observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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44.86880874633789,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.908998 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | [
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1.2415454387664795,
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] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
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] | 24.6 | 246 | 69 | 23,365 | 0 |
[
-29.24015998840332,
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] | [
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] | [
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] | 1 | [
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-0.03177790343761444,
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] | release object on box body | Is the object released? | gripper_open | 0.382603 | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
-41.48759841918945,
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30
] | [
0.30209654569625854,
0.12014525383710861,
0.043772757053375244,
2.9033548831939697,
1.2415454387664795,
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] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.013000024482607841
] | 24.700001 | 247 | 69 | 23,366 | 0 |
[
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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] | [
-29.24015998840332,
11.100794792175293,
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] | [
0.30209654569625854,
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] | 1 | [
-0.4273051917552948,
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] | [
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-0.8197998404502869,
-0.03177790343761444,
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] | release object on box body | Is the object released? | gripper_open | 0.479071 | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
-41.48759841918945,
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30
] | [
0.30209654569625854,
0.12014525383710861,
0.043772757053375244,
2.9033548831939697,
1.2415454387664795,
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] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.013000024482607841
] | 24.799999 | 248 | 69 | 23,367 | 0 |
[
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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] | [
-29.24015998840332,
11.100794792175293,
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] | [
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] | 1 | [
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] | [
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0.19394713640213013,
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-0.03177790343761444,
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] | release object on box body | Is the object released? | gripper_open | 0.57554 | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
-41.48759841918945,
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30
] | [
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0.12014525383710861,
0.043772757053375244,
2.9033548831939697,
1.2415454387664795,
-2.9654903411865234
] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.013000024482607841
] | 24.9 | 249 | 69 | 23,368 | 0 |
[
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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] | [
-29.24015998840332,
11.100794792175293,
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] | [
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.672008 | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
-41.48759841918945,
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30
] | [
0.30209654569625854,
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0.043772757053375244,
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1.2415454387664795,
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] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
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] | 25 | 250 | 69 | 23,369 | 0 |
[
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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-0.9873490333557129,
26.399999618530273
] | [
-29.24015998840332,
11.100794792175293,
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] | [
0.30209654569625854,
0.12014525383710861,
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] | 1 | [
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] | [
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-0.8197998404502869,
-0.03177790343761444,
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] | release object on box body | Is the object released? | gripper_open | 0.768476 | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
-41.48759841918945,
-0.9873490333557129,
30
] | [
0.30209654569625854,
0.12014525383710861,
0.043772757053375244,
2.9033548831939697,
1.2415454387664795,
-2.9654903411865234
] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.013000024482607841
] | 25.1 | 251 | 69 | 23,370 | 0 |
[
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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-0.9873490333557129,
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] | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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] | [
0.30209654569625854,
0.12014525383710861,
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2.9033548831939697,
1.2415454387664795,
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] | 1 | [
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] | [
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0.19394713640213013,
0.9454787373542786,
-0.8197998404502869,
-0.03177790343761444,
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] | release object on box body | Is the object released? | gripper_open | 0.864944 | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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30
] | [
0.30209654569625854,
0.12014525383710861,
0.043772757053375244,
2.9033548831939697,
1.2415454387664795,
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] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.013000024482607841
] | 25.200001 | 252 | 69 | 23,371 | 0 |
[
-29.24015998840332,
11.100794792175293,
66.02046966552734,
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29.400001525878906
] | [
-29.24223518371582,
10.923467636108398,
65.53816986083984,
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30
] | [
0.30209654569625854,
0.12014525383710861,
0.043772757053375244,
2.9033548831939697,
1.2415454387664795,
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] | 1 | [
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0.19394713640213013,
0.9454787373542786,
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] | [
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0.190738707780838,
0.9372997879981995,
-0.8200771808624268,
-0.03198258578777313,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.961413 | [
-29.24015998840332,
11.100794792175293,
66.02046966552734,
-41.48759841918945,
-0.9873490333557129,
30
] | [
0.30209654569625854,
0.12014525383710861,
0.043772757053375244,
2.9033548831939697,
1.2415454387664795,
-2.9654903411865234
] | 30 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.013000024482607841
] | 25.299999 | 253 | 69 | 23,372 | 0 |
[
-29.24216079711914,
11.061422348022461,
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30
] | [
-29.24078941345215,
10.7711763381958,
65.56678009033203,
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30
] | [
0.3024441599845886,
0.12031625211238861,
0.04433698579668999,
2.9006316661834717,
1.2438563108444214,
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] | 1 | [
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] | [
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0.9377849698066711,
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-0.03198258578777313,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
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0
] | [
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0.11246052384376526,
0.19999255239963531,
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] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
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] | 25.4 | 254 | 69 | 23,373 | 0 |
[
-29.24163246154785,
10.957841873168945,
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30
] | [
-29.237136840820312,
10.3868989944458,
65.63897705078125,
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30
] | [
0.302962064743042,
0.12054906040430069,
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2.897087335586548,
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] | 1 | [
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] | [
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0.9390093088150024,
-0.8223118782043457,
-0.03198258578777313,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
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0
] | [
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0.11246052384376526,
0.19999255239963531,
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1.2267282009124756,
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] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
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] | 25.5 | 255 | 69 | 23,374 | 0 |
[
-29.240135192871094,
10.763660430908203,
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30
] | [
-29.231679916381836,
9.812414169311523,
65.74691009521484,
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30
] | [
0.30337461829185486,
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2.8929007053375244,
1.2532832622528076,
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] | 1 | [
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] | [
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0.9408396482467651,
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-0.03198258578777313,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
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] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
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] | 25.6 | 256 | 69 | 23,375 | 0 |
[
-29.237173080444336,
10.433014869689941,
65.72207641601562,
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30
] | [
-29.22445297241211,
9.051863670349121,
65.88980102539062,
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30
] | [
0.3037952482700348,
0.1209058165550232,
0.04829761013388634,
2.8868818283081055,
1.260088562965393,
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] | 1 | [
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0.9404184818267822,
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] | [
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0.9432628154754639,
-0.8278721570968628,
-0.03198258578777313,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.00148 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 25.700001 | 257 | 69 | 23,376 | 0 |
[
-29.23264503479004,
9.945314407348633,
65.78170013427734,
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30
] | [
-29.215566635131836,
6.698606491088867,
66.0655517578125,
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30
] | [
0.304277241230011,
0.12110216170549393,
0.05067126825451851,
2.878190279006958,
1.2694463729858398,
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] | 1 | [
-0.42718473076820374,
0.17304067313671112,
0.941429615020752,
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] | [
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0.11429700255393982,
0.9462432265281677,
-0.831768274307251,
-0.03198258578777313,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.009682 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 25.799999 | 258 | 69 | 23,377 | 0 |
[
-29.226531982421875,
8.962729454040527,
65.88078308105469,
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-0.9955852031707764,
30
] | [
-29.205291748046875,
5.640825271606445,
66.27476501464844,
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29.750001907348633
] | [
0.30519548058509827,
0.12148836255073547,
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2.859783887863159,
1.2877159118652344,
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] | 1 | [
-0.427086740732193,
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0.9431098699569702,
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0.6542428135871887
] | [
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0.09515824913978577,
0.9497910737991333,
-0.836272656917572,
-0.03198258578777313,
0.6487780213356018
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.02579 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 25.9 | 259 | 69 | 23,378 | 0 |
[
-29.218727111816406,
7.845041751861572,
66.03424072265625,
-42.023075103759766,
-0.9999879598617554,
29.250001907348633
] | [
-29.193649291992188,
4.45310115814209,
66.5193099975586,
-42.70225143432617,
-0.9938658475875854,
28.5
] | [
0.3060106337070465,
0.12182016670703888,
0.06054109334945679,
2.8369386196136475,
1.3069466352462769,
-3.029499053955078
] | 1 | [
-0.42696160078048706,
0.1350398063659668,
0.9457122683525085,
-0.829311728477478,
-0.03217487037181854,
0.637848436832428
] | [
-0.4265596270561218,
0.07366839796304703,
0.9539381265640259,
-0.8413763046264648,
-0.03198258578777313,
0.6214539408683777
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.054655 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26 | 260 | 69 | 23,379 | 0 |
[
-29.209566116333008,
6.687590599060059,
66.2100601196289,
-42.26595687866211,
-0.9982193112373352,
28
] | [
-29.18085289001465,
3.147664785385132,
66.78809356689453,
-43.018035888671875,
-0.9938658475875854,
27.25
] | [
0.30678534507751465,
0.12212461978197098,
0.06606025993824005,
2.8084516525268555,
1.3280489444732666,
-3.0572123527526855
] | 1 | [
-0.4268147647380829,
0.11409769207239151,
0.9486938118934631,
-0.8336262106895447,
-0.03211931884288788,
0.6105243563652039
] | [
-0.4263544976711273,
0.05004873871803284,
0.9584962129592896,
-0.8469857573509216,
-0.03198258578777313,
0.5941299200057983
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.091719 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.1 | 261 | 69 | 23,380 | 0 |
[
-29.199125289916992,
5.379518508911133,
66.41901397705078,
-42.54283905029297,
-0.9964240193367004,
26.750001907348633
] | [
-29.167089462280273,
1.7434871196746826,
67.07720947265625,
-43.357704162597656,
-0.9938658475875854,
26.000001907348633
] | [
0.307510644197464,
0.12239968776702881,
0.07227826118469238,
2.770031452178955,
1.3514995574951172,
-3.0947699546813965
] | 1 | [
-0.4266473948955536,
0.090430349111557,
0.9522373080253601,
-0.8385446071624756,
-0.03206293284893036,
0.5832003355026245
] | [
-0.4261338710784912,
0.024642527103424072,
0.9633990526199341,
-0.8530194163322449,
-0.03198258578777313,
0.5668059587478638
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.131316 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.200001 | 262 | 69 | 23,381 | 0 |
[
-29.187429428100586,
4.040217399597168,
66.65924835205078,
-42.83989334106445,
-0.9956763386726379,
25.5
] | [
-29.152393341064453,
0.24422873556613922,
67.38590240478516,
-43.72037124633789,
-0.9938658475875854,
24.75
] | [
0.3080638349056244,
0.12259000539779663,
0.07858970761299133,
2.72167706489563,
1.3749080896377563,
3.1409122943878174
] | 1 | [
-0.4264599084854126,
0.066197969019413,
0.9563112258911133,
-0.8438212871551514,
-0.032039448618888855,
0.5558763146400452
] | [
-0.4258982837200165,
-0.002484008902683854,
0.9686339497566223,
-0.8594616651535034,
-0.03198258578777313,
0.5394818782806396
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.171571 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.299999 | 263 | 69 | 23,382 | 0 |
[
-29.174631118774414,
2.6511623859405518,
67.0936508178711,
-43.143768310546875,
-0.9970085024833679,
24.25
] | [
-29.13701629638672,
-1.324405550956726,
67.70887756347656,
-44.099822998046875,
-0.9938658475875854,
23.500001907348633
] | [
0.3080812394618988,
0.12253160029649734,
0.08439620584249496,
2.6663477420806885,
1.3957116603851318,
3.0863165855407715
] | 1 | [
-0.4262547492980957,
0.04106537252664566,
0.9636778831481934,
-0.8492192029953003,
-0.03208129107952118,
0.528552234172821
] | [
-0.42565178871154785,
-0.030865784734487534,
0.974111020565033,
-0.8662020564079285,
-0.03198258578777313,
0.5121578574180603
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.213269 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.4 | 264 | 69 | 23,383 | 0 |
[
-29.160844802856445,
1.1892766952514648,
67.31451416015625,
-43.493709564208984,
-0.9960407018661499,
23.000001907348633
] | [
-29.121082305908203,
-2.950127124786377,
68.04360961914062,
-44.49308395385742,
-0.9938658475875854,
22.25
] | [
0.30849045515060425,
0.12264524400234222,
0.09151718020439148,
2.576803684234619,
1.4207673072814941,
2.997727870941162
] | 1 | [
-0.42603376507759094,
0.014615030959248543,
0.9674233198165894,
-0.8554353713989258,
-0.03205089271068573,
0.5012282729148865
] | [
-0.4253963530063629,
-0.0602804571390152,
0.9797874093055725,
-0.8731877207756042,
-0.03198258578777313,
0.48483380675315857
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.255533 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.5 | 265 | 69 | 23,384 | 0 |
[
-29.146156311035156,
-0.3653557002544403,
67.76657104492188,
-43.94614791870117,
-0.987132728099823,
21.75
] | [
-29.104705810546875,
-4.620748519897461,
68.38758850097656,
-44.8972053527832,
-0.9938658475875854,
21
] | [
0.3083254396915436,
0.12249136716127396,
0.09843442589044571,
2.456777572631836,
1.444011926651001,
2.878634452819824
] | 1 | [
-0.42579829692840576,
-0.013513404875993729,
0.9750893712043762,
-0.8634722232818604,
-0.031771108508110046,
0.47390419244766235
] | [
-0.4251338541507721,
-0.09050751477479935,
0.9856206774711609,
-0.8803663849830627,
-0.03198258578777313,
0.45750975608825684
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.300376 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.6 | 266 | 69 | 23,385 | 0 |
[
-29.130979537963867,
-1.9077379703521729,
68.01243591308594,
-44.228515625,
-0.9962456226348877,
20.500001907348633
] | [
-29.08807945251465,
-6.317055702209473,
68.73685455322266,
-45.30754089355469,
-0.9938658475875854,
19.750001907348633
] | [
0.30833569169044495,
0.12241940945386887,
0.10563621670007706,
2.2817158699035645,
1.4644173383712769,
2.7044789791107178
] | 1 | [
-0.425555020570755,
-0.04142019525170326,
0.9792587757110596,
-0.868488073348999,
-0.03205733001232147,
0.4465802013874054
] | [
-0.42486733198165894,
-0.12119931727647781,
0.9915435910224915,
-0.8876553773880005,
-0.03198258578777313,
0.4301857650279999
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.343663 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.700001 | 267 | 69 | 23,386 | 0 |
[
-29.11519432067871,
-3.534069299697876,
68.27383422851562,
-44.628238677978516,
-0.9952360391616821,
19.25
] | [
-29.071325302124023,
-8.026097297668457,
69.08876037597656,
-45.720977783203125,
-0.9938658475875854,
18.5
] | [
0.3081725835800171,
0.12226299941539764,
0.11349406838417053,
2.003765106201172,
1.481925368309021,
2.4275729656219482
] | 1 | [
-0.4253019690513611,
-0.07084590196609497,
0.9836916327476501,
-0.875588595867157,
-0.032025620341300964,
0.4192561209201813
] | [
-0.424598753452301,
-0.15212152898311615,
0.9975112676620483,
-0.8949994444847107,
-0.03198258578777313,
0.40286171436309814
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.388694 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.799999 | 268 | 69 | 23,387 | 0 |
[
-29.09903907775879,
-5.187431812286377,
68.75545501708984,
-45.020233154296875,
-0.9957749843597412,
18
] | [
-29.054607391357422,
-9.731542587280273,
69.43993377685547,
-46.1335563659668,
-0.9938658475875854,
17.250001907348633
] | [
0.3074169456958771,
0.12183701992034912,
0.12051273137331009,
1.676267385482788,
1.489622712135315,
2.100975513458252
] | 1 | [
-0.4250430166721344,
-0.10076069086790085,
0.9918590188026428,
-0.8825517892837524,
-0.032042548060417175,
0.39193210005760193
] | [
-0.42433077096939087,
-0.18297865986824036,
1.0034664869308472,
-0.9023282527923584,
-0.03198258578777313,
0.3755377233028412
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.434792 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 26.9 | 269 | 69 | 23,388 | 0 |
[
-29.082639694213867,
-6.866596221923828,
69.00114440917969,
-45.43313217163086,
-0.9950045347213745,
16.750001907348633
] | [
-29.038057327270508,
-11.419868469238281,
69.78758239746094,
-46.5419921875,
-0.9938658475875854,
16
] | [
0.3068653643131256,
0.12150219827890396,
0.12866930663585663,
1.269865870475769,
1.4863165616989136,
1.6956655979156494
] | 1 | [
-0.42478013038635254,
-0.13114231824874878,
0.9960254430770874,
-0.8898863196372986,
-0.03201834857463837,
0.36460810899734497
] | [
-0.4240654706954956,
-0.21352605521678925,
1.009361982345581,
-0.9095835089683533,
-0.03198258578777313,
0.34821364283561707
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.480493 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27 | 270 | 69 | 23,389 | 0 |
[
-29.066179275512695,
-8.551812171936035,
69.28643035888672,
-45.847862243652344,
-0.9941923022270203,
15.5
] | [
-29.021848678588867,
-13.073259353637695,
70.12803649902344,
-46.941978454589844,
-0.9938658475875854,
14.750000953674316
] | [
0.3060215711593628,
0.12103533744812012,
0.13665594160556793,
0.9461508393287659,
1.4714535474777222,
1.3730195760726929
] | 1 | [
-0.4245162606239319,
-0.1616334468126297,
1.0008634328842163,
-0.8972533345222473,
-0.0319928377866745,
0.33728402853012085
] | [
-0.4238056242465973,
-0.2434413582086563,
1.0151355266571045,
-0.9166886806488037,
-0.03198258578777313,
0.3208896219730377
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.526322 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.1 | 271 | 69 | 23,390 | 0 |
[
-29.04979133605957,
-10.227301597595215,
69.5940933227539,
-46.25748062133789,
-0.9936988949775696,
14.250000953674316
] | [
-29.00611686706543,
-14.678144454956055,
70.45850372314453,
-47.330230712890625,
-0.9938658475875854,
13.500001907348633
] | [
0.3049291670322418,
0.12045720219612122,
0.14443983137607574,
0.726577639579773,
1.4497109651565552,
1.1544913053512573
] | 1 | [
-0.42425355315208435,
-0.19194857776165009,
1.0060807466506958,
-0.9045296311378479,
-0.0319773405790329,
0.3099600076675415
] | [
-0.4235534369945526,
-0.27247902750968933,
1.0207395553588867,
-0.9235854148864746,
-0.03198258578777313,
0.2935656011104584
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.571939 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.200001 | 272 | 69 | 23,391 | 0 |
[
-29.033620834350586,
-11.878715515136719,
69.91132354736328,
-46.660152435302734,
-0.9933534860610962,
13
] | [
-28.99097442626953,
-16.2229061126709,
70.7765884399414,
-47.70393753051758,
-0.9938658475875854,
12.25
] | [
0.30362701416015625,
0.11978624761104584,
0.15199518203735352,
0.5810883641242981,
1.4246097803115845,
1.0100229978561401
] | 1 | [
-0.4239943325519562,
-0.22182811796665192,
1.0114604234695435,
-0.9116824865341187,
-0.03196649253368378,
0.28263595700263977
] | [
-0.4233107268810272,
-0.3004288673400879,
1.0261337757110596,
-0.9302237629890442,
-0.03198258578777313,
0.26624155044555664
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.61706 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.299999 | 273 | 69 | 23,392 | 0 |
[
-29.017826080322266,
-13.491771697998047,
70.22946166992188,
-47.05293655395508,
-0.993080198764801,
11.750000953674316
] | [
-28.97806167602539,
-17.540149688720703,
71.0478286743164,
-48.02260208129883,
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11.000001907348633
] | [
0.3021512031555176,
0.11903974413871765,
0.1592794507741928,
0.48185086250305176,
1.3981451988220215,
0.9117788076400757
] | 1 | [
-0.4237411618232727,
-0.2510136365890503,
1.0168554782867432,
-0.9186596870422363,
-0.03195790946483612,
0.2553119361400604
] | [
-0.4231037199497223,
-0.32426217198371887,
1.0307334661483765,
-0.9358843564987183,
-0.03198258578777313,
0.2389175444841385
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.661417 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.4 | 274 | 69 | 23,393 | 0 |
[
-29.0029296875,
-15.01758098602295,
70.53144836425781,
-47.43402099609375,
-0.9919340014457703,
10.500001907348633
] | [
-28.970895767211914,
-16.896997451782227,
71.19833374023438,
-48.19942855834961,
-0.9938658475875854,
9.75
] | [
0.300577312707901,
0.11825422942638397,
0.16613344848155975,
0.412238746881485,
1.3718510866165161,
0.8431130647659302
] | 1 | [
-0.4235023558139801,
-0.27862057089805603,
1.0219765901565552,
-0.925429105758667,
-0.031921908259391785,
0.22798793017864227
] | [
-0.4229888617992401,
-0.3126254081726074,
1.0332857370376587,
-0.9390254020690918,
-0.03198258578777313,
0.21159347891807556
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.704279 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.5 | 275 | 69 | 23,394 | 0 |
[
-28.990819931030273,
-16.0408935546875,
70.7643814086914,
-47.805992126464844,
-0.9860130548477173,
9.25
] | [
-28.963546752929688,
-17.646648406982422,
71.35269927978516,
-48.38078308105469,
-0.9938658475875854,
8.500000953674316
] | [
0.29935717582702637,
0.11764170974493027,
0.17088647186756134,
0.37164899706840515,
1.3524147272109985,
0.8031718134880066
] | 1 | [
-0.42330825328826904,
-0.29713568091392517,
1.0259267091751099,
-0.9320365786552429,
-0.031735941767692566,
0.20066386461257935
] | [
-0.42287105321884155,
-0.3261890709400177,
1.0359034538269043,
-0.9422468543052673,
-0.03198258578777313,
0.18426945805549622
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.740237 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.6 | 276 | 69 | 23,395 | 0 |
[
-28.980539321899414,
-16.825950622558594,
70.99851989746094,
-47.967857360839844,
-0.9930574297904968,
8.000000953674316
] | [
-28.956010818481445,
-18.41547966003418,
71.5110092163086,
-48.566776275634766,
-0.9938658475875854,
7.250001907348633
] | [
0.2983691990375519,
0.11714702099561691,
0.17391985654830933,
0.35126709938049316,
1.3401137590408325,
0.7831823825836182
] | 1 | [
-0.4231434464454651,
-0.31133994460105896,
1.0298972129821777,
-0.9349119067192078,
-0.031957194209098816,
0.17333984375
] | [
-0.42275023460388184,
-0.3400997817516327,
1.0385881662368774,
-0.945550799369812,
-0.03198258578777313,
0.15694545209407806
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.772351 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.700001 | 277 | 69 | 23,396 | 0 |
[
-28.971420288085938,
-17.53046989440918,
71.17974853515625,
-48.234683990478516,
-0.9902184009552002,
6.749999523162842
] | [
-28.948274612426758,
-20.570858001708984,
71.6734848022461,
-48.75766372680664,
-0.9938658475875854,
6
] | [
0.29742348194122314,
0.11667484790086746,
0.17709313333034515,
0.32992735505104065,
1.3266013860702515,
0.7622748613357544
] | 1 | [
-0.42299726605415344,
-0.3240870237350464,
1.0329705476760864,
-0.9396516680717468,
-0.03186802566051483,
0.14601579308509827
] | [
-0.42262622714042664,
-0.37909770011901855,
1.0413434505462646,
-0.9489415884017944,
-0.03198258578777313,
0.12962137162685394
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.803501 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.799999 | 278 | 69 | 23,397 | 0 |
[
-28.962841033935547,
-18.344585418701172,
71.36370849609375,
-48.4283561706543,
-0.9917973279953003,
5.500000953674316
] | [
-28.94031524658203,
-21.367433547973633,
71.8406753540039,
-48.95408248901367,
-0.9938658475875854,
4.750001430511475
] | [
0.29635804891586304,
0.11615302413702011,
0.18053416907787323,
0.3105064928531647,
1.3123458623886108,
0.7433377504348755
] | 1 | [
-0.42285972833633423,
-0.3388170599937439,
1.0360902547836304,
-0.9430919289588928,
-0.03191761672496796,
0.11869178712368011
] | [
-0.4224986433982849,
-0.3935103714466095,
1.0441787242889404,
-0.9524306654930115,
-0.03198258578777313,
0.10229737311601639
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.83573 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 27.9 | 279 | 69 | 23,398 | 0 |
[
-28.954505920410156,
-19.157522201538086,
71.53901672363281,
-48.62976837158203,
-0.9921920895576477,
4.250001907348633
] | [
-28.93206024169922,
-20.845489501953125,
72.01406860351562,
-49.15780258178711,
-0.9938658475875854,
3.499999761581421
] | [
0.2952524423599243,
0.11561436951160431,
0.18400898575782776,
0.2926585376262665,
1.2977666854858398,
0.7259852886199951
] | 1 | [
-0.4227261245250702,
-0.3535257875919342,
1.0390630960464478,
-0.9466697573661804,
-0.03193001449108124,
0.09136777371168137
] | [
-0.42236632108688354,
-0.3840666711330414,
1.047119140625,
-0.9560494422912598,
-0.03198258578777313,
0.07497330754995346
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.867744 | [
-28.9069881439209,
-23.26226043701172,
72.77362823486328,
-49.77656936645508,
-0.9938658475875854,
0
] | [
0.2887495458126068,
0.11246052384376526,
0.19999255239963531,
0.2275637686252594,
1.2267282009124756,
0.6631770133972168
] | 0 | pick box lid and place on box body | box body | [
0.2887694239616394,
0.11246941238641739,
0.20000000298023224
] | 28 | 280 | 69 | 23,399 | 0 |
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