observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.10735 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.14025 | [
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100,
72.29020690917969,
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] | 31.200001 | 312 | 71 | 24,101 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.177035 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.217324 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.260689 | [
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100,
72.29020690917969,
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] | 31.5 | 315 | 71 | 24,104 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.306664 | [
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100,
72.29020690917969,
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] | 31.6 | 316 | 71 | 24,105 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.35475 | [
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100,
72.29020690917969,
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] | 31.700001 | 317 | 71 | 24,106 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.404421 | [
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72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.455135 | [
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100,
72.29020690917969,
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] | 31.9 | 319 | 71 | 24,108 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.506339 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.55747 | [
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100,
72.29020690917969,
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] | 32.099998 | 321 | 71 | 24,110 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.60797 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.657285 | [
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100,
72.29020690917969,
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[
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] | 1 | [
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-1.5308842658996582,
1.22861647605896,
1.1986252069473267,
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] | [
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1.349609136581421,
1.199654221534729,
0.0026340798940509558,
0.0032817735336720943
] | Move to safe position | Is the robot at safe position? | move_free | 0.704875 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
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] | 0.266487 | [
0,
0,
0
] | 32.400002 | 324 | 71 | 24,113 | 0 | ||
[
-3.354888916015625,
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85.37298583984375,
72.1654052734375,
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] | [
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] | [
0.17650116980075836,
0.0016780310543254018,
0.05895876884460449,
3.104717493057251,
0.6652875542640686,
3.094276189804077
] | 1 | [
-0.012361721135675907,
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1.273661732673645,
1.1990749835968018,
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] | [
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-1.6619142293930054,
1.387123703956604,
1.2000112533569336,
0.0030630386900156736,
0.0035018152557313442
] | Move to safe position | Is the robot at safe position? | move_free | 0.750218 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
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] | 0.266487 | [
0,
0,
0
] | 32.5 | 325 | 71 | 24,114 | 0 | ||
[
-3.636427402496338,
-88.21669006347656,
87.8686752319336,
72.18911743164062,
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] | [
-4.332991600036621,
-93.00350189208984,
94.04200744628906,
72.236083984375,
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0.239376038312912
] | [
0.1748773753643036,
0.0022682698909193277,
0.05335425212979317,
3.105675220489502,
0.6575247049331665,
3.0997560024261475
] | 1 | [
-0.016874810680747032,
-1.603034257888794,
1.3159840106964111,
1.1994962692260742,
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] | [
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1.4206724166870117,
1.2003304958343506,
0.00344664859585464,
0.003698594169691205
] | Move to safe position | Is the robot at safe position? | move_free | 0.792818 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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] | 0.266487 | [
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0,
0
] | 32.599998 | 326 | 71 | 24,115 | 0 | ||
[
-3.8967597484588623,
-90.00281524658203,
90.1764144897461,
72.2109146118164,
0.10909949988126755,
0.2426563948392868
] | [
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95.7647933959961,
72.2517318725586,
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0.24721534550189972
] | [
0.17348602414131165,
0.0028034031856805086,
0.04815036430954933,
3.106544017791748,
0.6503473520278931,
3.1048099994659424
] | 1 | [
-0.021047964692115784,
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1.355118989944458,
1.1998834609985352,
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] | [
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-1.713791012763977,
1.4498876333236694,
1.200608491897583,
0.003780707251280546,
0.00386995542794466
] | Move to safe position | Is the robot at safe position? | move_free | 0.83221 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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] | 0.266487 | [
0,
0,
0
] | 32.700001 | 327 | 71 | 24,116 | 0 | ||
[
-4.133035182952881,
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92.27082824707031,
72.23059844970703,
0.12198514491319656,
0.2500057816505432
] | [
-4.6908416748046875,
-95.46012878417969,
97.2131576538086,
72.264892578125,
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0.253805935382843
] | [
0.17231570184230804,
0.003281396348029375,
0.043413154780864716,
3.1073200702667236,
0.6438353657722473,
3.1093881130218506
] | 1 | [
-0.024835482239723206,
-1.6646814346313477,
1.3906364440917969,
1.2002331018447876,
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0.003930951934307814
] | [
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-1.7340919971466064,
1.4744492769241333,
1.200842261314392,
0.004061554558575153,
0.004014020785689354
] | Move to safe position | Is the robot at safe position? | move_free | 0.867961 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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3.1100752353668213,
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3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 32.799999 | 328 | 71 | 24,117 | 0 | ||
[
-4.3426666259765625,
-93.06208038330078,
94.12906646728516,
72.24800109863281,
0.1334095299243927,
0.2560758888721466
] | [
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-96.35726928710938,
98.37123107910156,
72.2754135131836,
0.1608845740556717,
0.2590756118297577
] | [
0.17135125398635864,
0.003700226778164506,
0.03920096531510353,
3.1079976558685303,
0.6380574107170105,
3.113440990447998
] | 1 | [
-0.02819589525461197,
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1.4221487045288086,
1.2005422115325928,
0.003423170419409871,
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] | [
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-1.7503242492675781,
1.494088053703308,
1.2010291814804077,
0.004286113660782576,
0.004129211418330669
] | Move to safe position | Is the robot at safe position? | move_free | 0.89968 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 32.900002 | 329 | 71 | 24,118 | 0 | ||
[
-4.523357391357422,
-94.3017807006836,
95.73076629638672,
72.262939453125,
0.14328156411647797,
0.26080021262168884
] | [
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99,
72.2831802368164,
0.16616378724575043,
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] | [
0.17057612538337708,
0.004057837650179863,
0.03556519001722336,
3.108574151992798,
0.6330786347389221,
3.116929292678833
] | 1 | [
-0.031092386692762375,
-1.713133692741394,
1.4493106603622437,
1.2008075714111328,
0.003733233781531453,
0.004166909959167242
] | [
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-1.7623099088668823,
1.5047507286071777,
1.201167106628418,
0.004451924469321966,
0.004214267712086439
] | Move to safe position | Is the robot at safe position? | move_free | 0.92702 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33 | 330 | 71 | 24,119 | 0 | ||
[
-4.673118591308594,
-95.32640075683594,
97.00175476074219,
72.27919006347656,
0.1510167419910431,
0.2641270160675049
] | [
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-97.44017791748047,
99,
72.2881088256836,
0.16951467096805573,
0.26543644070625305
] | [
0.17004922032356262,
0.004354862496256828,
0.032745350152254105,
3.1089789867401123,
0.6297881603240967,
3.119764804840088
] | 1 | [
-0.03349307179450989,
-1.7316724061965942,
1.470864176750183,
1.2010962963104248,
0.003976182080805302,
0.004239631351083517
] | [
-0.038400694727897644,
-1.769917607307434,
1.5047507286071777,
1.2012547254562378,
0.00455716997385025,
0.004268254619091749
] | Move to safe position | Is the robot at safe position? | move_free | 0.949058 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.099998 | 331 | 71 | 24,120 | 0 | ||
[
-4.790328025817871,
-96.1297836303711,
97.79351806640625,
72.28974914550781,
0.1572868674993515,
0.2660198211669922
] | [
-5.0046000480651855,
-97.61407470703125,
99,
72.29014587402344,
0.17090052366256714,
0.2664578855037689
] | [
0.16999198496341705,
0.00459810858592391,
0.03128771856427193,
3.1090595722198486,
0.6307146549224854,
3.1218502521514893
] | 1 | [
-0.03537195175886154,
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1.4842910766601562,
1.2012838125228882,
0.004173115827143192,
0.004281006753444672
] | [
-0.03880675509572029,
-1.7730640172958374,
1.5047507286071777,
1.2012908458709717,
0.004600697197020054,
0.004290582612156868
] | Move to safe position | Is the robot at safe position? | move_free | 0.964092 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.200001 | 332 | 71 | 24,121 | 0 | ||
[
-5.004146575927734,
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99.92044830322266,
72.2813491821289,
0.022839713841676712,
0.04236801713705063
] | [
-4.991424560546875,
-97.52184295654297,
99,
72.26900482177734,
0.023990415036678314,
0.04229835793375969
] | [
0.16891607642173767,
0.00503989914432168,
0.026154953986406326,
3.1066834926605225,
0.6210802793502808,
3.1204655170440674
] | 1 | [
-0.038799483329057693,
-1.7726202011108398,
1.5203598737716675,
1.2011345624923706,
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] | [
-0.03859554976224899,
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1.5047507286071777,
1.2009153366088867,
-0.000013493281585397199,
-0.0006093714036978781
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000942 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0 | 0 | 72 | 24,122 | 0 | ||
[
-5.0004401206970215,
-97.57421112060547,
99.55490112304688,
72.27155303955078,
0.02393660694360733,
0.042205601930618286
] | [
-4.939764022827148,
-97.20736694335938,
99,
72.2724838256836,
0.02225591614842415,
0.04199739545583725
] | [
0.1695011407136917,
0.005054562818259001,
0.02748107723891735,
3.106257438659668,
0.6271660923957825,
3.120184898376465
] | 1 | [
-0.038740068674087524,
-1.7723426818847656,
1.5141608715057373,
1.200960636138916,
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] | [
-0.037767425179481506,
-1.7657053470611572,
1.5047507286071777,
1.200977087020874,
-0.00006797086825827137,
-0.000615950208157301
] | Move to initial position | Is the robot at initial position? | move_initial | 0.005012 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0.1 | 1 | 72 | 24,123 | 0 | ||
[
-4.980504035949707,
-97.45642852783203,
99.3338623046875,
72.26760864257812,
0.023959379643201828,
0.041812896728515625
] | [
-4.848964691162109,
-96.65464782714844,
98.7652816772461,
72.27861022949219,
0.019207369536161423,
0.04146841913461685
] | [
0.16967444121837616,
0.005019398406147957,
0.028084062039852142,
3.1061325073242188,
0.6288504600524902,
3.1197926998138428
] | 1 | [
-0.03842049092054367,
-1.7702116966247559,
1.5104124546051025,
1.2008905410766602,
-0.000014468049812421668,
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] | [
-0.03631190210580826,
-1.7557047605514526,
1.5007704496383667,
1.2010859251022339,
-0.0001637203968130052,
-0.0006275132182054222
] | Move to initial position | Is the robot at initial position? | move_initial | 0.008395 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0.2 | 2 | 72 | 24,124 | 0 | ||
[
-4.935229301452637,
-97.17890930175781,
99.13936614990234,
72.27293395996094,
0.02222864329814911,
0.04119420424103737
] | [
-4.720022678375244,
-95.86973571777344,
97.73954772949219,
72.28730773925781,
0.014878175221383572,
0.0407172292470932
] | [
0.16953110694885254,
0.004919326398521662,
0.02828490361571312,
3.1062283515930176,
0.6270343065261841,
3.119079113006592
] | 1 | [
-0.03769473358988762,
-1.7651903629302979,
1.5071141719818115,
1.200985074043274,
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] | [
-0.034244950860738754,
-1.741503119468689,
1.4833757877349854,
1.2012404203414917,
-0.000299692852422595,
-0.0006439336575567722
] | Move to initial position | Is the robot at initial position? | move_initial | 0.012852 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0.3 | 3 | 72 | 24,125 | 0 | ||
[
-4.859488010406494,
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98.6617431640625,
72.28326416015625,
0.019070805981755257,
0.04035629704594612
] | [
-4.554348945617676,
-94.86123657226562,
96.421630859375,
72.29847717285156,
0.009315748699009418,
0.0397520549595356
] | [
0.16953499615192413,
0.004761348944157362,
0.02917535975575447,
3.106193780899048,
0.626531720161438,
3.117764472961426
] | 1 | [
-0.03648059442639351,
-1.7567743062973022,
1.4990146160125732,
1.2011686563491821,
-0.00016800963203422725,
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] | [
-0.03158918395638466,
-1.72325599193573,
1.4610264301300049,
1.2014389038085938,
-0.0004743989557027817,
-0.0006650316063314676
] | Move to initial position | Is the robot at initial position? | move_initial | 0.021954 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 0.4 | 4 | 72 | 24,126 | 0 | ||
[
-4.750713348388672,
-96.0494613647461,
97.8718490600586,
72.2933578491211,
0.015112125314772129,
0.03930836170911789
] | [
-4.353760719299316,
-93.64019775390625,
94.82595825195312,
72.31200408935547,
0.0025810599327087402,
0.03858347237110138
] | [
0.16973724961280823,
0.0045411717146635056,
0.030848653987050056,
3.1060144901275635,
0.6277216076850891,
3.1158149242401123
] | 1 | [
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1.4856194257736206,
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] | [
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1.4339667558670044,
1.2016791105270386,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.036115 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 0.5 | 5 | 72 | 24,127 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.05525 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 0.6 | 6 | 72 | 24,128 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.079192 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 0.7 | 7 | 72 | 24,129 | 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 | 0.107706 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 0.8 | 8 | 72 | 24,130 | 0 | ||
[
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72.34693908691406,
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.140493 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0,
0
] | 0.9 | 9 | 72 | 24,131 | 0 | ||
[
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72.36461639404297,
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] | [
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] | [
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3.103464365005493,
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] | 1 | [
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1.2034015655517578,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.177204 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 1 | 10 | 72 | 24,132 | 0 | ||
[
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87.42063903808594,
72.38384246826172,
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] | [
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] | [
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0.054231949150562286,
3.1026809215545654,
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3.091413974761963
] | 1 | [
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] | [
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1.1924582719802856,
1.2038236856460571,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.217443 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
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0
] | 1.1 | 11 | 72 | 24,133 | 0 | ||
[
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84.91384887695312,
72.4044189453125,
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] | [
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] | [
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0.0011618981370702386,
0.05982508882880211,
3.1018216609954834,
0.6644591689109802,
3.085570812225342
] | 1 | [
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] | [
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1.143146276473999,
1.2042615413665771,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.260772 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.2 | 12 | 72 | 24,134 | 0 | ||
[
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] | [
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] | [
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0.00043296554940752685,
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3.100893020629883,
0.6723266839981079,
3.0793614387512207
] | 1 | [
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] | [
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1.0926071405410767,
1.2047102451324463,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.30672 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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3.0845351219177246,
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] | 0 | [
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0,
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] | 1.3 | 13 | 72 | 24,135 | 0 | ||
[
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] | [
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71.67646789550781,
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] | [
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0.07185772806406021,
3.099902629852295,
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3.0728509426116943
] | 1 | [
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1.1736211776733398,
1.204108476638794,
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] | [
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1.0413939952850342,
1.205165147781372,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.354785 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.4 | 14 | 72 | 24,136 | 0 | ||
[
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72.47196197509766,
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] | [
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] | [
0.18241868913173676,
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0.07814133912324905,
3.0988593101501465,
0.6890887022018433,
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] | 1 | [
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1.124889850616455,
1.204520583152771,
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] | [
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0.9900685548782349,
1.2056208848953247,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.40444 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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] | 0 | [
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0,
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] | 1.5 | 15 | 72 | 24,137 | 0 | ||
[
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72.49554443359375,
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] | [
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65.64978790283203,
72.55933380126953,
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] | [
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0.08449617773294449,
3.0977704524993896,
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3.059204578399658
] | 1 | [
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] | [
0.030419493094086647,
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0.9391926527023315,
1.2060725688934326,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.455142 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.6 | 16 | 72 | 24,138 | 0 | ||
[
-1.3216476440429688,
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72.5191421508789,
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] | [
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62.7091064453125,
72.58426666259766,
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] | [
0.18746434152126312,
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0.09084225445985794,
3.096649169921875,
0.7065878510475159,
3.052215337753296
] | 1 | [
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] | [
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0.8893240690231323,
1.2065154314041138,
-0.004943390376865864,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.506337 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.7 | 17 | 72 | 24,139 | 0 | ||
[
-0.9497846364974976,
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67.7440185546875,
72.54257202148438,
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] | [
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59.86003112792969,
72.60841369628906,
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] | [
0.1902245134115219,
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0.0971018522977829,
3.095505714416504,
0.7153728008270264,
3.045215368270874
] | 1 | [
0.02619233913719654,
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1.2057747840881348,
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] | [
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0.8410090208053589,
1.206944465637207,
-0.005321068689227104,
-0.0012503289617598057
] | Move to initial position | Is the robot at initial position? | move_initial | 0.557464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.8 | 18 | 72 | 24,140 | 0 | ||
[
-0.5825005769729614,
-70.6854019165039,
64.82147216796875,
72.56548309326172,
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0.012165633030235767
] | [
0.3844466805458069,
-64.79736328125,
57.1337776184082,
72.63152313232422,
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] | [
0.19309557974338531,
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0.10320053994655609,
3.094353675842285,
0.7240523099899292,
3.038283109664917
] | 1 | [
0.03207993879914284,
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0.9251459240913391,
1.2061817646026611,
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] | [
0.04758020117878914,
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0.7947767972946167,
1.2073549032211304,
-0.005682465620338917,
-0.0012939722510054708
] | Move to initial position | Is the robot at initial position? | move_initial | 0.607963 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 72 | 24,141 | 0 | ||
[
-0.22381500899791718,
-68.5028076171875,
61.96730422973633,
72.58770751953125,
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] | [
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] | [
0.196034237742424,
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0.10906926542520523,
3.0932044982910156,
0.7325289249420166,
3.031491279602051
] | 1 | [
0.03782970458269119,
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0.8767445087432861,
1.2065765857696533,
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] | [
0.05276619270443916,
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0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
-0.0013351710513234138
] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2 | 20 | 72 | 24,142 | 0 | ||
[
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-66.39636993408203,
59.212825775146484,
72.60902404785156,
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] | [
1.0087400674819946,
-60.99710464477539,
52.16755676269531,
72.67362976074219,
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0.007342744618654251
] | [
0.19899266958236694,
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0.11464529484510422,
3.0920727252960205,
0.7407094240188599,
3.024916648864746
] | 1 | [
0.04337863624095917,
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0.8300336003303528,
1.2069553136825562,
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] | [
0.05758768320083618,
-1.1105420589447021,
0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
-0.001373474020510912
] | Move to initial position | Is the robot at initial position? | move_initial | 0.704875 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 72 | 24,143 | 0 | ||
[
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-64.38919830322266,
56.588233947753906,
72.62915802001953,
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] | [
1.2834818363189697,
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49.98200225830078,
72.69215393066406,
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] | [
0.20191989839076996,
-0.007907712832093239,
0.1198732778429985,
3.090972900390625,
0.7485052347183228,
3.0186331272125244
] | 1 | [
0.04866597056388855,
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0.785525381565094,
1.2073129415512085,
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] | [
0.061991821974515915,
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0.6734958291053772,
1.2084319591522217,
-0.006630517542362213,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.750227 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.2 | 22 | 72 | 24,144 | 0 | ||
[
0.7620849609375,
-62.503238677978516,
54.12232971191406,
72.64794921875,
-0.1683991402387619,
0.005148384254425764
] | [
1.5291786193847656,
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48.027496337890625,
72.70872497558594,
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0.004310786258429289
] | [
0.20476315915584564,
-0.008870099671185017,
0.1247050017118454,
3.0899202823638916,
0.7558283805847168,
3.012712240219116
] | 1 | [
0.05363377928733826,
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0.7437081933021545,
1.2076467275619507,
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] | [
0.06593036651611328,
-1.053221344947815,
0.6403510570526123,
1.2087262868881226,
-0.006889610085636377,
-0.0014397503109648824
] | Move to initial position | Is the robot at initial position? | move_initial | 0.792838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.3 | 23 | 72 | 24,145 | 0 | ||
[
1.0486619472503662,
-60.759178161621094,
51.84210205078125,
72.66519165039062,
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] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
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0.003064300399273634
] | [
0.20746982097625732,
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0.12910054624080658,
3.0889298915863037,
0.7625998258590698,
3.0072224140167236
] | 1 | [
0.05822763592004776,
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0.7050397396087646,
1.2079529762268066,
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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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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 72 | 24,146 | 0 | ||
[
1.308769702911377,
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49.77260208129883,
72.68077850341797,
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] | [
1.9230180978775024,
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44.894527435302734,
72.73528289794922,
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0.0020163662265986204
] | [
0.20998850464820862,
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0.13302692770957947,
3.0880165100097656,
0.7687429189682007,
3.002225875854492
] | 1 | [
0.06239718943834305,
-1.0775946378707886,
0.6699448227882385,
1.208229899406433,
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] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
-0.001489904592745006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.868004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.5 | 25 | 72 | 24,147 | 0 | ||
[
1.5395591259002686,
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47.936458587646484,
72.69451904296875,
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0.0016554341418668628
] | [
2.066845417022705,
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43.750389099121094,
72.74497985839844,
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0.0011784601956605911
] | [
0.21227119863033295,
-0.01143608707934618,
0.1364585906267166,
3.0871946811676025,
0.77419114112854,
2.9977829456329346
] | 1 | [
0.06609676778316498,
-1.0521785020828247,
0.6388071775436401,
1.2084739208221436,
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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,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 26 | 72 | 24,148 | 0 | ||
[
1.73849356174469,
-56.560569763183594,
46.353797912597656,
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,
-0.012129044160246849,
0.1393764764070511,
3.0864765644073486,
0.7788882255554199,
2.993943929672241
] | 1 | [
0.06928570568561554,
-1.0302704572677612,
0.6119682192802429,
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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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 72 | 24,149 | 0 | ||
[
1.9034008979797363,
-55.55680465698242,
45.041996002197266,
72.7159423828125,
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0.0003752684569917619
] | [
2.240453004837036,
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42.36935043334961,
72.7566909790039,
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0.00016706089081708342
] | [
0.21595777571201324,
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0.1417657434940338,
3.0858752727508545,
0.7827786207199097,
2.9907562732696533
] | 1 | [
0.07192918658256531,
-1.0121090412139893,
0.5897224545478821,
1.2088545560836792,
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] | [
0.07733216881752014,
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0.5443993210792542,
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,
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] | 0 | [
0,
0,
0
] | 2.8 | 28 | 72 | 24,150 | 0 | ||
[
2.0324671268463135,
-54.771156311035156,
44.01533889770508,
72.7234878540039,
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0.0000743037453503348
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
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0.0000046465038394671865
] | [
0.21729041635990143,
-0.013181239366531372,
0.14361697435379028,
3.0854008197784424,
0.7858228087425232,
2.9882583618164062
] | 1 | [
0.07399813085794449,
-0.9978940486907959,
0.5723122358322144,
1.2089885473251343,
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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 | 72 | 24,151 | 0 | ||
[
2.125281810760498,
-54.18436813354492,
43.25060272216797,
72.71295928955078,
-0.2119712084531784,
0
] | [
2.2860617637634277,
-53.9501953125,
43.072322845458984,
72.70204162597656,
-0.21320094168186188,
0
] | [
0.21832643449306488,
-0.01352614350616932,
0.14501170814037323,
3.085059642791748,
0.7883502840995789,
2.9864895343780518
] | 1 | [
0.075485959649086,
-0.9872771501541138,
0.559343695640564,
1.208801507949829,
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] | [
0.07806327939033508,
-0.9830401539802551,
0.5563204288482666,
1.20860755443573,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3 | 30 | 72 | 24,152 | 0 |
[
2.1730520725250244,
-54.08835220336914,
43.17924880981445,
72.70975494384766,
-0.21194085478782654,
0
] | [
2.8437576293945312,
-54.07367706298828,
43.1016731262207,
72.60991668701172,
-0.21320094168186188,
0
] | [
0.21844075620174408,
-0.013673122972249985,
0.1450338512659073,
3.085113525390625,
0.7878814935684204,
2.985762596130371
] | 1 | [
0.07625172287225723,
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0.5581336617469788,
1.2087446451187134,
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] | [
0.0870032012462616,
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0.5568181276321411,
1.2069711685180664,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.000201 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.1 | 31 | 72 | 24,153 | 0 |
[
2.3966331481933594,
-54.07268142700195,
43.1477165222168,
72.67677307128906,
-0.21164479851722717,
0
] | [
3.8318798542022705,
-54.29246520996094,
43.15367889404297,
72.44668579101562,
-0.21320094168186188,
0
] | [
0.21849778294563293,
-0.014325393363833427,
0.14517636597156525,
3.0850284099578857,
0.7887164354324341,
2.9821248054504395
] | 1 | [
0.07983575016260147,
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0.5575989484786987,
1.2081587314605713,
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] | [
0.10284289717674255,
-0.9892329573631287,
0.5577000975608826,
1.2040715217590332,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.002748 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.2 | 32 | 72 | 24,154 | 0 |
[
2.890047788619995,
-54.14236831665039,
43.14777755737305,
72.59789276123047,
-0.21135255694389343,
0
] | [
5.174399375915527,
-54.5897216796875,
43.22433853149414,
72.22492218017578,
-0.21320094168186188,
0
] | [
0.21850669384002686,
-0.015757286921143532,
0.14551608264446259,
3.0847365856170654,
0.7913694977760315,
2.9740145206451416
] | 1 | [
0.08774523437023163,
-0.9865171909332275,
0.5576000213623047,
1.2067575454711914,
-0.007405205629765987,
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] | [
0.12436361610889435,
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0.5588983297348022,
1.2001322507858276,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.008695 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.3 | 33 | 72 | 24,155 | 0 |
[
3.696540117263794,
-54.2968635559082,
43.17470169067383,
72.4663314819336,
-0.21104131639003754,
0
] | [
6.864567279815674,
-54.96395492553711,
43.31329345703125,
71.94571685791016,
-0.21320094168186188,
0
] | [
0.2184535562992096,
-0.018095528706908226,
0.14608392119407654,
3.0842134952545166,
0.7960308194160461,
2.9607203006744385
] | 1 | [
0.1006733849644661,
-0.9893125295639038,
0.5580565929412842,
1.204420566558838,
-0.007395430002361536,
-0.0015339808305725455
] | [
0.15145717561244965,
-1.0013824701309204,
0.5604068636894226,
1.1951725482940674,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.018529 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.4 | 34 | 72 | 24,156 | 0 |
[
4.82898473739624,
-54.53299331665039,
43.224849700927734,
72.2801513671875,
-0.21090468764305115,
0
] | [
8.875054359436035,
-55.40911102294922,
43.41910934448242,
71.61360931396484,
-0.21320094168186188,
0
] | [
0.21830466389656067,
-0.02137802168726921,
0.14689086377620697,
3.083441972732544,
0.8027383685112,
2.942016839981079
] | 1 | [
0.11882658302783966,
-0.993584930896759,
0.5589069724082947,
1.2011133432388306,
-0.007391138933598995,
-0.0015339808305725455
] | [
0.18368548154830933,
-1.0094367265701294,
0.5622012615203857,
1.1892732381820679,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.032369 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.5 | 35 | 72 | 24,157 | 0 |
[
6.285465240478516,
-54.953468322753906,
43.29279327392578,
72.03945922851562,
-0.2108401656150818,
0
] | [
11.153643608093262,
-57.24424743652344,
43.539031982421875,
71.2372055053711,
-0.21320094168186188,
0
] | [
0.21795131266117096,
-0.02558985911309719,
0.14824022352695465,
3.082184076309204,
0.8134341835975647,
2.9177613258361816
] | 1 | [
0.1421741098165512,
-1.0011926889419556,
0.5600591897964478,
1.1968377828598022,
-0.007389112375676632,
-0.0015339808305725455
] | [
0.22021149098873138,
-1.0426404476165771,
0.5642349720001221,
1.182586908340454,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.050427 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.6 | 36 | 72 | 24,158 | 0 |
[
8.050698280334473,
-55.50080108642578,
43.37999725341797,
71.74859619140625,
-0.2110033631324768,
0
] | [
13.696032524108887,
-56.476558685302734,
43.6728401184082,
70.81723022460938,
-0.21320094168186188,
0
] | [
0.2173449546098709,
-0.030679918825626373,
0.14996547996997833,
3.0805411338806152,
0.826978862285614,
2.8882594108581543
] | 1 | [
0.1704709678888321,
-1.0110957622528076,
0.56153804063797,
1.1916710138320923,
-0.0073942383751273155,
-0.0015339808305725455
] | [
0.2609662413597107,
-1.0287504196166992,
0.5665040612220764,
1.1751266717910767,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.072319 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.7 | 37 | 72 | 24,159 | 0 |
[
10.10423469543457,
-56.14661407470703,
43.49839782714844,
71.40877532958984,
-0.21085534989833832,
0
] | [
16.45567512512207,
-58.418212890625,
43.818084716796875,
70.36136627197266,
-0.21320094168186188,
0
] | [
0.21641504764556885,
-0.03657493740320206,
0.15194383263587952,
3.07859206199646,
0.8426376581192017,
2.8538994789123535
] | 1 | [
0.20338936150074005,
-1.0227806568145752,
0.5635458827018738,
1.1856346130371094,
-0.007389589212834835,
-0.0015339808305725455
] | [
0.3052035868167877,
-1.0638813972473145,
0.5689671635627747,
1.1670290231704712,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.097683 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.8 | 38 | 72 | 24,160 | 0 |
[
12.421950340270996,
-56.80823516845703,
43.61792755126953,
71.02648162841797,
-0.21115519106388092,
0.28571537137031555
] | [
19.39712142944336,
-59.06949996948242,
43.972896575927734,
69.87547302246094,
-0.21320094168186188,
1.1428574323654175
] | [
0.21515101194381714,
-0.04319901019334793,
0.15405841171741486,
3.076423168182373,
0.8593111038208008,
2.8151090145111084
] | 1 | [
0.24054257571697235,
-1.034751534461975,
0.5655728578567505,
1.1788437366485596,
-0.007399006746709347,
0.0047115362249314785
] | [
0.3523552715778351,
-1.0756653547286987,
0.5715925097465515,
1.1583977937698364,
-0.0074632600881159306,
0.023447997868061066
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.127548 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 3.9 | 39 | 72 | 24,161 | 0 |
[
14.97539234161377,
-57.46358108520508,
43.75004196166992,
70.60374450683594,
-0.21137532591819763,
1.7142854928970337
] | [
22.511489868164062,
-59.76887512207031,
44.136810302734375,
69.36100769042969,
-0.21320094168186188,
2.571427583694458
] | [
0.21348965167999268,
-0.05045115575194359,
0.15620262920856476,
3.074117660522461,
0.8763722777366638,
2.772413730621338
] | 1 | [
0.2814745008945465,
-1.0466089248657227,
0.5678132772445679,
1.1713345050811768,
-0.007405920885503292,
0.03593897446990013
] | [
0.4022789001464844,
-1.0883193016052246,
0.5743721723556519,
1.149259090423584,
-0.0074632600881159306,
0.05467543751001358
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.166467 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4 | 40 | 72 | 24,162 | 0 |
[
17.737579345703125,
-58.130577087402344,
43.87516784667969,
70.14411163330078,
-0.21142086386680603,
3.142855405807495
] | [
25.747087478637695,
-59.144874572753906,
44.30710220336914,
68.82652282714844,
-0.21320094168186188,
4.000000953674316
] | [
0.21136552095413208,
-0.058227188885211945,
0.15849913656711578,
3.0715818405151367,
0.8944118618965149,
2.7261712551116943
] | 1 | [
0.3257526457309723,
-1.058677077293396,
0.5699352025985718,
1.1631697416305542,
-0.007407350931316614,
0.06716640293598175
] | [
0.4541458487510681,
-1.0770291090011597,
0.5772600173950195,
1.1397647857666016,
-0.0074632600881159306,
0.08590294420719147
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.207798 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.1 | 41 | 72 | 24,163 | 0 |
[
20.679649353027344,
-58.88526153564453,
44.04579162597656,
69.65821075439453,
-0.2114626169204712,
4.5714287757873535
] | [
29.08047103881836,
-61.277339935302734,
44.4825439453125,
68.27587890625,
-0.21320094168186188,
5.4285712242126465
] | [
0.20862318575382233,
-0.0663723573088646,
0.16092652082443237,
3.068737030029297,
0.9137243628501892,
2.6767730712890625
] | 1 | [
0.37291431427001953,
-1.0723317861557007,
0.5728286504745483,
1.1545385122299194,
-0.00740866269916296,
0.09839391708374023
] | [
0.5075803399085999,
-1.1156123876571655,
0.5802351832389832,
1.1299834251403809,
-0.0074632600881159306,
0.11713038384914398
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.251426 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.2 | 42 | 72 | 24,164 | 0 |
[
23.770286560058594,
-59.66592025756836,
44.20913314819336,
69.14871215820312,
-0.21186114847660065,
5.999999046325684
] | [
32.484275817871094,
-62.0589714050293,
44.66168975830078,
67.71360778808594,
-0.21320094168186188,
6.857141017913818
] | [
0.20530101656913757,
-0.0747770294547081,
0.16352282464504242,
3.065570592880249,
0.9340400099754333,
2.6246955394744873
] | 1 | [
0.4224575459957123,
-1.086456537246704,
0.5755986571311951,
1.1454880237579346,
-0.007421179674565792,
0.12962135672569275
] | [
0.5621436238288879,
-1.129754662513733,
0.58327317237854,
1.1199955940246582,
-0.0074632600881159306,
0.1483578085899353
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.296805 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.3 | 43 | 72 | 24,165 | 0 |
[
26.97992706298828,
-60.44642639160156,
44.37729263305664,
68.61797332763672,
-0.21202434599399567,
7.428572654724121
] | [
35.922611236572266,
-61.46853256225586,
44.842655181884766,
67.1456298828125,
-0.21320094168186188,
8.285714149475098
] | [
0.2013915330171585,
-0.083319291472435,
0.16616395115852356,
3.0621862411499023,
0.954642653465271,
2.5704996585845947
] | 1 | [
0.473908394575119,
-1.1005784273147583,
0.5784503221511841,
1.1360602378845215,
-0.007426305674016476,
0.16084887087345123
] | [
0.6172605156898499,
-1.1190717220306396,
0.5863419771194458,
1.1099063158035278,
-0.0074632600881159306,
0.1795853227376938
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.343542 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.4 | 44 | 72 | 24,166 | 0 |
[
30.278017044067383,
-61.219425201416016,
44.54854965209961,
68.0708236694336,
-0.21186493337154388,
8.857142448425293
] | [
39.36809158325195,
-62.25973129272461,
45.02399444580078,
66.57646942138672,
-0.21320094168186188,
9.714284896850586
] | [
0.19689863920211792,
-0.09187283366918564,
0.16882669925689697,
3.0585951805114746,
0.9753429889678955,
2.514681577682495
] | 1 | [
0.5267770886421204,
-1.1145645380020142,
0.5813544988632202,
1.1263409852981567,
-0.0074212984181940556,
0.19207629561424255
] | [
0.6724919080734253,
-1.1333870887756348,
0.5894171595573425,
1.099795937538147,
-0.0074632600881159306,
0.2108127772808075
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.391261 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.5 | 45 | 72 | 24,167 | 0 |
[
33.63423156738281,
-61.998714447021484,
44.72523498535156,
67.51626586914062,
-0.2120053768157959,
10.285712242126465
] | [
42.78773880004883,
-64.42500305175781,
45.203975677490234,
66.0115737915039,
-0.21320094168186188,
11.142858505249023
] | [
0.19182249903678894,
-0.1003006249666214,
0.17151930928230286,
3.054734230041504,
0.9961887001991272,
2.4576597213745117
] | 1 | [
0.580577552318573,
-1.128664493560791,
0.5843507647514343,
1.1164900064468384,
-0.007425709627568722,
0.22330373525619507
] | [
0.7273091673851013,
-1.1725640296936035,
0.592469334602356,
1.08976149559021,
-0.0074632600881159306,
0.24204029142856598
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.439635 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.6 | 46 | 72 | 24,168 | 0 |
[
37.01768112182617,
-62.791473388671875,
44.884334564208984,
66.954833984375,
-0.2116827517747879,
11.714285850524902
] | [
46.15559387207031,
-65.19837951660156,
45.381229400634766,
65.45523834228516,
-0.21320094168186188,
12.571428298950195
] | [
0.18620805442333221,
-0.1084819808602333,
0.17435474693775177,
3.0505051612854004,
1.0176887512207031,
2.399853467941284
] | 1 | [
0.6348145604133606,
-1.1430081129074097,
0.5870488286018372,
1.1065170764923096,
-0.007415576372295618,
0.25453123450279236
] | [
0.7812962532043457,
-1.1865569353103638,
0.5954751968383789,
1.0798790454864502,
-0.0074632600881159306,
0.2732677161693573
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.488313 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.7 | 47 | 72 | 24,169 | 0 |
[
40.39835739135742,
-63.56309509277344,
45.06233215332031,
66.39628601074219,
-0.2117396891117096,
13.14285659790039
] | [
49.432926177978516,
-64.57096862792969,
45.55371856689453,
64.91385650634766,
-0.21320094168186188,
13.999998092651367
] | [
0.18012869358062744,
-0.11631603538990021,
0.17706364393234253,
3.0461156368255615,
1.0384294986724854,
2.3419008255004883
] | 1 | [
0.6890071630477905,
-1.1569693088531494,
0.5900673270225525,
1.096595287322998,
-0.007417364977300167,
0.28575870394706726
] | [
0.8338322043418884,
-1.1752049922943115,
0.5984002947807312,
1.0702621936798096,
-0.0074632600881159306,
0.3044951558113098
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.536877 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.8 | 48 | 72 | 24,170 | 0 |
[
43.745826721191406,
-64.318603515625,
45.25753402709961,
65.84608459472656,
-0.21243426203727722,
14.571429252624512
] | [
52.595191955566406,
-66.67713165283203,
45.72015380859375,
64.39148712158203,
-0.21320094168186188,
15.428571701049805
] | [
0.17366285622119904,
-0.12370462715625763,
0.1796514093875885,
3.0415408611297607,
1.0584325790405273,
2.2842648029327393
] | 1 | [
0.7426674365997314,
-1.170638918876648,
0.5933775901794434,
1.0868217945098877,
-0.00743918027728796,
0.31698617339134216
] | [
0.8845236301422119,
-1.2133125066757202,
0.6012227535247803,
1.0609830617904663,
-0.0074632600881159306,
0.3357226550579071
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.584985 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 4.9 | 49 | 72 | 24,171 | 0 |
[
47.02837371826172,
-65.08928680419922,
45.43197250366211,
65.30619812011719,
-0.21294665336608887,
16
] | [
55.617584228515625,
-65.99118041992188,
45.87922286987305,
63.892215728759766,
-0.21320094168186188,
16.857141494750977
] | [
0.16689026355743408,
-0.13054321706295013,
0.18235555291175842,
3.036527156829834,
1.0788668394088745,
2.2272427082061768
] | 1 | [
0.7952869534492493,
-1.184583067893982,
0.5963357090950012,
1.077231526374817,
-0.0074552735313773155,
0.34821364283561707
] | [
0.9329728484153748,
-1.2009013891220093,
0.6039202809333801,
1.0521142482757568,
-0.0074632600881159306,
0.3669500946998596
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.632324 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5 | 50 | 72 | 24,172 | 0 |
[
50.21638488769531,
-65.73164367675781,
45.599388122558594,
64.7782974243164,
-0.21282519400119781,
17.428569793701172
] | [
57.3703727722168,
-67.773681640625,
45.97147750854492,
63.6026725769043,
-0.21320094168186188,
18.285715103149414
] | [
0.16003790497779846,
-0.13689513504505157,
0.18471762537956238,
3.0318078994750977,
1.0968947410583496,
2.1719605922698975
] | 1 | [
0.8463911414146423,
-1.196205496788025,
0.5991747975349426,
1.0678541660308838,
-0.0074514588341116905,
0.3794410824775696
] | [
0.9610702395439148,
-1.2331527471542358,
0.6054847240447998,
1.0469709634780884,
-0.0074632600881159306,
0.3981775939464569
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.678255 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.1 | 51 | 72 | 24,173 | 0 |
[
52.9411506652832,
-66.10350036621094,
45.72743225097656,
64.3271255493164,
-0.2132958322763443,
18.85714340209961
] | [
58.8617057800293,
-68.11614227294922,
46.049964904785156,
63.3563232421875,
-0.21320094168186188,
19.714284896850586
] | [
0.1540512889623642,
-0.14218802750110626,
0.18631941080093384,
3.0283076763153076,
1.1093664169311523,
2.1251509189605713
] | 1 | [
0.8900693655014038,
-1.2029335498809814,
0.6013461947441101,
1.0598397254943848,
-0.007466240786015987,
0.41066858172416687
] | [
0.9849764704704285,
-1.2393488883972168,
0.606815755367279,
1.0425949096679688,
-0.0074632600881159306,
0.4294050335884094
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.718395 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.2 | 52 | 72 | 24,174 | 0 |
[
55.17731475830078,
-66.44971466064453,
45.84828186035156,
63.9599494934082,
-0.21372471749782562,
20.28571319580078
] | [
60.39358901977539,
-68.46791076660156,
46.130592346191406,
63.103271484375,
-0.21320094168186188,
21.142854690551758
] | [
0.14892254769802094,
-0.1462802141904831,
0.1876790076494217,
3.0251739025115967,
1.1200143098831177,
2.0864858627319336
] | 1 | [
0.9259153008460999,
-1.209197759628296,
0.6033955812454224,
1.0533174276351929,
-0.007479710970073938,
0.4418960213661194
] | [
1.0095326900482178,
-1.2457135915756226,
0.6081830263137817,
1.0380998849868774,
-0.0074632600881159306,
0.46063247323036194
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.753088 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.3 | 53 | 72 | 24,175 | 0 |
[
57.133113861083984,
-66.79795837402344,
45.95322036743164,
63.63844299316406,
-0.21373990178108215,
21.71428680419922
] | [
61.96921157836914,
-68.82972717285156,
46.21352005004883,
62.842994689941406,
-0.21320094168186188,
22.571428298950195
] | [
0.14427663385868073,
-0.1496499925851822,
0.18900166451931,
3.0220820903778076,
1.1301594972610474,
2.0523440837860107
] | 1 | [
0.9572669863700867,
-1.215498685836792,
0.6051751375198364,
1.047606348991394,
-0.007480188272893429,
0.4731235206127167
] | [
1.0347900390625,
-1.2522600889205933,
0.6095893383026123,
1.03347647190094,
-0.0074632600881159306,
0.49185997247695923
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.784676 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.4 | 54 | 72 | 24,176 | 0 |
[
58.93545150756836,
-67.15096282958984,
46.04932403564453,
63.341793060302734,
-0.213607057929039,
23.14285659790039
] | [
63.59470748901367,
-67.822998046875,
46.299068450927734,
62.57447814941406,
-0.21320094168186188,
23.999998092651367
] | [
0.13987405598163605,
-0.15257984399795532,
0.19031575322151184,
3.018930673599243,
1.140097737312317,
2.020597219467163
] | 1 | [
0.9861586093902588,
-1.2218856811523438,
0.6068048477172852,
1.0423368215560913,
-0.007476015482097864,
0.5043509602546692
] | [
1.0608469247817993,
-1.2340450286865234,
0.6110400557518005,
1.028706669807434,
-0.0074632600881159306,
0.5230873823165894
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.814508 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.5 | 55 | 72 | 24,177 | 0 |
[
60.66254806518555,
-67.50056457519531,
46.13845443725586,
63.054527282714844,
-0.21290870010852814,
24.571426391601562
] | [
65.25820922851562,
-68.20500183105469,
46.38662338256836,
62.2996826171875,
-0.21320094168186188,
25.428571701049805
] | [
0.13556616008281708,
-0.15524564683437347,
0.19162902235984802,
3.015716552734375,
1.1499252319335938,
1.9899933338165283
] | 1 | [
1.0138441324234009,
-1.2282111644744873,
0.6083163619041443,
1.0372339487075806,
-0.007454081438481808,
0.5355783700942993
] | [
1.0875130891799927,
-1.2409566640853882,
0.6125248670578003,
1.0238252878189087,
-0.0074632600881159306,
0.554314911365509
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.843348 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.6 | 56 | 72 | 24,178 | 0 |
[
62.36343002319336,
-67.85128021240234,
46.22892761230469,
62.77394104003906,
-0.21277965605258942,
26
] | [
66.9862289428711,
-68.60181427001953,
46.477569580078125,
62.01423263549805,
-0.21320094168186188,
26.85714340209961
] | [
0.13124336302280426,
-0.15773189067840576,
0.19292530417442322,
3.0123603343963623,
1.1596264839172363,
1.9596596956253052
] | 1 | [
1.0411094427108765,
-1.2345566749572754,
0.6098506450653076,
1.0322498083114624,
-0.007450028322637081,
0.566805899143219
] | [
1.115213394165039,
-1.2481364011764526,
0.6140671372413635,
1.0187547206878662,
-0.0074632600881159306,
0.5855423808097839
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.871622 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.7 | 57 | 72 | 24,179 | 0 |
[
64.07227325439453,
-68.32080841064453,
46.339176177978516,
62.498050689697266,
-0.21418777108192444,
27.428569793701172
] | [
68.78290557861328,
-69.01438903808594,
46.5721321105957,
61.71744155883789,
-0.21320094168186188,
28.28571319580078
] | [
0.12675011157989502,
-0.1599510759115219,
0.1944553256034851,
3.0080997943878174,
1.171029806137085,
1.9283342361450195
] | 1 | [
1.068502426147461,
-1.2430520057678223,
0.6117202043533325,
1.0273489952087402,
-0.007494254969060421,
0.5980333089828491
] | [
1.1440142393112183,
-1.255601167678833,
0.6156707406044006,
1.013482689857483,
-0.0074632600881159306,
0.6167698502540588
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.899846 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.8 | 58 | 72 | 24,180 | 0 |
[
65.81098937988281,
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46.409400939941406,
62.20439529418945,
-0.21236974000930786,
28.85714340209961
] | [
70.68672943115234,
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46.672332763671875,
61.40294647216797,
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29.71428680419922
] | [
0.12218847125768661,
-0.16220371425151825,
0.19592757523059845,
3.0041630268096924,
1.1816399097442627,
1.8968498706817627
] | 1 | [
1.0963741540908813,
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0.6129111051559448,
1.0221326351165771,
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0.6292608380317688
] | [
1.1745327711105347,
-1.263511300086975,
0.6173699498176575,
1.007896065711975,
-0.0074632600881159306,
0.6479973196983337
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.927099 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
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0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 5.9 | 59 | 72 | 24,181 | 0 |
[
67.6078872680664,
-69.17102813720703,
46.52476501464844,
61.913997650146484,
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30
] | [
71.10027313232422,
-69.54653930664062,
46.694095611572266,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.11734553426504135,
-0.1642497479915619,
0.19750569760799408,
2.999274492263794,
1.1933921575546265,
1.8634939193725586
] | 1 | [
1.125178575515747,
-1.2584353685379028,
0.6148674488067627,
1.0169742107391357,
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0.6542428135871887
] | [
1.181161880493164,
-1.26522958278656,
0.6177390217781067,
1.0066826343536377,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.952818 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 6 | 60 | 72 | 24,182 | 0 |
[
68.98822021484375,
-69.33490753173828,
46.574581146240234,
61.679359436035156,
-0.21284417808055878,
30
] | [
69.36990356445312,
-68.8689956665039,
46.36080551147461,
61.616668701171875,
-0.2130870819091797,
30
] | [
0.11371128261089325,
-0.16598935425281525,
0.19835075736045837,
2.996715545654297,
1.1996105909347534,
1.8389970064163208
] | 1 | [
1.1473054885864258,
-1.2614004611968994,
0.6157122850418091,
1.0128061771392822,
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0.6542428135871887
] | [
1.1534239053726196,
-1.252970576286316,
0.6120870113372803,
1.0116925239562988,
-0.007459684275090694,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.970632 | [
71.10027313232422,
-70.0515365600586,
46.930171966552734,
61.334632873535156,
-0.21320094168186188,
30
] | [
0.10784230381250381,
-0.16792359948158264,
0.19969876110553741,
2.9909262657165527,
1.21250581741333,
1.7997279167175293
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.20000000298023224
] | 6.1 | 61 | 72 | 24,183 | 0 |
[
69.38133239746094,
-69.24786376953125,
46.53126525878906,
61.61570739746094,
-0.2140321582555771,
30
] | [
69.31916809082031,
-68.87567901611328,
46.359222412109375,
61.622371673583984,
-0.2130870819091797,
30
] | [
0.11273964494466782,
-0.16662828624248505,
0.19846050441265106,
2.9964969158172607,
1.1998920440673828,
1.8324780464172363
] | 1 | [
1.1536071300506592,
-1.2598254680633545,
0.6149777173995972,
1.011675477027893,
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0.6542428135871887
] | [
1.1526106595993042,
-1.2530914545059204,
0.6120601892471313,
1.011793851852417,
-0.007459684275090694,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0 | [
64.21014404296875,
-70.05341339111328,
46.43362808227539,
62.19678497314453,
-0.2130870819091797,
30
] | [
0.10765878111124039,
-0.16749794781208038,
0.19851744174957275,
2.9940097332000732,
1.205732822418213,
1.913062572479248
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.2 | 62 | 72 | 24,184 | 0 |
[
69.36103820800781,
-69.09957885742188,
46.46440505981445,
61.61726379394531,
-0.2135501354932785,
30
] | [
69.19816589355469,
-68.89161682128906,
46.355438232421875,
61.63597869873047,
-0.2130870819091797,
30
] | [
0.11287254840135574,
-0.1667819321155548,
0.198332741856575,
2.997206449508667,
1.1983363628387451,
1.8334698677062988
] | 1 | [
1.153281807899475,
-1.2571425437927246,
0.6138438582420349,
1.0117031335830688,
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0.6542428135871887
] | [
1.1506710052490234,
-1.2533798217773438,
0.6119959950447083,
1.012035608291626,
-0.007459684275090694,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0 | [
64.21014404296875,
-70.05341339111328,
46.43362808227539,
62.19678497314453,
-0.2130870819091797,
30
] | [
0.10765878111124039,
-0.16749794781208038,
0.19851744174957275,
2.9940097332000732,
1.205732822418213,
1.913062572479248
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.3 | 63 | 72 | 24,185 | 0 |
[
69.30587768554688,
-69.01571655273438,
46.42232894897461,
61.62342834472656,
-0.2135501354932785,
30
] | [
69.0182113647461,
-68.9153060913086,
46.349815368652344,
61.65620803833008,
-0.2130870819091797,
30
] | [
0.11306160688400269,
-0.16680999100208282,
0.1982647180557251,
2.9975924491882324,
1.1974339485168457,
1.8347136974334717
] | 1 | [
1.152397632598877,
-1.2556252479553223,
0.6131303310394287,
1.011812686920166,
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0.6542428135871887
] | [
1.147786259651184,
-1.2538084983825684,
0.6119006276130676,
1.012394905090332,
-0.007459684275090694,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.001999 | [
64.21014404296875,
-70.05341339111328,
46.43362808227539,
62.19678497314453,
-0.2130870819091797,
30
] | [
0.10765878111124039,
-0.16749794781208038,
0.19851744174957275,
2.9940097332000732,
1.205732822418213,
1.913062572479248
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.4 | 64 | 72 | 24,186 | 0 |
[
69.20519256591797,
-68.97399139404297,
46.39457321166992,
61.63481140136719,
-0.2135045826435089,
30
] | [
68.78484344482422,
-68.94603729248047,
46.34252166748047,
61.68244934082031,
-0.2130870819091797,
30
] | [
0.1133466586470604,
-0.16672565042972565,
0.1982382833957672,
2.9978010654449463,
1.196953535079956,
1.8365224599838257
] | 1 | [
1.1507835388183594,
-1.2548702955245972,
0.6126596927642822,
1.0120148658752441,
-0.00747279729694128,
0.6542428135871887
] | [
1.144045352935791,
-1.2543644905090332,
0.6117769479751587,
1.0128611326217651,
-0.007459684275090694,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.01927 | [
64.21014404296875,
-70.05341339111328,
46.43362808227539,
62.19678497314453,
-0.2130870819091797,
30
] | [
0.10765878111124039,
-0.16749794781208038,
0.19851744174957275,
2.9940097332000732,
1.205732822418213,
1.913062572479248
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.5 | 65 | 72 | 24,187 | 0 |
[
69.05573272705078,
-68.96047973632812,
46.37489318847656,
61.65165710449219,
-0.21342867612838745,
30
] | [
69.01611328125,
-68.42698669433594,
46.177913665771484,
61.609920501708984,
-0.21341729164123535,
30
] | [
0.11374334990978241,
-0.16654103994369507,
0.19824111461639404,
2.9978954792022705,
1.1967463493347168,
1.8390069007873535
] | 1 | [
1.1483876705169678,
-1.2546257972717285,
0.61232590675354,
1.0123140811920166,
-0.007470413111150265,
0.6542428135871887
] | [
1.1477526426315308,
-1.2449731826782227,
0.6089855432510376,
1.0115727186203003,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.046704 | [
64.21014404296875,
-70.05341339111328,
46.43362808227539,
62.19678497314453,
-0.2130870819091797,
30
] | [
0.10765878111124039,
-0.16749794781208038,
0.19851744174957275,
2.9940097332000732,
1.205732822418213,
1.913062572479248
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.6 | 66 | 72 | 24,188 | 0 |
[
69.01728820800781,
-68.79043579101562,
46.302425384521484,
61.64361572265625,
-0.2131098508834839,
30
] | [
68.98816680908203,
-68.22427368164062,
46.465003967285156,
61.282894134521484,
-0.21341729164123535,
30
] | [
0.11394274979829788,
-0.1667100042104721,
0.19810110330581665,
2.998634099960327,
1.1950629949569702,
1.840314269065857
] | 1 | [
1.1477714776992798,
-1.2515491247177124,
0.611096978187561,
1.0121712684631348,
-0.007460399065166712,
0.6542428135871887
] | [
1.147304654121399,
-1.2413053512573242,
0.6138540506362915,
1.0057635307312012,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.000458 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.7 | 67 | 72 | 24,189 | 0 |
[
69.00818634033203,
-68.58734893798828,
46.33781814575195,
61.523109436035156,
-0.2125595062971115,
30
] | [
68.93138885498047,
-67.81236267089844,
47.048362731933594,
60.618385314941406,
-0.21341729164123535,
30
] | [
0.11415180563926697,
-0.16710953414440155,
0.19770093262195587,
2.9995617866516113,
1.1929563283920288,
1.8413290977478027
] | 1 | [
1.1476255655288696,
-1.2478746175765991,
0.6116971969604492,
1.0100306272506714,
-0.0074431137181818485,
0.6542428135871887
] | [
1.1463944911956787,
-1.233852505683899,
0.6237467527389526,
0.9939595460891724,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.002711 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.8 | 68 | 72 | 24,190 | 0 |
[
68.98190307617188,
-68.31655883789062,
46.56867218017578,
61.206546783447266,
-0.21198639273643494,
30
] | [
68.84590911865234,
-67.19217681884766,
50.86473846435547,
59.617881774902344,
-0.21341729164123535,
30
] | [
0.11456560343503952,
-0.16783970594406128,
0.19678372144699097,
3.000911235809326,
1.1898045539855957,
1.843010425567627
] | 1 | [
1.1472042798995972,
-1.242975115776062,
0.6156120896339417,
1.0044074058532715,
-0.007425113581120968,
0.6542428135871887
] | [
1.1450241804122925,
-1.2226313352584839,
0.688465416431427,
0.9761871099472046,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.008307 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 6.9 | 69 | 72 | 24,191 | 0 |
[
68.93409729003906,
-67.94834899902344,
47.69397735595703,
60.590816497802734,
-0.2018866389989853,
30
] | [
68.7366943359375,
-66.39982604980469,
51.98688888549805,
58.339637756347656,
-0.21341729164123535,
30
] | [
0.11532565951347351,
-0.1691853106021881,
0.19252996146678925,
3.007457971572876,
1.17520272731781,
1.8499553203582764
] | 1 | [
1.1464378833770752,
-1.236312985420227,
0.6346951723098755,
0.9934698343276978,
-0.007107897661626339,
0.6542428135871887
] | [
1.1432734727859497,
-1.2082951068878174,
0.7074950337409973,
0.9534810185432434,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.023242 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 7 | 70 | 72 | 24,192 | 0 |
[
68.86376190185547,
-67.3989486694336,
48.901466369628906,
59.78079605102539,
-0.20493820309638977,
30
] | [
68.6041488647461,
-67.2782211303711,
50.41069793701172,
56.78833770751953,
-0.21341729164123535,
30
] | [
0.11631254106760025,
-0.17085398733615875,
0.18786081671714783,
3.0130388736724854,
1.1593245267868042,
1.8561782836914062
] | 1 | [
1.145310401916504,
-1.2263725996017456,
0.6551719307899475,
0.9790810346603394,
-0.007203741930425167,
0.6542428135871887
] | [
1.1411488056182861,
-1.224188208580017,
0.6807657480239868,
0.92592453956604,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.041242 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 7.1 | 71 | 72 | 24,193 | 0 |
[
68.77082824707031,
-67.00596618652344,
50.13738250732422,
58.71357727050781,
-0.21093125641345978,
30
] | [
68.45054626464844,
-66.16384887695312,
54.901493072509766,
54.990596771240234,
-0.21341729164123535,
30
] | [
0.11737120151519775,
-0.17250238358974457,
0.18410851061344147,
3.0157382488250732,
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0.7569213509559631,
0.8939903378486633,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.060756 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
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30
] | [
0.10788369923830032,
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3.0920629501342773,
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] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
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0.022000037133693695
] | 7.2 | 72 | 72 | 24,194 | 0 |
[
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] | [
68.27928924560547,
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30
] | [
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0.858385443687439,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.085502 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
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3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
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] | 7.3 | 73 | 72 | 24,195 | 0 |
[
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] | [
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30
] | [
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0.8191776275634766,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.114087 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
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0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 7.4 | 74 | 72 | 24,196 | 0 |
[
68.36257934570312,
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30
] | [
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30
] | [
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3.027449369430542,
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0.7770798802375793,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.146364 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 7.5 | 75 | 72 | 24,197 | 0 |
[
68.18926239013672,
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30
] | [
67.6740951538086,
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-0.21341729164123535,
30
] | [
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] | [
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-1.10210382938385,
0.8903571367263794,
0.732563853263855,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.182072 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 7.6 | 76 | 72 | 24,198 | 0 |
[
68.00056457519531,
-62.78480529785156,
59.321556091308594,
49.698524475097656,
-0.21025186777114868,
30
] | [
67.44924926757812,
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65.04867553710938,
43.27138900756836,
-0.21341729164123535,
30
] | [
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0.15325453877449036,
3.0366835594177246,
1.0788847208023071,
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] | [
1.1226356029510498,
-1.0729737281799316,
0.9289988875389099,
0.68581622838974,
-0.007470055483281612,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.220849 | [
64.16487884521484,
-33.73640823364258,
96.45967102050781,
4.831206321716309,
-0.21341729164123535,
30
] | [
0.10788369923830032,
-0.16763611137866974,
0.0018930431688204408,
3.0920629501342773,
0.7220621109008789,
1.9967586994171143
] | 30 | pick box lid and place on box body | box lid | [
0.10803264379501343,
-0.16799771785736084,
0.022000037133693695
] | 7.7 | 77 | 72 | 24,199 | 0 |
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