,
2.964914321899414,
8.956140518188477,
4.153293609619141,
-0.21254433691501617,
30
] | [
-41.77236557006836,
3.046644449234009,
8.726920127868652,
4.0963969230651855,
-0.21378165483474731,
30
] | [
0.3294229805469513,
0.2085876613855362,
0.21927203238010406,
1.8395187854766846,
1.5125874280929565,
2.4615373611450195
] | 1 | [
-0.6224423050880432,
0.04674218222498894,
-0.022227177396416664,
-0.009057941846549511,
-0.007442637346684933,
0.6542428135871887
] | [
-0.6281976699829102,
0.04822094738483429,
-0.02611433155834675,
-0.010068626143038273,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.067907 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 6.9 | 69 | 69 | 23,188 | 0 |
[
-41.54188919067383,
2.992086410522461,
8.86713981628418,
4.129421710968018,
-0.2125822901725769,
30
] | [
-41.99012756347656,
3.1138150691986084,
8.649200439453125,
4.052953720092773,
-0.21378165483474731,
30
] | [
0.32904720306396484,
0.20922549068927765,
0.2196224182844162,
1.8154654502868652,
1.5129517316818237,
2.4395852088928223
] | 1 | [
-0.6245031356811523,
0.047233812510967255,
-0.023736465722322464,
-0.009481989778578281,
-0.0074438294395804405,
0.6542428135871887
] | [
-0.6316884160041809,
0.049436286091804504,
-0.027432315051555634,
-0.010840329341590405,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.101057 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7 | 70 | 69 | 23,189 | 0 |
[
-41.703773498535156,
3.0349316596984863,
8.78468132019043,
4.100030899047852,
-0.21279482543468475,
30
] | [
-42.23155975341797,
3.188286304473877,
8.563033103942871,
4.004788875579834,
-0.21378165483474731,
30
] | [
0.3285812437534332,
0.21003445982933044,
0.2198629081249237,
1.7961283922195435,
1.5132114887237549,
2.42287540435791
] | 1 | [
-0.6270981431007385,
0.04800902679562569,
-0.02513480931520462,
-0.01000407338142395,
-0.007450504694133997,
0.6542428135871887
] | [
-0.6355586051940918,
0.05078371614217758,
-0.02889355458319187,
-0.011695905588567257,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.142642 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.1 | 71 | 69 | 23,190 | 0 |
[
-41.89551544189453,
3.0900375843048096,
8.70211410522461,
4.064555644989014,
-0.21301117539405823,
30
] | [
-42.49064254760742,
3.268202543258667,
8.470564842224121,
3.953101873397827,
-0.21378165483474731,
30
] | [
0.3280313014984131,
0.21099485456943512,
0.2200484275817871,
1.778533935546875,
1.5134265422821045,
2.40838360786438
] | 1 | [
-0.6301717758178711,
0.04900607466697693,
-0.026534996926784515,
-0.010634238831698895,
-0.007457300089299679,
0.6542428135871887
] | [
-0.6397117376327515,
0.05222966521978378,
-0.030461646616458893,
-0.012614047154784203,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.191719 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.2 | 72 | 69 | 23,191 | 0 |
[
-42.11274337768555,
3.154752016067505,
8.616462707519531,
4.0234479904174805,
-0.21317437291145325,
30
] | [
-42.76233673095703,
3.3520078659057617,
8.373597145080566,
3.898900032043457,
-0.21378165483474731,
30
] | [
0.32740700244903564,
0.21208307147026062,
0.22020816802978516,
1.7611876726150513,
1.5136213302612305,
2.394547939300537
] | 1 | [
-0.633653998374939,
0.05017697066068649,
-0.027987487614154816,
-0.01136445440351963,
-0.007462425623089075,
0.6542428135871887
] | [
-0.6440670490264893,
0.05374598130583763,
-0.03210603818297386,
-0.013576861470937729,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.246994 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.3 | 73 | 69 | 23,192 | 0 |
[
-42.35065460205078,
3.2268288135528564,
8.526884078979492,
3.977630853652954,
-0.21329963207244873,
30
] | [
-43.04056167602539,
3.437828779220581,
8.274297714233398,
3.8433942794799805,
-0.21378165483474731,
30
] | [
0.32671988010406494,
0.2132737934589386,
0.2203570008277893,
1.7434370517730713,
1.5138028860092163,
2.3806397914886475
] | 1 | [
-0.6374677419662476,
0.05148107931017876,
-0.02950657531619072,
-0.012178326956927776,
-0.007466359995305538,
0.6542428135871887
] | [
-0.6485269665718079,
0.05529876425862312,
-0.033789973706007004,
-0.014562837779521942,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.306974 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.4 | 74 | 69 | 23,193 | 0 |
[
-42.60413360595703,
3.3042662143707275,
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3.9282121658325195,
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30
] | [
-43.31995391845703,
3.5240092277526855,
8.174581527709961,
3.78765606880188,
-0.21378165483474731,
30
] | [
0.32598304748535156,
0.2145405262708664,
0.2205018252134323,
1.7251023054122925,
1.5139719247817993,
2.3663980960845947
] | 1 | [
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] | [
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-0.015552943572402,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.369996 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.5 | 75 | 69 | 23,194 | 0 |
[
-42.867862701416016,
3.3851819038391113,
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3.8763697147369385,
-0.21342487633228302,
30
] | [
-43.59498977661133,
3.6088461875915527,
8.076420783996582,
3.7327868938446045,
-0.21378165483474731,
30
] | [
0.3252108097076416,
0.21585604548454285,
0.2206452339887619,
1.7062675952911377,
1.5141263008117676,
2.351821184158325
] | 1 | [
-0.6457586288452148,
0.05434621125459671,
-0.03270869329571724,
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0.6542428135871887
] | [
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0.05839303508400917,
-0.03714560344815254,
-0.016527611762285233,
-0.007481499575078487,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.434242 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.6 | 76 | 69 | 23,195 | 0 |
[
-43.13637161254883,
3.4677560329437256,
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3.823295831680298,
-0.21343247592449188,
30
] | [
-43.19157028198242,
3.246819257736206,
7.090490341186523,
3.805114507675171,
-0.21343247592449188,
30
] | [
0.32441848516464233,
0.2171926647424698,
0.22078730165958405,
1.6871674060821533,
1.5142625570297241,
2.3370559215545654
] | 1 | [
-0.6500628590583801,
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] | [
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0.05184277147054672,
-0.05386516824364662,
-0.015242820605635643,
-0.0074705323204398155,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.497704 | [
-44.9630241394043,
4.301885604858398,
8.663540840148926,
3.459866523742676,
-0.21378165483474731,
30
] | [
0.33165034651756287,
0.21086826920509338,
0.21361856162548065,
1.9498752355575562,
1.510351300239563,
2.628601312637329
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.7 | 77 | 69 | 23,196 | 0 |
[
-43.192840576171875,
3.421812057495117,
7.90134859085083,
3.874460458755493,
-0.21906116604804993,
30
] | [
-43.20158004760742,
3.4621639251708984,
7.104759216308594,
3.7513537406921387,
-0.21343247592449188,
30
] | [
0.32417163252830505,
0.21741464734077454,
0.22261163592338562,
1.5862963199615479,
1.5144606828689575,
2.2372496128082275
] | 1 | [
-0.6509680151939392,
0.05500897020101547,
-0.04011450335383415,
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0.6542428135871887
] | [
-0.6511081457138062,
0.05573906749486923,
-0.05362319201231003,
-0.016197798773646355,
-0.0074705323204398155,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0 | [
-44.929405212402344,
41.06050491333008,
10.412956237792969,
-5.5288615226745605,
-0.21343247592449188,
30
] | [
0.33179447054862976,
0.2107354998588562,
0.002377802971750498,
3.051801919937134,
1.0108356475830078,
-2.5686397552490234
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.8 | 78 | 69 | 23,197 | 0 |
[
-43.1954460144043,
3.4086077213287354,
7.551116943359375,
3.786694288253784,
-0.2131478190422058,
30
] | [
-43.221920013427734,
3.8997368812561035,
7.133753776550293,
3.6421139240264893,
-0.21343247592449188,
30
] | [
0.3241703510284424,
0.21743063628673553,
0.2246856540441513,
1.4490668773651123,
1.514235496520996,
2.1002793312072754
] | 1 | [
-0.6510097980499268,
0.05477005988359451,
-0.04605378955602646,
-0.015570027753710747,
-0.007461591623723507,
0.6542428135871887
] | [
-0.6514341831207275,
0.06365621089935303,
-0.05313149839639664,
-0.018138280138373375,
-0.0074705323204398155,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0 | [
-44.929405212402344,
41.06050491333008,
10.412956237792969,
-5.5288615226745605,
-0.21343247592449188,
30
] | [
0.33179447054862976,
0.2107354998588562,
0.002377802971750498,
3.051801919937134,
1.0108356475830078,
-2.5686397552490234
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 7.9 | 79 | 69 | 23,198 | 0 |
[
-43.20445251464844,
3.5597939491271973,
7.349532127380371,
3.6942965984344482,
-0.20960283279418945,
30
] | [
-43.252540588378906,
2.726282835006714,
7.177408218383789,
3.4776391983032227,
-0.21343247592449188,
30
] | [
0.32439061999320984,
0.2176625281572342,
0.2250542938709259,
1.4081612825393677,
1.51401686668396,
2.0595827102661133
] | 1 | [
-0.6511541604995728,
0.057505518198013306,
-0.04947229474782944,
-0.01721133477985859,
-0.007350250147283077,
0.6542428135871887
] | [
-0.6519250273704529,
0.04242454841732979,
-0.05239120125770569,
-0.021059926599264145,
-0.0074705323204398155,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.001105 | [
-44.929405212402344,
41.06050491333008,
10.412956237792969,
-5.5288615226745605,
-0.21343247592449188,
30
] | [
0.33179447054862976,
0.2107354998588562,
0.002377802971750498,
3.051801919937134,
1.0108356475830078,
-2.5686397552490234
] | 30 | pick box lid and place on box body | box lid | [
0.33231401443481445,
0.21114914119243622,
0.021999986842274666
] | 8 | 80 | 69 | 23,199 | 0 |
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