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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-3.423353433609009,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.217443 | [
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0
] | 1.1 | 11 | 71 | 23,800 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.260772 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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0,
0
] | 1.2 | 12 | 71 | 23,801 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.30672 | [
2.2691292762756348,
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] | [
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] | 0 | [
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] | 1.3 | 13 | 71 | 23,802 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.354785 | [
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] | [
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] | 1.4 | 14 | 71 | 23,803 | 0 | ||
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.40444 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1.5 | 15 | 71 | 23,804 | 0 | ||
[
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] | [
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] | [
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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 | 0.455142 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0
] | 1.6 | 16 | 71 | 23,805 | 0 | ||
[
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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 | 0.506337 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0,
0
] | 1.7 | 17 | 71 | 23,806 | 0 | ||
[
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] | [
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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 | 0.557464 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1.8 | 18 | 71 | 23,807 | 0 | ||
[
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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 | 0.607963 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1.9 | 19 | 71 | 23,808 | 0 | ||
[
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] | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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] | 0 | [
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] | 2 | 20 | 71 | 23,809 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.208102822303772,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.704876 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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] | 0 | [
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0,
0
] | 2.1 | 21 | 71 | 23,810 | 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 | 0.750227 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 2.2 | 22 | 71 | 23,811 | 0 | ||
[
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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 | 0.792838 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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0
] | [
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] | 2.3 | 23 | 71 | 23,812 | 0 | ||
[
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3.0072224140167236
] | 1 | [
0.05822763964533806,
-1.1062370538711548,
0.7050396800041199,
1.2079529762268066,
-0.006352229509502649,
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] | [
0.0693601742386818,
-1.029655933380127,
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
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 71 | 23,813 | 0 | ||
[
1.308769941329956,
-59.17613220214844,
49.77259826660156,
72.68077850341797,
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0.0026206078473478556
] | [
1.923018455505371,
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44.89452362060547,
72.73528289794922,
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0.0020163641311228275
] | [
0.2099885195493698,
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0.13302694261074066,
3.0880165100097656,
0.7687429785728455,
3.002225875854492
] | 1 | [
0.06239719316363335,
-1.0775946378707886,
0.6699447631835938,
1.208229899406433,
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] | [
0.07224366068840027,
-1.009844183921814,
0.5872215628623962,
1.209197998046875,
-0.007304922677576542,
-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
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.5 | 25 | 71 | 23,814 | 0 | ||
[
1.5395591259002686,
-57.77140808105469,
47.93645477294922,
72.69451904296875,
-0.19398066401481628,
0.0016554320463910699
] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
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0.0011784601956605911
] | [
0.21227119863033295,
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0.1364586055278778,
3.0871946811676025,
0.7741912007331848,
2.9977829456329346
] | 1 | [
0.06609676778316498,
-1.0521785020828247,
0.6388071179389954,
1.2084739208221436,
-0.006859584711492062,
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] | [
0.07454922050237656,
-0.9940032362937927,
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,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 71 | 23,815 | 0 | ||
[
1.73849356174469,
-56.560569763183594,
46.35379409790039,
72.70623779296875,
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0.0009042430901899934
] | [
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,
-1.0302704572677612,
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,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 71 | 23,816 | 0 | ||
[
1.9034013748168945,
-55.55679702758789,
45.0419921875,
72.7159423828125,
-0.20596297085285187,
0.0003752684569917619
] | [
2.2404532432556152,
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42.369346618652344,
72.7566909790039,
-0.21881742775440216,
0.00016706023598089814
] | [
0.21595779061317444,
-0.012715098448097706,
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 | 71 | 23,817 | 0 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0000046465038394671865
] | [
0.21729041635990143,
-0.013181240297853947,
0.1436169445514679,
3.0854008197784424,
0.7858226299285889,
2.9882583618164062
] | 1 | [
0.07399813830852509,
-0.9978939294815063,
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 | 71 | 23,818 | 0 | ||
[
2.1252822875976562,
-54.184364318847656,
43.2505989074707,
72.71295928955078,
-0.2119712084531784,
0
] | [
2.170962333679199,
-53.838741302490234,
43.029930114746094,
72.61033630371094,
-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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] | [
0.07621822506189346,
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0.5556015372276306,
1.2069785594940186,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.000435 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3 | 30 | 71 | 23,819 | 0 |
[
2.1387693881988525,
-54.055824279785156,
43.16651153564453,
72.6836929321289,
-0.2124304622411728,
0
] | [
2.3318872451782227,
-53.578041076660156,
42.913169860839844,
72.20208740234375,
-0.21320094168186188,
0
] | [
0.21853159368038177,
-0.013580617494881153,
0.14504474401474,
3.085088014602661,
0.787970781326294,
2.986283302307129
] | 1 | [
0.07570216804742813,
-0.9849513173103333,
0.5579177141189575,
1.2082816362380981,
-0.007439061067998409,
-0.0015339808305725455
] | [
0.07879786193370819,
-0.976306676864624,
0.5536214709281921,
1.1997265815734863,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.001836 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.1 | 31 | 71 | 23,820 | 0 |
[
2.2030763626098633,
-53.88705825805664,
43.076168060302734,
72.52592468261719,
-0.2128593623638153,
0
] | [
2.617013692855835,
-53.11613082885742,
42.706295013427734,
71.47874450683594,
-0.21320094168186188,
0
] | [
0.21902048587799072,
-0.013804411515593529,
0.14523768424987793,
3.0849297046661377,
0.7892469763755798,
2.985130786895752
] | 1 | [
0.07673301547765732,
-0.9818978309631348,
0.5563856363296509,
1.2054791450500488,
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] | [
0.08336847275495529,
-0.9679492115974426,
0.5501132607460022,
1.1868774890899658,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.004963 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.2 | 32 | 71 | 23,821 | 0 |
[
2.3453030586242676,
-53.6177864074707,
42.9467658996582,
72.1692886352539,
-0.21324649453163147,
0
] | [
3.004404067993164,
-52.48855209350586,
42.42522430419922,
70.4959716796875,
-0.21320094168186188,
0
] | [
0.21999511122703552,
-0.014294777996838093,
0.1456879824399948,
3.0845024585723877,
0.7928921580314636,
2.9825382232666016
] | 1 | [
0.0790129229426384,
-0.9770258069038391,
0.5541912317276001,
1.1991440057754517,
-0.007464691065251827,
-0.0015339808305725455
] | [
0.08957837522029877,
-0.9565942287445068,
0.5453467965126038,
1.1694200038909912,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.011081 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.3 | 33 | 71 | 23,822 | 0 |
[
2.577897310256958,
-53.21757888793945,
42.7622184753418,
71.58216094970703,
-0.21345524489879608,
0
] | [
3.492107391357422,
-51.698463439941406,
42.07136917114258,
69.25871276855469,
-0.21320094168186188,
0
] | [
0.22154554724693298,
-0.015103176236152649,
0.14643551409244537,
3.083770990371704,
0.7991893291473389,
2.9782826900482178
] | 1 | [
0.08274143189191818,
-0.9697847366333008,
0.5510616302490234,
1.188714623451233,
-0.00747124757617712,
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] | [
0.09739630669355392,
-0.9422988891601562,
0.5393460988998413,
1.1474419832229614,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.020775 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.4 | 34 | 71 | 23,823 | 0 |
[
2.90482234954834,
-52.78054428100586,
42.53219985961914,
70.75689697265625,
-0.21358048915863037,
0
] | [
4.072242259979248,
-52.08925247192383,
41.650447845458984,
67.7869644165039,
-0.21320094168186188,
0
] | [
0.22361673414707184,
-0.01625034213066101,
0.14772169291973114,
3.082523822784424,
0.8098070025444031,
2.9721405506134033
] | 1 | [
0.08798207342624664,
-0.9618772864341736,
0.5471609234809875,
1.1740549802780151,
-0.007475181017071009,
-0.0015339808305725455
] | [
0.10669592767953873,
-0.9493695497512817,
0.5322080254554749,
1.1212986707687378,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.033481 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.5 | 35 | 71 | 23,824 | 0 |
[
3.32484769821167,
-52.57831954956055,
42.21039581298828,
69.6911849975586,
-0.21375888586044312,
0
] | [
4.729736804962158,
-51.02410125732422,
41.17340087890625,
66.11896514892578,
-0.21320094168186188,
0
] | [
0.22607244551181793,
-0.017738137394189835,
0.1505243331193924,
3.080016613006592,
0.8304653763771057,
2.9635703563690186
] | 1 | [
0.09471511840820312,
-0.9582183957099915,
0.5417037010192871,
1.1551241874694824,
-0.007480784319341183,
-0.0015339808305725455
] | [
0.11723563075065613,
-0.9300974607467651,
0.524118185043335,
1.0916690826416016,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.047563 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.6 | 36 | 71 | 23,825 | 0 |
[
3.8340213298797607,
-52.0418815612793,
41.83113098144531,
68.39817810058594,
-0.21373611688613892,
0
] | [
5.463352680206299,
-49.83563232421875,
40.64112091064453,
64.25785064697266,
-0.21320094168186188,
0
] | [
0.22915630042552948,
-0.01959974318742752,
0.15309619903564453,
3.0775341987609863,
0.8500896096229553,
2.953559398651123
] | 1 | [
0.10287722200155258,
-0.9485124945640564,
0.5352721214294434,
1.1321558952331543,
-0.007480069063603878,
-0.0015339808305725455
] | [
0.12899556756019592,
-0.9085941314697266,
0.5150917172431946,
1.0586092472076416,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.066388 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.7 | 37 | 71 | 23,826 | 0 |
[
4.426339626312256,
-51.25556945800781,
41.3966064453125,
66.89446258544922,
-0.213698148727417,
0
] | [
6.259660243988037,
-48.54560089111328,
40.063358306884766,
62.237693786621094,
-0.21320094168186188,
0
] | [
0.2327805906534195,
-0.021836869418621063,
0.15561921894550323,
3.0749173164367676,
0.8698690533638,
2.942082166671753
] | 1 | [
0.11237214505672455,
-0.9342854619026184,
0.5279033780097961,
1.1054446697235107,
-0.007478876505047083,
-0.0015339808305725455
] | [
0.14176045358181,
-0.8852531909942627,
0.5052939057350159,
1.0227241516113281,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.089176 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.8 | 38 | 71 | 23,827 | 0 |
[
5.094972133636475,
-50.276405334472656,
40.90927505493164,
65.1972427368164,
-0.2136639952659607,
0.28571537137031555
] | [
7.108423233032227,
-47.170589447021484,
39.44283676147461,
60.08445739746094,
-0.21320094168186188,
1.1428574323654175
] | [
0.23686257004737854,
-0.024449653923511505,
0.15820001065731049,
3.0720553398132324,
0.8904851078987122,
2.9291579723358154
] | 1 | [
0.12309039384126663,
-0.916569173336029,
0.5196391344070435,
1.0752960443496704,
-0.007477804087102413,
0.0047115362249314785
] | [
0.1553662121295929,
-0.8603746891021729,
0.4947710335254669,
0.9844751358032227,
-0.0074632600881159306,
0.023447997868061066
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.117154 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 3.9 | 39 | 71 | 23,828 | 0 |
[
5.831413745880127,
-49.145263671875,
40.372230529785156,
63.32704162597656,
-0.21365641057491302,
1.7142854928970337
] | [
8.007088661193848,
-45.67224884033203,
38.781917572021484,
57.804630279541016,
-0.21320094168186188,
2.5714309215545654
] | [
0.2413175106048584,
-0.027431299909949303,
0.1608935296535492,
3.0688679218292236,
0.9122579097747803,
2.91485333442688
] | 1 | [
0.13489562273025513,
-0.8961030840873718,
0.5105318427085876,
1.0420747995376587,
-0.007477565668523312,
0.03593897446990013
] | [
0.16977190971374512,
-0.8332647681236267,
0.48356306552886963,
0.943977415561676,
-0.0074632600881159306,
0.05467550829052925
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.155492 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4 | 40 | 71 | 23,829 | 0 |
[
6.628458499908447,
-47.88387680053711,
39.604339599609375,
61.29514694213867,
-0.21279862523078918,
3.1428589820861816
] | [
8.940730094909668,
-44.090431213378906,
38.095272064208984,
55.436065673828125,
-0.21320094168186188,
4.000000953674316
] | [
0.24623046815395355,
-0.03080165758728981,
0.16449284553527832,
3.0648250579833984,
0.9384381175041199,
2.898862838745117
] | 1 | [
0.14767232537269592,
-0.87328040599823,
0.49750980734825134,
1.005981206893921,
-0.007450624369084835,
0.06716648489236832
] | [
0.18473827838897705,
-0.8046444654464722,
0.47191882133483887,
0.9019034504890442,
-0.0074632600881159306,
0.08590294420719147
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.197022 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.1 | 41 | 71 | 23,830 | 0 |
[
7.477267742156982,
-46.494972229003906,
39.05460739135742,
59.14448547363281,
-0.2130415439605713,
4.5714287757873535
] | [
9.90259075164795,
-42.4608039855957,
37.387874603271484,
52.99591827392578,
-0.21320094168186188,
5.4285712242126465
] | [
0.2511560320854187,
-0.034493204206228256,
0.1670207381248474,
3.0611038208007812,
0.9607290029525757,
2.882225751876831
] | 1 | [
0.1612788289785385,
-0.8481505513191223,
0.48818737268447876,
0.9677779674530029,
-0.007458253763616085,
0.09839391708374023
] | [
0.20015698671340942,
-0.7751591205596924,
0.4599226415157318,
0.8585578799247742,
-0.0074632600881159306,
0.11713038384914398
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.240115 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.2 | 42 | 71 | 23,831 | 0 |
[
8.368989944458008,
-45.01719665527344,
38.29227066040039,
56.87517547607422,
-0.2123735398054123,
6.000002384185791
] | [
10.884774208068848,
-40.79674530029297,
36.665531158447266,
50.50421142578125,
-0.21320094168186188,
6.857144355773926
] | [
0.25637567043304443,
-0.038541994988918304,
0.17040382325649261,
3.056426763534546,
0.9870991706848145,
2.864074230194092
] | 1 | [
0.1755732148885727,
-0.8214126825332642,
0.47525954246520996,
0.9274670481681824,
-0.0074372729286551476,
0.12962143123149872
] | [
0.21590149402618408,
-0.7450507879257202,
0.4476730227470398,
0.8142964839935303,
-0.0074632600881159306,
0.14835788309574127
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.28561 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.3 | 43 | 71 | 23,832 | 0 |
[
9.29506778717041,
-43.46744918823242,
37.51541519165039,
54.52116394042969,
-0.21197500824928284,
7.428572654724121
] | [
11.876916885375977,
-39.11581039428711,
35.93586349487305,
47.98723602294922,
-0.21320094168186188,
8.285714149475098
] | [
0.261647492647171,
-0.04289817437529564,
0.1737787425518036,
3.051258087158203,
1.0139038562774658,
2.8448846340179443
] | 1 | [
0.19041834771633148,
-0.793372631072998,
0.4620855152606964,
0.8856515884399414,
-0.0074247559532523155,
0.16084887087345123
] | [
0.23180563747882843,
-0.7146371603012085,
0.43529921770095825,
0.7695862054824829,
-0.0074632600881159306,
0.1795853227376938
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.332523 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.4 | 44 | 71 | 23,833 | 0 |
[
10.246734619140625,
-41.83932113647461,
36.79397964477539,
52.16984939575195,
-0.21791113913059235,
8.857142448425293
] | [
12.871125221252441,
-37.43137741088867,
35.20467758178711,
45.465023040771484,
-0.21320094168186188,
9.714287757873535
] | [
0.26678603887557983,
-0.04750453680753708,
0.17659294605255127,
3.0458145141601562,
1.0382853746414185,
2.8248770236968994
] | 1 | [
0.20567364990711212,
-0.7639144659042358,
0.44985127449035645,
0.8438840508460999,
-0.007611199282109737,
0.19207629561424255
] | [
0.2477428913116455,
-0.6841601729393005,
0.42289966344833374,
0.7247828841209412,
-0.0074632600881159306,
0.21081283688545227
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.379864 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.5 | 45 | 71 | 23,834 | 0 |
[
11.21507740020752,
-40.23033905029297,
36.16653823852539,
49.64963912963867,
-0.2119142860174179,
10.28571605682373
] | [
13.857874870300293,
-35.75958251953125,
34.47897720336914,
42.96173095703125,
-0.21320094168186188,
11.142858505249023
] | [
0.2719164192676544,
-0.052364252507686615,
0.17941808700561523,
3.040144681930542,
1.064431071281433,
2.804525136947632
] | 1 | [
0.2211962789297104,
-0.7348026633262634,
0.43921104073524475,
0.7991162538528442,
-0.007422848604619503,
0.22330380976200104
] | [
0.26356059312820435,
-0.6539118885993958,
0.4105931222438812,
0.6803156137466431,
-0.0074632600881159306,
0.24204029142856598
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.42846 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.6 | 46 | 71 | 23,835 | 0 |
[
12.19141960144043,
-38.58138656616211,
35.380035400390625,
47.16658020019531,
-0.21131838858127594,
11.714285850524902
] | [
14.829682350158691,
-34.113101959228516,
31.530683517456055,
40.4963493347168,
-0.21320094168186188,
12.571428298950195
] | [
0.27694863080978394,
-0.05742509663105011,
0.1826711893081665,
3.033254384994507,
1.091848611831665,
2.782811403274536
] | 1 | [
0.2368471473455429,
-0.7049676179885864,
0.42587339878082275,
0.7550084590911865,
-0.00740413274616003,
0.25453123450279236
] | [
0.2791387736797333,
-0.6241216063499451,
0.3605954945087433,
0.6365218162536621,
-0.0074632600881159306,
0.2732677161693573
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.477363 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.7 | 47 | 71 | 23,836 | 0 |
[
13.166939735412598,
-36.92456817626953,
34.60594177246094,
44.706783294677734,
-0.21304532885551453,
13.14285945892334
] | [
15.775371551513672,
-32.53208923339844,
33.06875991821289,
38.09722137451172,
-0.21320094168186188,
14.000001907348633
] | [
0.281759649515152,
-0.06262136250734329,
0.18573547899723053,
3.0256731510162354,
1.1184766292572021,
2.7603747844696045
] | 1 | [
0.25248482823371887,
-0.6749903559684753,
0.4127461910247803,
0.7113138437271118,
-0.007458372972905636,
0.28575876355171204
] | [
0.2942982614040375,
-0.5955158472061157,
0.38667842745780945,
0.5939049124717712,
-0.0074632600881159306,
0.3044952154159546
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.526023 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.8 | 48 | 71 | 23,837 | 0 |
[
14.13280200958252,
-35.29867935180664,
34.032962799072266,
42.24469757080078,
-0.2115802764892578,
14.571429252624512
] | [
16.68785285949707,
-31.0344181060791,
30.164098739624023,
35.78234100341797,
-0.21320094168186188,
15.428571701049805
] | [
0.2862336337566376,
-0.06787783652544022,
0.1879548579454422,
3.0183475017547607,
1.142307162284851,
2.738284111022949
] | 1 | [
0.26796770095825195,
-0.6455726027488708,
0.40302953124046326,
0.6675786375999451,
-0.007412358187139034,
0.31698617339134216
] | [
0.30892542004585266,
-0.5684180855751038,
0.3374207317829132,
0.5527845621109009,
-0.0074632600881159306,
0.3357226550579071
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.573933 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 4.9 | 49 | 71 | 23,838 | 0 |
[
15.080061912536621,
-33.710296630859375,
33.25168228149414,
39.85888671875,
-0.21355772018432617,
16
] | [
17.559978485107422,
-29.602983474731445,
31.756275177001953,
33.56984329223633,
-0.21320094168186188,
16.857145309448242
] | [
0.2905118465423584,
-0.07317902147769928,
0.1910398006439209,
3.0089268684387207,
1.1689280271530151,
2.7144534587860107
] | 1 | [
0.28315237164497375,
-0.6168335676193237,
0.3897804617881775,
0.625198245048523,
-0.007474466226994991,
0.34821364283561707
] | [
0.32290568947792053,
-0.542518675327301,
0.3644210994243622,
0.5134828686714172,
-0.0074632600881159306,
0.3669501841068268
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.621265 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5 | 50 | 71 | 23,839 | 0 |
[
16.000041961669922,
-32.1891975402832,
32.68843078613281,
37.50690460205078,
-0.21144364774227142,
17.428573608398438
] | [
18.065750122070312,
-28.772850036621094,
31.384307861328125,
32.286746978759766,
-0.21320094168186188,
18.285715103149414
] | [
0.2943824231624603,
-0.07841116189956665,
0.1932566612958908,
2.999843120574951,
1.1924858093261719,
2.69132924079895
] | 1 | [
0.2978997528553009,
-0.5893118381500244,
0.380228728055954,
0.5834188461303711,
-0.007408066652715206,
0.37944114208221436
] | [
0.3310132622718811,
-0.5274988412857056,
0.35811322927474976,
0.49069058895111084,
-0.0074632600881159306,
0.3981775939464569
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.667173 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.1 | 51 | 71 | 23,840 | 0 |
[
16.786537170410156,
-30.8848876953125,
32.1956787109375,
35.51378631591797,
-0.21137912571430206,
18.85714340209961
] | [
18.49608039855957,
-28.066543579101562,
31.06782341003418,
31.19504165649414,
-0.21320094168186188,
19.714284896850586
] | [
0.29753267765045166,
-0.08296128362417221,
0.1950974017381668,
2.9911248683929443,
1.2124016284942627,
2.670588493347168
] | 1 | [
0.31050732731819153,
-0.565712571144104,
0.37187257409095764,
0.5480141043663025,
-0.007406040094792843,
0.41066858172416687
] | [
0.3379114866256714,
-0.5147194266319275,
0.35274621844291687,
0.47129806876182556,
-0.0074632600881159306,
0.4294050335884094
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.707781 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.2 | 52 | 71 | 23,841 | 0 |
[
17.43202018737793,
-29.818687438964844,
31.772584915161133,
33.88010787963867,
-0.2115688920021057,
20.285717010498047
] | [
18.938112258911133,
-27.341028213500977,
30.742733001708984,
30.07364845275879,
-0.21320094168186188,
21.142858505249023
] | [
0.30001431703567505,
-0.08674813061952591,
0.19667792320251465,
2.9830472469329834,
1.229076862335205,
2.652651071548462
] | 1 | [
0.3208544850349426,
-0.546421468257904,
0.3646976947784424,
0.5189942717552185,
-0.007412000559270382,
0.44189611077308655
] | [
0.3449972867965698,
-0.5015924572944641,
0.34723329544067383,
0.4513782262802124,
-0.0074632600881159306,
0.4606325328350067
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.742966 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.3 | 53 | 71 | 23,842 | 0 |
[
17.996580123901367,
-28.888751983642578,
31.38836669921875,
32.451560974121094,
-0.21186493337154388,
21.71428680419922
] | [
19.39276123046875,
-26.594802856445312,
30.408361434936523,
28.920242309570312,
-0.21320094168186188,
22.571428298950195
] | [
0.30210819840431213,
-0.0900975689291954,
0.198115274310112,
2.975170373916626,
1.2439196109771729,
2.6361570358276367
] | 1 | [
0.3299044370651245,
-0.5295958518981934,
0.35818204283714294,
0.4936182498931885,
-0.0074212984181940556,
0.4731235206127167
] | [
0.35228535532951355,
-0.48809075355529785,
0.341562956571579,
0.43088969588279724,
-0.0074632600881159306,
0.49185997247695923
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.77501 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.4 | 54 | 71 | 23,843 | 0 |
[
18.51679229736328,
-28.033348083496094,
31.024276733398438,
31.134679794311523,
-0.21216098964214325,
23.14285659790039
] | [
19.861806869506836,
-25.824951171875,
30.063404083251953,
27.73031997680664,
-0.21320094168186188,
24.000001907348633
] | [
0.30397361516952515,
-0.09321344643831253,
0.19947703182697296,
2.967151403427124,
1.257781744003296,
2.6202030181884766
] | 1 | [
0.3382434844970703,
-0.5141187906265259,
0.35200774669647217,
0.47022584080696106,
-0.007430597208440304,
0.5043509602546692
] | [
0.3598042130470276,
-0.4741615951061249,
0.33571311831474304,
0.4097525179386139,
-0.0074632600881159306,
0.5230875015258789
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.805235 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.5 | 55 | 71 | 23,844 | 0 |
[
19.015260696411133,
-27.21451187133789,
30.668663024902344,
29.87212371826172,
-0.2124190777540207,
24.571430206298828
] | [
20.341815948486328,
-25.0371036529541,
29.71038246154785,
26.51258087158203,
-0.21320094168186188,
25.428571701049805
] | [
0.3057020902633667,
-0.09622429311275482,
0.20080292224884033,
2.958707332611084,
1.2711846828460693,
2.604158639907837
] | 1 | [
0.346233993768692,
-0.49930334091186523,
0.34597718715667725,
0.4477984309196472,
-0.007438703440129757,
0.5355784893035889
] | [
0.36749881505966187,
-0.45990681648254395,
0.32972651720046997,
0.38812118768692017,
-0.0074632600881159306,
0.554314911365509
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.834392 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.6 | 56 | 71 | 23,845 | 0 |
[
19.506120681762695,
-26.40859031677246,
30.31413459777832,
28.628206253051758,
-0.21265439689159393,
26
] | [
20.840442657470703,
-24.218698501586914,
29.343669891357422,
25.24761199951172,
-0.21320094168186188,
26.85714340209961
] | [
0.30734631419181824,
-0.09921186417341232,
0.20211684703826904,
2.9495813846588135,
1.284452199935913,
2.5875508785247803
] | 1 | [
0.3541025221347809,
-0.4847215414047241,
0.3399650454521179,
0.4257020950317383,
-0.007446094416081905,
0.566805899143219
] | [
0.3754918575286865,
-0.4450991749763489,
0.32350775599479675,
0.3656509220600128,
-0.0074632600881159306,
0.5855423808097839
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.86285 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.7 | 57 | 71 | 23,846 | 0 |
[
19.999187469482422,
-25.59927749633789,
29.95528793334961,
27.378292083740234,
-0.21283657848834991,
27.428573608398438
] | [
21.3588809967041,
-23.36777687072754,
28.962387084960938,
23.932384490966797,
-0.21320094168186188,
28.285715103149414
] | [
0.30893856287002563,
-0.10223408043384552,
0.20343558490276337,
2.939509391784668,
1.2978111505508423,
2.5699644088745117
] | 1 | [
0.36200645565986633,
-0.47007840871810913,
0.333879679441452,
0.4034992754459381,
-0.007451816461980343,
0.5980334281921387
] | [
0.38380247354507446,
-0.4297031760215759,
0.31704190373420715,
0.34228789806365967,
-0.0074632600881159306,
0.6167698502540588
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.890675 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.8 | 58 | 71 | 23,847 | 0 |
[
20.5009765625,
-24.775697708129883,
29.588407516479492,
26.10580825805664,
-0.21285556256771088,
28.85714340209961
] | [
21.908233642578125,
-22.46611213684082,
28.558364868164062,
22.538724899291992,
-0.21320094168186188,
29.71428680419922
] | [
0.310496985912323,
-0.10533029586076736,
0.20477011799812317,
2.9282100200653076,
1.3114145994186401,
2.5510189533233643
] | 1 | [
0.3700501620769501,
-0.4551771283149719,
0.3276580572128296,
0.3808954954147339,
-0.007452412508428097,
0.6292608380317688
] | [
0.392608642578125,
-0.41338908672332764,
0.31019043922424316,
0.31753161549568176,
-0.0074632600881159306,
0.6479973196983337
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.917418 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 5.9 | 59 | 71 | 23,848 | 0 |
[
21.019411087036133,
-23.924882888793945,
29.208274841308594,
24.790950775146484,
-0.21288971602916718,
30
] | [
21.28206443786621,
-23.580501556396484,
28.703786849975586,
24.12235450744629,
-0.21218375861644745,
30
] | [
0.3120400607585907,
-0.10854934900999069,
0.20613647997379303,
2.915229320526123,
1.3254543542861938,
2.5301382541656494
] | 1 | [
0.37836071848869324,
-0.4397830665111542,
0.32121169567108154,
0.35753902792930603,
-0.007453485392034054,
0.6542428135871887
] | [
0.3825710713863373,
-0.433552086353302,
0.3126565217971802,
0.3456624150276184,
-0.0074313124641776085,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.941572 | [
22.027565002441406,
-20.771974563598633,
28.785449981689453,
22.235992431640625,
-0.21320094168186188,
30
] | [
0.3169025778770447,
-0.1157197505235672,
0.19987957179546356,
2.9193902015686035,
1.3210803270339966,
2.5180089473724365
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.20000000298023224
] | 6 | 60 | 71 | 23,849 | 0 |
[
21.286197662353516,
-23.494218826293945,
28.975605010986328,
24.1225528717041,
-0.21211165189743042,
30
] | [
21.255821228027344,
-23.565567016601562,
28.693687438964844,
24.110271453857422,
-0.21218375861644745,
30
] | [
0.31280404329299927,
-0.11021226644515991,
0.20702418684959412,
2.9074482917785645,
1.3332624435424805,
2.5183117389678955
] | 1 | [
0.3826373517513275,
-0.43199095129966736,
0.317266047000885,
0.34566593170166016,
-0.007429047487676144,
0.6542428135871887
] | [
0.38215041160583496,
-0.43328186869621277,
0.3124852478504181,
0.3454477787017822,
-0.0074313124641776085,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.002537 | [
17.796039581298828,
-21.46230125427246,
27.68756675720215,
22.51714324951172,
-0.21218375861644745,
30
] | [
0.3167141079902649,
-0.1151854544878006,
0.206743523478508,
2.8928725719451904,
1.3464435338974,
2.5600697994232178
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 6.1 | 61 | 71 | 23,850 | 0 |
[
21.27674674987793,
-23.52506446838379,
28.861337661743164,
24.11429214477539,
-0.2117852419614792,
30
] | [
21.18413734436035,
-23.524768829345703,
28.666101455688477,
24.07726287841797,
-0.21218375861644745,
30
] | [
0.31282129883766174,
-0.11017107963562012,
0.20774996280670166,
2.904784679412842,
1.3358304500579834,
2.515875816345215
] | 1 | [
0.38248583674430847,
-0.43254902958869934,
0.31532829999923706,
0.34551921486854553,
-0.0074187954887747765,
0.6542428135871887
] | [
0.3810012936592102,
-0.43254369497299194,
0.31201744079589844,
0.3448614478111267,
-0.0074313124641776085,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.008559 | [
17.796039581298828,
-21.46230125427246,
27.68756675720215,
22.51714324951172,
-0.21218375861644745,
30
] | [
0.3167141079902649,
-0.1151854544878006,
0.206743523478508,
2.8928725719451904,
1.3464435338974,
2.5600697994232178
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 6.2 | 62 | 71 | 23,851 | 0 |
[
21.24553680419922,
-23.529308319091797,
28.781906127929688,
24.09712791442871,
-0.21149678528308868,
30
] | [
21.069599151611328,
-23.459583282470703,
28.622024536132812,
24.024520874023438,
-0.21218375861644745,
30
] | [
0.31291037797927856,
-0.11004772782325745,
0.2082032412290573,
2.9030206203460693,
1.3375099897384644,
2.514662504196167
] | 1 | [
0.38198554515838623,
-0.43262583017349243,
0.313981294631958,
0.345214307308197,
-0.007409735582768917,
0.6542428135871887
] | [
0.3791652321815491,
-0.4313642680644989,
0.31126999855041504,
0.34392455220222473,
-0.0074313124641776085,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.019201 | [
17.796039581298828,
-21.46230125427246,
27.68756675720215,
22.51714324951172,
-0.21218375861644745,
30
] | [
0.3167141079902649,
-0.1151854544878006,
0.206743523478508,
2.8928725719451904,
1.3464435338974,
2.5600697994232178
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 6.3 | 63 | 71 | 23,852 | 0 |
[
21.184396743774414,
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] | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.037341 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.4 | 64 | 71 | 23,853 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.064411 | [
17.796039581298828,
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27.68756675720215,
22.51714324951172,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 6.5 | 65 | 71 | 23,854 | 0 |
[
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30
] | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.100573 | [
17.796039581298828,
-21.46230125427246,
27.68756675720215,
22.51714324951172,
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30
] | [
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0.206743523478508,
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 6.6 | 66 | 71 | 23,855 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.145304 | [
17.796039581298828,
-21.46230125427246,
27.68756675720215,
22.51714324951172,
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30
] | [
0.3167141079902649,
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0.206743523478508,
2.8928725719451904,
1.3464435338974,
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 6.7 | 67 | 71 | 23,856 | 0 |
[
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30
] | [
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30
] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.19768 | [
17.796039581298828,
-21.46230125427246,
27.68756675720215,
22.51714324951172,
-0.21218375861644745,
30
] | [
0.3167141079902649,
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0.206743523478508,
2.8928725719451904,
1.3464435338974,
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 6.8 | 68 | 71 | 23,857 | 0 |
[
20.41484832763672,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.3374582827091217,
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.256518 | [
17.796039581298828,
-21.46230125427246,
27.68756675720215,
22.51714324951172,
-0.21218375861644745,
30
] | [
0.3167141079902649,
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0.206743523478508,
2.8928725719451904,
1.3464435338974,
2.5600697994232178
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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0.02200007624924183
] | 6.9 | 69 | 71 | 23,858 | 0 |
[
20.27894401550293,
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30
] | [
20.272884368896484,
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28.01022720336914,
23.620790481567383,
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30
] | [
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1.3440464735031128,
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] | 1 | [
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] | [
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0.3008950352668762,
0.33675289154052734,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 7 | 70 | 71 | 23,859 | 0 |
[
20.277376174926758,
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28.162336349487305,
23.646846771240234,
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30
] | [
20.250057220458984,
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28.032968521118164,
23.514854431152344,
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30
] | [
0.31592240929603577,
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0.20996493101119995,
2.892982244491577,
1.3463884592056274,
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] | 1 | [
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] | [
0.36602792143821716,
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0.301280677318573,
0.3348710834980011,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 7.1 | 71 | 71 | 23,860 | 0 |
[
20.268325805664062,
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28.09150505065918,
23.583593368530273,
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30
] | [
20.213367462158203,
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28.069522857666016,
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30
] | [
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0.2097884863615036,
2.893529176712036,
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] | 1 | [
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] | [
0.365439772605896,
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0.30190056562423706,
0.33184656500816345,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.003174 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 7.2 | 72 | 71 | 23,861 | 0 |
[
20.24931526184082,
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28.120243072509766,
23.535205841064453,
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30
] | [
20.163131713867188,
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28.119569778442383,
23.11145782470703,
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30
] | [
0.31657516956329346,
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0.20889878273010254,
2.896289825439453,
1.3432624340057373,
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] | 1 | [
0.3660160005092621,
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0.30276069045066833,
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] | [
0.3646344840526581,
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0.30274927616119385,
0.32770535349845886,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.007407 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 7.3 | 73 | 71 | 23,862 | 0 |
[
20.218856811523438,
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28.096385955810547,
23.368988037109375,
-0.21208128333091736,
30
] | [
20.101659774780273,
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28.180814743041992,
22.8261775970459,
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30
] | [
0.3165538012981415,
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0.2100762277841568,
2.8901848793029785,
1.3487277030944824,
2.518611431121826
] | 1 | [
0.3655277490615845,
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0.30235612392425537,
0.3322800099849701,
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0.6542428135871887
] | [
0.36364907026290894,
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0.30378788709640503,
0.32263779640197754,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.005628 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 7.4 | 74 | 71 | 23,863 | 0 |
[
20.17683982849121,
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28.084388732910156,
23.131513595581055,
-0.20792903006076813,
30
] | [
20.02912139892578,
-20.473865509033203,
28.253082275390625,
22.489543914794922,
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30
] | [
0.3173169195652008,
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0.20917421579360962,
2.8925764560699463,
1.3472135066986084,
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] | 1 | [
0.36485421657562256,
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0.32806161046028137,
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0.6542428135871887
] | [
0.3624862730503082,
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0.30501338839530945,
0.31665799021720886,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.014067 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 7.5 | 75 | 71 | 23,864 | 0 |
[
20.123546600341797,
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28.115121841430664,
22.86888885498047,
-0.2064639776945114,
30
] | [
19.946805953979492,
-19.005945205688477,
28.33509063720703,
22.107545852661133,
-0.21213442087173462,
30
] | [
0.31865209341049194,
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0.2063700556755066,
2.902015209197998,
1.33906888961792,
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] | 1 | [
0.3639999330043793,
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0.3233964741230011,
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0.6542428135871887
] | [
0.36116674542427063,
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0.30640411376953125,
0.3098723590373993,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.03045 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 7.6 | 76 | 71 | 23,865 | 0 |
[
20.05948257446289,
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28.17066764831543,
22.56757354736328,
-0.20611099898815155,
30
] | [
19.856287002563477,
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28.425273895263672,
21.687463760375977,
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30
] | [
0.320422887802124,
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0.2020963728427887,
2.9155757427215576,
1.3259962797164917,
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] | 1 | [
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0.3036158084869385,
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] | [
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0.3079334497451782,
0.3024102449417114,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.053369 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 7.7 | 77 | 71 | 23,866 | 0 |
[
19.98545265197754,
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30
] | [
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] | [
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0.29428690671920776,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.081745 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
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3.092320203781128,
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 7.8 | 78 | 71 | 23,867 | 0 |
[
19.902347564697266,
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30
] | [
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] | [
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0.28564804792404175,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.114677 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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0.02200007624924183
] | 7.9 | 79 | 71 | 23,868 | 0 |
[
19.811080932617188,
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21.424732208251953,
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30
] | [
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30
] | [
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0.27657821774482727,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.151452 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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3.092320203781128,
0.7198214530944824,
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8 | 80 | 71 | 23,869 | 0 |
[
19.71273422241211,
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20.97254753112793,
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30
] | [
19.42828369140625,
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28.851682662963867,
19.70120620727539,
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30
] | [
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] | [
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0.31516456604003906,
0.2671273648738861,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.191443 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
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] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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0.02200007624924183
] | 8.1 | 81 | 71 | 23,870 | 0 |
[
19.608280181884766,
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20.491832733154297,
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30
] | [
19.31060791015625,
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28.968921661376953,
19.155099868774414,
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30
] | [
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] | [
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0.3171527087688446,
0.2574266195297241,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.234117 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.2 | 82 | 71 | 23,871 | 0 |
[
19.498788833618164,
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28.74716567993164,
19.987529754638672,
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30
] | [
19.190738677978516,
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29.088342666625977,
18.598819732666016,
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30
] | [
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0.15676173567771912,
3.002390146255493,
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] | 1 | [
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] | [
0.349046915769577,
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0.31917786598205566,
0.24754512310028076,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.278966 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.3 | 83 | 71 | 23,872 | 0 |
[
19.38533592224121,
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28.864126205444336,
19.464834213256836,
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30
] | [
19.069780349731445,
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29.208852767944336,
18.0374755859375,
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30
] | [
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0.14708876609802246,
3.013303756713867,
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] | 1 | [
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] | [
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0.3212215006351471,
0.23757368326187134,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.325506 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.4 | 84 | 71 | 23,873 | 0 |
[
19.268972396850586,
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28.98394203186035,
18.928722381591797,
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30
] | [
18.948820114135742,
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29.329362869262695,
17.47612953186035,
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30
] | [
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0.13708361983299255,
3.0230979919433594,
1.1278538703918457,
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] | 1 | [
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0.25340536236763,
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] | [
0.34516894817352295,
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0.3232651352882385,
0.22760222852230072,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.373277 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.5 | 85 | 71 | 23,874 | 0 |
[
19.150808334350586,
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29.105649948120117,
18.384342193603516,
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30
] | [
18.828950881958008,
1.0096807479858398,
29.44878387451172,
16.919849395751953,
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30
] | [
0.33851301670074463,
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0.12684980034828186,
3.0318644046783447,
1.0974245071411133,
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] | 1 | [
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0.3194713890552521,
0.24373525381088257,
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0.6542428135871887
] | [
0.3432474434375763,
0.011365546844899654,
0.3252902925014496,
0.21772074699401855,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.421819 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.6 | 86 | 71 | 23,875 | 0 |
[
19.0318546295166,
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29.228174209594727,
17.83665657043457,
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30
] | [
18.711275100708008,
3.1168220043182373,
29.566022872924805,
16.373743057250977,
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30
] | [
0.33943459391593933,
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0.11649339646100998,
3.03969669342041,
1.066756248474121,
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] | 1 | [
0.3465000092983246,
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0.3215491771697998,
0.23400644958019257,
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0.6542428135871887
] | [
0.34136107563972473,
0.04949069395661354,
0.3272784650325775,
0.20801998674869537,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.470684 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.7 | 87 | 71 | 23,876 | 0 |
[
18.913238525390625,
-0.4987121820449829,
29.350566864013672,
17.290876388549805,
-0.21038471162319183,
30
] | [
18.596630096435547,
5.169676303863525,
29.680240631103516,
15.841704368591309,
-0.21213442087173462,
30
] | [
0.3399972915649414,
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0.10612262040376663,
3.0466883182525635,
1.0361318588256836,
2.686824083328247
] | 1 | [
0.34459856152534485,
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0.32362473011016846,
0.2243114709854126,
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0.6542428135871887
] | [
0.3395233154296875,
0.0866336077451706,
0.3292153775691986,
0.19856911897659302,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.519418 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.8 | 88 | 71 | 23,877 | 0 |
[
18.795997619628906,
1.6011947393417358,
29.471708297729492,
16.751832962036133,
-0.2108401656150818,
30
] | [
18.486608505249023,
7.163568496704102,
29.789852142333984,
15.3311185836792,
-0.21213442087173462,
30
] | [
0.3402012586593628,
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0.09584585577249527,
3.0529232025146484,
1.0058330297470093,
2.6940128803253174
] | 1 | [
0.3427191972732544,
0.02206798829138279,
0.32567906379699707,
0.2147361785173416,
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0.6542428135871887
] | [
0.3377596437931061,
0.12270970642566681,
0.33107417821884155,
0.18949931859970093,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.567583 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 8.9 | 89 | 71 | 23,878 | 0 |
[
18.68123435974121,
3.662917137145996,
29.589092254638672,
16.222929000854492,
-0.21115519106388092,
30
] | [
18.381813049316406,
9.099555015563965,
29.894256591796875,
14.844791412353516,
-0.21213442087173462,
30
] | [
0.34006235003471375,
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0.08575151115655899,
3.0584938526153564,
0.9760903716087341,
2.700507879257202
] | 1 | [
0.34087952971458435,
0.059371355921030045,
0.3276696801185608,
0.20534099638462067,
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0.6542428135871887
] | [
0.33607977628707886,
0.1577380895614624,
0.33284470438957214,
0.1808604598045349,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.614863 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9 | 90 | 71 | 23,879 | 0 |
[
18.57094383239746,
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30
] | [
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30
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0.17660655081272125,
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] | Pick up the box lid | Is the box lid grasped? | move | 0.660739 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
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30
] | [
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3.092320203781128,
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2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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0.02200007624924183
] | 9.1 | 91 | 71 | 23,880 | 0 |
[
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30
] | [
18.277305603027344,
11.03024959564209,
29.998376846313477,
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] | [
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2.710902690887451
] | 1 | [
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0.17224521934986115,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.699012 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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0.02200007624924183
] | 9.2 | 92 | 71 | 23,881 | 0 |
[
18.40326690673828,
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29.911314010620117,
14.988938331604004,
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30
] | [
18.22308921813965,
12.031846046447754,
30.052391052246094,
14.108189582824707,
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30
] | [
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3.0704309940338135,
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0.33552637696266174,
0.16777582466602325,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.730918 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9.3 | 93 | 71 | 23,882 | 0 |
[
18.335908889770508,
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29.972578048706055,
14.669722557067871,
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30
] | [
18.16750144958496,
13.058798789978027,
30.107772827148438,
13.850214958190918,
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30
] | [
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3.0729787349700928,
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] | 1 | [
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] | [
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0.22937390208244324,
0.3364655375480652,
0.16319330036640167,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.759207 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9.4 | 94 | 71 | 23,883 | 0 |
[
18.273283004760742,
11.120067596435547,
30.026092529296875,
14.36861515045166,
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30
] | [
18.11043930053711,
14.112967491149902,
30.164623260498047,
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30
] | [
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3.075251340866089,
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] | 1 | [
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] | [
0.33172962069511414,
0.24844728410243988,
0.33742961287498474,
0.15848933160305023,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.78555 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
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0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9.5 | 95 | 71 | 23,884 | 0 |
[
18.212900161743164,
12.230016708374023,
30.077733993530273,
14.07817554473877,
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30
] | [
18.05152702331543,
15.201292037963867,
30.22331428527832,
13.312013626098633,
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30
] | [
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0.04386668652296066,
3.077364683151245,
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] | 1 | [
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] | [
0.33078524470329285,
0.26813867688179016,
0.3384249210357666,
0.15363295376300812,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.810983 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9.6 | 96 | 71 | 23,885 | 0 |
[
18.153146743774414,
13.329869270324707,
30.129989624023438,
13.792113304138184,
-0.21288593113422394,
30
] | [
17.989953994750977,
16.33881378173828,
30.284658432006836,
13.026264190673828,
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30
] | [
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3.0793862342834473,
0.8357754945755005,
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] | 1 | [
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] | [
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0.28872019052505493,
0.3394652009010315,
0.14855705201625824,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.836163 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9.7 | 97 | 71 | 23,886 | 0 |
[
18.09298324584961,
14.438729286193848,
30.184242248535156,
13.505904197692871,
-0.21228623390197754,
30
] | [
17.926193237304688,
17.516748428344727,
30.348182678222656,
12.730362892150879,
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30
] | [
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0.03330538794398308,
3.0813558101654053,
0.8199325203895569,
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] | 1 | [
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] | [
0.32877615094184875,
0.3100329339504242,
0.34054243564605713,
0.14330080151557922,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.861522 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9.8 | 98 | 71 | 23,887 | 0 |
[
18.031570434570312,
15.57126235961914,
30.24076271057129,
13.215160369873047,
-0.2117738425731659,
30
] | [
17.858118057250977,
18.77435302734375,
30.416004180908203,
12.414447784423828,
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30
] | [
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3.083301305770874,
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2.730257749557495
] | 1 | [
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0.15191251039505005,
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] | [
0.3276848793029785,
0.3327871561050415,
0.34169256687164307,
0.13768905401229858,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.887381 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 9.9 | 99 | 71 | 23,888 | 0 |
[
17.9691219329834,
16.72541046142578,
30.306119918823242,
12.928908348083496,
-0.21200916171073914,
30
] | [
17.858118057250977,
18.77435302734375,
30.416004180908203,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.3312310576438904,
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0.02237800695002079,
3.0852279663085938,
0.7868505716323853,
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] | 1 | [
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0.33982914686203003,
0.14682766795158386,
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0.6542428135871887
] | [
0.3276848793029785,
0.3327871561050415,
0.34169256687164307,
0.13768905401229858,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.913653 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10 | 100 | 71 | 23,889 | 0 |
[
17.92527198791504,
17.545095443725586,
30.38718605041504,
12.773815155029297,
-0.21621455252170563,
30
] | [
17.858118057250977,
18.77435302734375,
30.416004180908203,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.330005019903183,
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0.018250709399580956,
3.086592197418213,
0.7734346985816956,
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] | 1 | [
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0.31054583191871643,
0.34120386838912964,
0.14407266676425934,
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0.6542428135871887
] | [
0.3276848793029785,
0.3327871561050415,
0.34169256687164307,
0.13768905401229858,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.932209 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10.1 | 101 | 71 | 23,890 | 0 |
[
17.89875030517578,
18.03715705871582,
30.42242431640625,
12.662552833557129,
-0.21726210415363312,
30
] | [
17.858118057250977,
18.77435302734375,
30.416004180908203,
12.414447784423828,
-0.21213442087173462,
30
] | [
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0.015865398570895195,
3.087380886077881,
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] | 1 | [
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0.6542428135871887
] | [
0.3276848793029785,
0.3327871561050415,
0.34169256687164307,
0.13768905401229858,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.943342 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10.2 | 102 | 71 | 23,891 | 0 |
[
17.88270378112793,
18.33207130432129,
30.4335994720459,
12.582152366638184,
-0.21679526567459106,
30
] | [
17.858118057250977,
18.77435302734375,
30.416004180908203,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.3289603292942047,
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0.01450013741850853,
3.087836503982544,
0.7618477940559387,
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] | 1 | [
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0.14066806435585022,
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0.6542428135871887
] | [
0.3276848793029785,
0.3327871561050415,
0.34169256687164307,
0.13768905401229858,
-0.007429762743413448,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.949993 | [
17.858118057250977,
20.565258026123047,
30.712488174438477,
12.414447784423828,
-0.21213442087173462,
30
] | [
0.31707385182380676,
-0.11562268435955048,
0.002017723396420479,
3.092320203781128,
0.7198214530944824,
2.739260673522949
] | 30 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10.3 | 103 | 71 | 23,892 | 0 |
[
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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29.600000381469727
] | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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28.400001525878906
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] | grasp box lid | Is the object grasped? | gripper_close | 0.013328 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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0
] | [
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3.0880651473999023,
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] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
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] | 10.4 | 104 | 71 | 23,893 | 0 |
[
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0.34201064705848694,
0.1398407369852066,
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] | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.079995 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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0
] | [
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3.0880651473999023,
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] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
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] | 10.5 | 105 | 71 | 23,894 | 0 |
[
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18.48038101196289,
30.43476104736328,
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25.599998474121094
] | [
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18.48038101196289,
30.43476104736328,
12.535577774047852,
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] | [
0.3288036584854126,
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0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
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] | 0 | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
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] | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
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0.5318311452865601
] | grasp box lid | Is the object grasped? | gripper_close | 0.146662 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
0
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
2.7360408306121826
] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10.6 | 106 | 71 | 23,895 | 0 |
[
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
23.60000228881836
] | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
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] | 0 | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
0.514343798160553
] | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
0.4881127178668976
] | grasp box lid | Is the object grasped? | gripper_close | 0.213329 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
0
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
2.7360408306121826
] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10.7 | 107 | 71 | 23,896 | 0 |
[
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
21.599998474121094
] | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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20.399999618530273
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
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] | 0 | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
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] | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
0.44439423084259033
] | grasp box lid | Is the object grasped? | gripper_close | 0.279996 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
0
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
2.7360408306121826
] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10.8 | 108 | 71 | 23,897 | 0 |
[
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
19.600000381469727
] | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
18.400001525878906
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
2.7360408306121826
] | 0 | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
0.42690685391426086
] | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
0.40067580342292786
] | grasp box lid | Is the object grasped? | gripper_close | 0.346663 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
0
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
2.7360408306121826
] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 10.9 | 109 | 71 | 23,898 | 0 |
[
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
17.60000228881836
] | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
16.39999771118164
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
2.7360408306121826
] | 0 | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
0.3831884562969208
] | [
0.32794857025146484,
0.32746821641921997,
0.34201064705848694,
0.1398407369852066,
-0.007547303102910519,
0.3569572865962982
] | grasp box lid | Is the object grasped? | gripper_close | 0.41333 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
-0.2158767580986023,
0
] | [
0.3288036584854126,
-0.09860366582870483,
0.0138416588306427,
3.0880651473999023,
0.7599791884422302,
2.7360408306121826
] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
-0.11565690487623215,
0.02200007624924183
] | 11 | 110 | 71 | 23,899 | 0 |
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