observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.048014 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.053844 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.061213 | [
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[
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[
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52.487327575683594,
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[
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] | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.122228 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.6 | 186 | 72 | 24,308 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.152179 | [
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7.993320941925049,
52.487327575683594,
1.3917326927185059,
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] | [
0.20544014871120453,
0.21507114171981812,
0.0061101773753762245,
3.0975871086120605,
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 18.700001 | 187 | 72 | 24,309 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.185857 | [
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7.993320941925049,
52.487327575683594,
1.3917326927185059,
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] | [
0.20544014871120453,
0.21507114171981812,
0.0061101773753762245,
3.0975871086120605,
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 18.799999 | 188 | 72 | 24,310 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.222684 | [
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7.993320941925049,
52.487327575683594,
1.3917326927185059,
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] | [
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0.21507114171981812,
0.0061101773753762245,
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 18.9 | 189 | 72 | 24,311 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.262138 | [
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7.993320941925049,
52.487327575683594,
1.3917326927185059,
0.14318667352199554,
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] | [
0.20544014871120453,
0.21507114171981812,
0.0061101773753762245,
3.0975871086120605,
0.77422696352005,
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 19 | 190 | 72 | 24,312 | 0 |
[
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[
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[
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52.487327575683594,
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[
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52.487327575683594,
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52.487327575683594,
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[
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52.487327575683594,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.73336 | [
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7.993320941925049,
52.487327575683594,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.760313 | [
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7.993320941925049,
52.487327575683594,
1.3917326927185059,
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0.19129595160484314,
0.2286878079175949,
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] | 20.200001 | 202 | 72 | 24,324 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.785167 | [
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7.993320941925049,
52.487327575683594,
1.3917326927185059,
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0.19129595160484314,
0.2286878079175949,
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] | 20.299999 | 203 | 72 | 24,325 | 0 |
[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.870196 | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.871201 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.865774 | [
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52.487327575683594,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.857301 | [
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7.993320941925049,
52.487327575683594,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.853243 | [
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52.487327575683594,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.85114 | [
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52.487327575683594,
1.3917326927185059,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.850531 | [
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52.487327575683594,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.846144 | [
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7.993320941925049,
52.487327575683594,
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0.2286878079175949,
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] | 21.5 | 215 | 72 | 24,337 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.846242 | [
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7.993320941925049,
52.487327575683594,
1.3917326927185059,
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0.0061101773753762245,
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 21.6 | 216 | 72 | 24,338 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.846619 | [
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 21.700001 | 217 | 72 | 24,339 | 0 |
[
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0
] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.84679 | [
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52.487327575683594,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 21.799999 | 218 | 72 | 24,340 | 0 |
[
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] | [
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0.07678504288196564,
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-0.15912401676177979,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 21.9 | 219 | 72 | 24,341 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
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] | 22 | 220 | 72 | 24,342 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-63.994651794433594,
4.625355243682861,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 22.1 | 221 | 72 | 24,343 | 0 |
[
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] | [
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-0.15912401676177979,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
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0.24290186166763306,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 22.200001 | 222 | 72 | 24,344 | 0 |
[
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] | [
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] | [
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0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
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30
] | [
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0.24290186166763306,
0.03747018799185753,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 22.299999 | 223 | 72 | 24,345 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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4.625355243682861,
51.47810745239258,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
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] | 22.4 | 224 | 72 | 24,346 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 22.5 | 225 | 72 | 24,347 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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4.625355243682861,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
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] | 22.6 | 226 | 72 | 24,348 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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4.625355243682861,
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] | [
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0.24290186166763306,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 22.700001 | 227 | 72 | 24,349 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
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0.24290186166763306,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 22.799999 | 228 | 72 | 24,350 | 0 |
[
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.052568 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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30
] | [
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0.24290186166763306,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 22.9 | 229 | 72 | 24,351 | 0 |
[
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] | [
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] | 1 | [
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0.07678504288196564,
0.6988670229911804,
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0.12445493042469025,
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] | release object on box body | Is the object released? | gripper_open | 0.155549 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 23 | 230 | 72 | 24,352 | 0 |
[
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51.47810745239258,
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] | [
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4.625355243682861,
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] | [
0.20138880610466003,
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] | 1 | [
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] | [
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0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
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] | release object on box body | Is the object released? | gripper_open | 0.258531 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.1 | 231 | 72 | 24,353 | 0 |
[
-63.994651794433594,
4.625355243682861,
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] | [
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4.625355243682861,
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] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 1 | [
-0.9844231605529785,
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0.6988670229911804,
-0.15912401676177979,
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] | [
-0.9844231605529785,
0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
0.4706253111362457
] | release object on box body | Is the object released? | gripper_open | 0.361513 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.200001 | 232 | 72 | 24,354 | 0 |
[
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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22.200000762939453
] | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
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] | 1 | [
-0.9844231605529785,
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0.6988670229911804,
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0.12445493042469025,
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] | [
-0.9844231605529785,
0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
0.5034140944480896
] | release object on box body | Is the object released? | gripper_open | 0.464495 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
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] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.299999 | 233 | 72 | 24,355 | 0 |
[
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4.625355243682861,
51.47810745239258,
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] | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
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] | 1 | [
-0.9844231605529785,
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0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
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] | [
-0.9844231605529785,
0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
0.5362030267715454
] | release object on box body | Is the object released? | gripper_open | 0.567477 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.4 | 234 | 72 | 24,356 | 0 |
[
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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3.986910820007324,
25.200000762939453
] | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
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] | 1 | [
-0.9844231605529785,
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0.6988670229911804,
-0.15912401676177979,
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] | [
-0.9844231605529785,
0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
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] | release object on box body | Is the object released? | gripper_open | 0.670458 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.5 | 235 | 72 | 24,357 | 0 |
[
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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3.986910820007324,
26.69999885559082
] | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
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] | 1 | [
-0.9844231605529785,
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0.6988670229911804,
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] | [
-0.9844231605529785,
0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
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] | release object on box body | Is the object released? | gripper_open | 0.77344 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.6 | 236 | 72 | 24,358 | 0 |
[
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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3.986910820007324,
28.200000762939453
] | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 1 | [
-0.9844231605529785,
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0.6988670229911804,
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] | [
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0.07678504288196564,
0.6988670229911804,
-0.15912401676177979,
0.12445493042469025,
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] | release object on box body | Is the object released? | gripper_open | 0.876422 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.700001 | 237 | 72 | 24,359 | 0 |
[
-63.994651794433594,
4.625355243682861,
51.47810745239258,
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3.986910820007324,
29.700000762939453
] | [
-64.00370025634766,
4.307920455932617,
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30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 1 | [
-0.9844231605529785,
0.07678504288196564,
0.6988670229911804,
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0.12445493042469025,
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] | [
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0.07104159891605377,
0.69489985704422,
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0.1239437609910965,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.979404 | [
-63.994651794433594,
4.625355243682861,
51.47810745239258,
-4.294709205627441,
3.986910820007324,
30
] | [
0.20138880610466003,
0.24290186166763306,
0.03747018799185753,
-3.035177707672119,
0.950242280960083,
-2.0266058444976807
] | 30 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.013000024482607841
] | 23.799999 | 238 | 72 | 24,360 | 0 |
[
-64.00619506835938,
4.535303115844727,
51.44933319091797,
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30
] | [
-64.00434875488281,
4.069265842437744,
51.29658889770508,
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3.9706358909606934,
30
] | [
0.2012893408536911,
0.24285051226615906,
0.03760096803307533,
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] | 1 | [
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] | [
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0.0667235478758812,
0.6957888007164001,
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0.1239437609910965,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
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3.9706358909606934,
0
] | [
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0.22865188121795654,
0.19998595118522644,
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1.490125060081482,
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
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] | 23.9 | 239 | 72 | 24,361 | 0 |
[
-64.0101318359375,
4.400961399078369,
51.43970489501953,
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30
] | [
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3.584327220916748,
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30
] | [
0.2012462615966797,
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] | 1 | [
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] | [
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0.057949405163526535,
0.6975951790809631,
-0.15949110686779022,
0.1239437609910965,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
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0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
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] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24 | 240 | 72 | 24,362 | 0 |
[
-64.00907135009766,
4.120273590087891,
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30
] | [
-64.0076675415039,
2.8541884422302246,
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30
] | [
0.20154531300067902,
0.24325592815876007,
0.03942845016717911,
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] | 1 | [
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] | [
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0.044738784432411194,
0.7003148198127747,
-0.1603313684463501,
0.1239437609910965,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.000397 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.1 | 241 | 72 | 24,363 | 0 |
[
-64.01129150390625,
3.694571018218994,
51.528282165527344,
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4.004639625549316,
30
] | [
-64.01020812988281,
0.5471547842025757,
51.76837158203125,
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3.9706358909606934,
30
] | [
0.20163534581661224,
0.24340622127056122,
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] | 1 | [
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] | [
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0.002996923867613077,
0.7037894129753113,
-0.16140489280223846,
0.1239437609910965,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.007139 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.200001 | 242 | 72 | 24,364 | 0 |
[
-64.0146713256836,
2.7564995288848877,
51.7085075378418,
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4.013790607452393,
30
] | [
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52.01703643798828,
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3.9706358909606934,
30
] | [
0.20186340808868408,
0.24377435445785522,
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] | 1 | [
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] | [
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-0.01748637482523918,
0.7080062627792358,
-0.16270774602890015,
0.1239437609910965,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.021829 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.299999 | 243 | 72 | 24,365 | 0 |
[
-64.01954650878906,
1.652204155921936,
51.90840530395508,
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4.0340962409973145,
30
] | [
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52.305198669433594,
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3.9706358909606934,
29.499998092651367
] | [
0.20218488574028015,
0.24429106712341309,
0.04859180375933647,
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0.9857052564620972,
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] | 1 | [
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0.022990917786955833,
0.7061641216278076,
-0.14858369529247284,
0.12593694031238556,
0.6542428135871887
] | [
-0.984779417514801,
-0.041223689913749695,
0.712893009185791,
-0.16421756148338318,
0.1239437609910965,
0.6433131694793701
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.038997 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.4 | 244 | 72 | 24,366 | 0 |
[
-64.02039337158203,
0.3653184771537781,
52.10513687133789,
-3.8528826236724854,
4.019233226776123,
29
] | [
-64.0208740234375,
-3.359621047973633,
52.626487731933594,
-4.676217079162598,
3.9706358909606934,
28.25
] | [
0.20282763242721558,
0.24527333676815033,
0.05430637672543526,
-3.019282817840576,
1.0081720352172852,
-2.0124316215515137
] | 1 | [
-0.9848358035087585,
-0.00029309550882317126,
0.7095003128051758,
-0.151275634765625,
0.1254701167345047,
0.6323835849761963
] | [
-0.9848434925079346,
-0.06768955290317535,
0.7183414697647095,
-0.16590093076229095,
0.1239437609910965,
0.6159891486167908
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.070727 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.5 | 245 | 72 | 24,367 | 0 |
[
-64.02025604248047,
-1.006471037864685,
52.284507751464844,
-4.179803848266602,
4.00079870223999,
27.749998092651367
] | [
-64.0252685546875,
-4.970381259918213,
52.980289459228516,
-4.780571937561035,
3.9706358909606934,
26.999998092651367
] | [
0.2036309689283371,
0.2464907318353653,
0.06093400716781616,
-3.012474775314331,
1.0355327129364014,
-2.006925106048584
] | 1 | [
-0.9848335981369019,
-0.0251132994890213,
0.7125421166419983,
-0.15708290040493011,
0.12489112466573715,
0.6050595045089722
] | [
-0.9849139451980591,
-0.09683352708816528,
0.7243412733078003,
-0.1677546352148056,
0.1239437609910965,
0.5886650681495667
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.106767 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.6 | 246 | 72 | 24,368 | 0 |
[
-64.02192687988281,
-2.4608850479125977,
52.533294677734375,
-4.4123101234436035,
3.9891200065612793,
26.499998092651367
] | [
-64.02998352050781,
-6.699867248535156,
53.35616683959961,
-4.8926191329956055,
3.9706358909606934,
25.75
] | [
0.20419257879257202,
0.24735648930072784,
0.06748074293136597,
-3.0050978660583496,
1.0615016222000122,
-2.000685691833496
] | 1 | [
-0.984860360622406,
-0.051428452134132385,
0.71676105260849,
-0.16121302545070648,
0.1245243176817894,
0.5777354836463928
] | [
-0.9849895238876343,
-0.1281256377696991,
0.7307154536247253,
-0.16974498331546783,
0.1239437609910965,
0.5613411068916321
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.144152 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.700001 | 247 | 72 | 24,369 | 0 |
[
-64.02478790283203,
-4.0152788162231445,
52.83311462402344,
-4.592251777648926,
3.981654167175293,
25.25
] | [
-64.03497314453125,
-8.528572082519531,
53.75236511230469,
-5.011102199554443,
3.9706358909606934,
24.499998092651367
] | [
0.2045866996049881,
0.24797840416431427,
0.07418569177389145,
-2.9967684745788574,
1.0874371528625488,
-1.9934254884719849
] | 1 | [
-0.9849061965942383,
-0.07955256849527359,
0.7218454480171204,
-0.16440941393375397,
0.12428982555866241,
0.5504114627838135
] | [
-0.9850695133209229,
-0.1612129509449005,
0.7374342679977417,
-0.17184966802597046,
0.1239437609910965,
0.534017026424408
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.183151 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.799999 | 248 | 72 | 24,370 | 0 |
[
-64.02845001220703,
-5.691021919250488,
53.316551208496094,
-4.856466293334961,
3.9854116439819336,
23.999998092651367
] | [
-64.04021453857422,
-10.448936462402344,
54.168426513671875,
-5.135525226593018,
3.9706358909606934,
23.249998092651367
] | [
0.2047339677810669,
0.24823030829429626,
0.08090788871049881,
-2.9866538047790527,
1.1138582229614258,
-1.9842959642410278
] | 1 | [
-0.984964907169342,
-0.10987229645252228,
0.7300436496734619,
-0.16910278797149658,
0.12440784275531769,
0.5230873823165894
] | [
-0.9851534962654114,
-0.1959586888551712,
0.7444899082183838,
-0.17405985295772552,
0.1239437609910965,
0.5066930055618286
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.224707 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 24.9 | 249 | 72 | 24,371 | 0 |
[
-64.03277587890625,
-7.423009395599365,
53.672279357910156,
-4.869546413421631,
3.972651243209839,
22.75
] | [
-64.04562377929688,
-12.431557655334473,
56.771331787109375,
-5.263981819152832,
3.9706358909606934,
22
] | [
0.20479051768779755,
0.24835868179798126,
0.08781083673238754,
-2.9770493507385254,
1.1390624046325684,
-1.9757243394851685
] | 1 | [
-0.9850342869758606,
-0.141209676861763,
0.7360761761665344,
-0.16933514177799225,
0.12400706112384796,
0.4957634210586548
] | [
-0.9852402210235596,
-0.23183086514472961,
0.7886303663253784,
-0.1763416975736618,
0.1239437609910965,
0.47936898469924927
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.266396 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25 | 250 | 72 | 24,372 | 0 |
[
-64.0374984741211,
-9.26902961730957,
54.18611526489258,
-5.036585330963135,
3.973869562149048,
21.499998092651367
] | [
-64.05116271972656,
-14.462413787841797,
55.03797149658203,
-5.395564079284668,
3.9706358909606934,
20.749998092651367
] | [
0.2046758234500885,
0.2482261061668396,
0.09494297206401825,
-2.964327335357666,
1.1662302017211914,
-1.9640063047409058
] | 1 | [
-0.9851099848747253,
-0.17461027204990387,
0.7447898387908936,
-0.17230233550071716,
0.12404532730579376,
0.46843934059143066
] | [
-0.9853290319442749,
-0.2685757577419281,
0.7592357993125916,
-0.17867904901504517,
0.1239437609910965,
0.45204493403434753
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.310506 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.1 | 251 | 72 | 24,373 | 0 |
[
-64.04255676269531,
-11.176718711853027,
54.50505828857422,
-5.143439292907715,
3.970195770263672,
20.249998092651367
] | [
-64.0567855834961,
-16.52368927001953,
55.484561920166016,
-5.529116630554199,
3.9706358909606934,
19.5
] | [
0.2046617567539215,
0.2482503205537796,
0.10305562615394592,
-2.9483911991119385,
1.196641206741333,
-1.9492231607437134
] | 1 | [
-0.9851910471916199,
-0.20912668108940125,
0.7501985430717468,
-0.17420043051242828,
0.1239299401640892,
0.4411153197288513
] | [
-0.9854191541671753,
-0.30587103962898254,
0.7668091058731079,
-0.18105141818523407,
0.1239437609910965,
0.4247209429740906
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.354779 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.200001 | 252 | 72 | 24,374 | 0 |
[
-64.04782104492188,
-13.145109176635742,
55.007652282714844,
-5.2713942527771,
3.9691860675811768,
19
] | [
-64.06243896484375,
-18.59534454345703,
55.93339920043945,
-5.663341999053955,
3.9706358909606934,
18.249998092651367
] | [
0.20431837439537048,
0.24777847528457642,
0.11066272109746933,
-2.930642604827881,
1.2253341674804688,
-1.9325358867645264
] | 1 | [
-0.9852754473686218,
-0.24474136531352997,
0.7587215900421143,
-0.17647336423397064,
0.1238982230424881,
0.41379132866859436
] | [
-0.9855097532272339,
-0.34335413575172424,
0.7744205594062805,
-0.18343572318553925,
0.1239437609910965,
0.39739686250686646
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.400596 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.299999 | 253 | 72 | 24,375 | 0 |
[
-64.0531997680664,
-15.155752182006836,
55.51441192626953,
-5.412838459014893,
3.9695353507995605,
17.749998092651367
] | [
-64.06807708740234,
-20.65058708190918,
58.55405807495117,
-5.797106742858887,
3.9706358909606934,
16.999998092651367
] | [
0.2038581520318985,
0.2471306025981903,
0.11844051629304886,
-2.908975601196289,
1.254805564880371,
-1.9119511842727661
] | 1 | [
-0.9853616952896118,
-0.28112053871154785,
0.7673153281211853,
-0.17898590862751007,
0.12390919774770737,
0.38646724820137024
] | [
-0.9856001734733582,
-0.38054025173187256,
0.8188621401786804,
-0.185811847448349,
0.1239437609910965,
0.3700728118419647
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.447023 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.4 | 254 | 72 | 24,376 | 0 |
[
-64.05872344970703,
-17.190454483032227,
56.00338363647461,
-5.576738357543945,
3.971827745437622,
16.5
] | [
-64.07363891601562,
-22.64999008178711,
56.822235107421875,
-5.929147720336914,
3.9706358909606934,
15.75
] | [
0.20329995453357697,
0.24633502960205078,
0.12641984224319458,
-2.8817543983459473,
1.2851898670196533,
-1.8858400583267212
] | 1 | [
-0.9854502081871033,
-0.3179350197315216,
0.7756074070930481,
-0.1818973422050476,
0.12398119270801544,
0.3591432571411133
] | [
-0.9856892824172974,
-0.416716068983078,
0.7894936203956604,
-0.1881573647260666,
0.1239437609910965,
0.34274882078170776
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.493698 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.5 | 255 | 72 | 24,377 | 0 |
[
-64.06428527832031,
-19.208154678344727,
56.303768157958984,
-5.692306995391846,
3.969998359680176,
15.24999713897705
] | [
-64.07908630371094,
-24.608678817749023,
57.25477600097656,
-6.058499813079834,
3.9706358909606934,
14.499998092651367
] | [
0.2027624547481537,
0.24557256698608398,
0.1350124478340149,
-2.8463363647460938,
1.3173041343688965,
-1.8516217470169067
] | 1 | [
-0.9855393767356873,
-0.35444188117980957,
0.7807013392448425,
-0.1839502453804016,
0.12392373383045197,
0.3318191468715668
] | [
-0.9857766032218933,
-0.452155202627182,
0.7968286871910095,
-0.1904551088809967,
0.1239437609910965,
0.31542477011680603
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.539346 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.6 | 256 | 72 | 24,378 | 0 |
[
-64.0698013305664,
-21.20663833618164,
56.79182815551758,
-5.821769714355469,
3.9698312282562256,
13.999999046325684
] | [
-64.0843505859375,
-26.501955032348633,
57.672874450683594,
-6.183531761169434,
3.9706358909606934,
13.249999046325684
] | [
0.2019280046224594,
0.24436046183109283,
0.14260680973529816,
-2.805781126022339,
1.3459221124649048,
-1.8121293783187866
] | 1 | [
-0.9856277704238892,
-0.3906010687351227,
0.7889779806137085,
-0.18624995648860931,
0.12391848862171173,
0.3044951558113098
] | [
-0.9858610033988953,
-0.48641082644462585,
0.8039188981056213,
-0.1926761120557785,
0.1239437609910965,
0.2881007492542267
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.585276 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.700001 | 257 | 72 | 24,379 | 0 |
[
-64.0752182006836,
-23.170612335205078,
57.27987289428711,
-5.959084987640381,
3.970461368560791,
12.75
] | [
-64.08939361572266,
-28.31733512878418,
58.073768615722656,
-6.303420066833496,
3.9706358909606934,
11.99999713897705
] | [
0.20098921656608582,
0.2429891973733902,
0.1499839574098587,
-2.7545697689056396,
1.3736240863800049,
-1.761958122253418
] | 1 | [
-0.9857146143913269,
-0.4261358380317688,
0.7972542643547058,
-0.18868915736675262,
0.12393827736377716,
0.27717116475105286
] | [
-0.9859418869018555,
-0.5192570686340332,
0.8107172846794128,
-0.19480575621128082,
0.1239437609910965,
0.26077666878700256
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.630593 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.799999 | 258 | 72 | 24,380 | 0 |
[
-64.08041381835938,
-25.101484298706055,
57.70945739746094,
-6.206387519836426,
3.9778473377227783,
11.499998092651367
] | [
-64.09325408935547,
-29.70392608642578,
58.379974365234375,
-6.394990921020508,
3.9706358909606934,
10.749999046325684
] | [
0.20002713799476624,
0.2415773719549179,
0.15771432220935822,
-2.6797521114349365,
1.4026657342910767,
-1.688254475593567
] | 1 | [
-0.9857978820800781,
-0.4610716700553894,
0.8045392632484436,
-0.19308210909366608,
0.12417025864124298,
0.24984708428382874
] | [
-0.9860037565231323,
-0.5443450808525085,
0.8159099817276001,
-0.19643236696720123,
0.1239437609910965,
0.2334526777267456
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.675186 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 25.9 | 259 | 72 | 24,381 | 0 |
[
-64.08536529541016,
-26.839345932006836,
57.9875373840332,
-6.224740982055664,
3.9718503952026367,
10.249999046325684
] | [
-64.0956802368164,
-30.576231002807617,
58.572608947753906,
-6.4525980949401855,
3.9706358909606934,
9.5
] | [
0.1990608125925064,
0.24016255140304565,
0.16456617414951324,
-2.59608793258667,
1.4264036417007446,
-1.6055492162704468
] | 1 | [
-0.985877275466919,
-0.49251535534858704,
0.8092550039291382,
-0.19340813159942627,
0.12398190796375275,
0.2225230634212494
] | [
-0.9860426187515259,
-0.5601279139518738,
0.8191767334938049,
-0.19745567440986633,
0.1239437609910965,
0.20612867176532745
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.71626 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26 | 260 | 72 | 24,382 | 0 |
[
-64.0893325805664,
-28.261972427368164,
58.18840789794922,
-6.3462066650390625,
3.973573684692383,
8.99999713897705
] | [
-64.0981674194336,
-31.471233367919922,
58.77025604248047,
-6.511703968048096,
3.9706358909606934,
8.249998092651367
] | [
0.19823713600635529,
0.23895102739334106,
0.17055632174015045,
-2.492182970046997,
1.4465910196304321,
-1.5025033950805664
] | 1 | [
-0.9859408736228943,
-0.518255352973938,
0.812661349773407,
-0.19556578993797302,
0.1240360289812088,
0.19519899785518646
] | [
-0.9860824942588806,
-0.5763214826583862,
0.8225284218788147,
-0.19850559532642365,
0.1239437609910965,
0.17880459129810333
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.752844 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26.1 | 261 | 72 | 24,383 | 0 |
[
-64.09270477294922,
-29.472259521484375,
58.39497756958008,
-6.42789363861084,
3.973619222640991,
7.749998569488525
] | [
-64.10072326660156,
-31.0417537689209,
58.973121643066406,
-6.572371006011963,
3.9706358909606934,
6.999999046325684
] | [
0.19745415449142456,
0.23779644072055817,
0.17538291215896606,
-2.3812003135681152,
1.4616862535476685,
-1.3922163248062134
] | 1 | [
-0.9859949350357056,
-0.540153443813324,
0.8161644339561462,
-0.19701683521270752,
0.12403745949268341,
0.1678749918937683
] | [
-0.9861235022544861,
-0.5685507655143738,
0.8259686827659607,
-0.1995832622051239,
0.1239437609910965,
0.15148058533668518
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.786563 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26.200001 | 262 | 72 | 24,384 | 0 |
[
-64.09569549560547,
-30.449060440063477,
58.59928512573242,
-6.501880645751953,
3.9737937450408936,
6.5
] | [
-64.10334777832031,
-31.985918045043945,
59.18162155151367,
-6.634723663330078,
3.9706358909606934,
5.749997615814209
] | [
0.19676952064037323,
0.23678694665431976,
0.17909111082553864,
-2.2717955112457275,
1.472313404083252,
-1.2833491563796997
] | 1 | [
-0.986042857170105,
-0.5578269958496094,
0.8196290731430054,
-0.1983311027288437,
0.12404294312000275,
0.14055098593235016
] | [
-0.9861655235290527,
-0.5856338143348694,
0.8295044302940369,
-0.2006908655166626,
0.1239437609910965,
0.12415651977062225
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.817129 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26.299999 | 263 | 72 | 24,385 | 0 |
[
-64.09848022460938,
-31.408628463745117,
58.81460189819336,
-6.550851821899414,
3.972601890563965,
5.249998092651367
] | [
-64.1060562133789,
-34.344295501708984,
59.396759033203125,
-6.699060440063477,
3.9706358909606934,
4.499998569488525
] | [
0.1960589736700058,
0.23573701083660126,
0.18257153034210205,
-2.1472067832946777,
1.481027603149414,
-1.1592668294906616
] | 1 | [
-0.9860875010490417,
-0.5751887559890747,
0.8232804536819458,
-0.19920100271701813,
0.1240055114030838,
0.11322691291570663
] | [
-0.986208975315094,
-0.628304660320282,
0.8331527709960938,
-0.20183371007442474,
0.1239437609910965,
0.0968325063586235
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.847358 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26.4 | 264 | 72 | 24,386 | 0 |
[
-64.10127258300781,
-32.498046875,
59.035118103027344,
-6.594120502471924,
3.971174955368042,
3.9999992847442627
] | [
-64.1088638305664,
-35.386043548583984,
59.619625091552734,
-6.7657084465026855,
3.9706358909606934,
3.25
] | [
0.19522938132286072,
0.23450715839862823,
0.186576709151268,
-1.9747661352157593,
1.4889551401138306,
-0.9874132871627808
] | 1 | [
-0.9861322641372681,
-0.5948999524116516,
0.827019989490509,
-0.1999696046113968,
0.12396068871021271,
0.08590290695428848
] | [
-0.9862539768218994,
-0.6471533179283142,
0.8369321823120117,
-0.20301760733127594,
0.1239437609910965,
0.06950850784778595
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.879203 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26.5 | 265 | 72 | 24,387 | 0 |
[
-64.10404968261719,
-33.4659538269043,
59.25398254394531,
-6.649449348449707,
3.9706358909606934,
2.74999737739563
] | [
-64.11176300048828,
-36.46078109741211,
59.84954833984375,
-6.834466934204102,
3.9706358909606934,
1.9999980926513672
] | [
0.19445666670799255,
0.23336249589920044,
0.19004246592521667,
-1.7976582050323486,
1.4935622215270996,
-0.8108177781105042
] | 1 | [
-0.9861767888069153,
-0.6124125719070435,
0.8307315707206726,
-0.2009524405002594,
0.1239437609910965,
0.05857883393764496
] | [
-0.9863004684448242,
-0.666598916053772,
0.8408312797546387,
-0.20423899590969086,
0.1239437609910965,
0.04218443110585213
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.90899 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26.6 | 266 | 72 | 24,388 | 0 |
[
-64.10684967041016,
-34.57505416870117,
59.47227478027344,
-6.719812393188477,
3.9707345962524414,
1.4999985694885254
] | [
-64.10073852539062,
-35.0203742980957,
59.559940338134766,
-6.7392401695251465,
3.9702980518341064,
0
] | [
0.1935504972934723,
0.23201584815979004,
0.19416232407093048,
-1.5673364400863647,
1.4955300092697144,
-0.5811143517494202
] | 1 | [
-0.9862216711044312,
-0.6324798464775085,
0.834433376789093,
-0.20220233500003815,
0.12394686043262482,
0.03125482797622681
] | [
-0.9861237406730652,
-0.6405371427536011,
0.8359200358390808,
-0.20254744589328766,
0.12393315136432648,
-0.0015339808305725455
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.939974 | [
-64.11675262451172,
-37.02998733520508,
60.636993408203125,
-6.952943801879883,
3.9706358909606934,
0
] | [
0.19127218425273895,
0.22865188121795654,
0.19998595118522644,
-1.2018163204193115,
1.490125060081482,
-0.21652023494243622
] | 0 | pick box lid and place on box body | box body | [
0.19129595160484314,
0.2286878079175949,
0.20000000298023224
] | 26.700001 | 267 | 72 | 24,389 | 0 |
[
-64.10499572753906,
-35.04591751098633,
59.51543045043945,
-6.844219207763672,
3.974788188934326,
0
] | [
-63.8463134765625,
-35.09054183959961,
59.493167877197266,
-6.4344916343688965,
3.954235553741455,
0
] | [
0.19318534433841705,
0.23144720494747162,
0.19641424715518951,
-1.4354393482208252,
1.4947097301483154,
-0.44962412118911743
] | 1 | [
-0.986191987991333,
-0.6409993171691895,
0.8351652026176453,
-0.20441223680973053,
0.12407417595386505,
-0.0015339808305725455
] | [
-0.9820452332496643,
-0.6418067216873169,
0.8347877264022827,
-0.19713403284549713,
0.12342865765094757,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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
] | 26.799999 | 268 | 72 | 24,390 | 0 | ||
[
-64.02487182617188,
-35.05755615234375,
59.51245880126953,
-6.706897258758545,
3.968111991882324,
0
] | [
-63.231136322021484,
-35.26020431518555,
59.33171463012695,
-5.697632789611816,
3.915398120880127,
0
] | [
0.19346396625041962,
0.23122385144233704,
0.196092426776886,
-1.463642954826355,
1.4951807260513306,
-0.4790290594100952
] | 1 | [
-0.9849075675010681,
-0.6412099003791809,
0.8351148366928101,
-0.20197291672229767,
0.12386448681354523,
-0.0015339808305725455
] | [
-0.972183883190155,
-0.6448764801025391,
0.8320497274398804,
-0.18404485285282135,
0.1222088411450386,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.001047 | [
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
] | 26.9 | 269 | 72 | 24,391 | 0 | ||
[
-63.75776672363281,
-35.12428283691406,
59.454586029052734,
-6.358712673187256,
3.950197219848633,
0
] | [
-62.26194763183594,
-35.52750015258789,
59.077354431152344,
-4.536737442016602,
3.8542110919952393,
0
] | [
0.19438700377941132,
0.2304696887731552,
0.19569316506385803,
-1.5160820484161377,
1.4960640668869019,
-0.5355983972549438
] | 1 | [
-0.9806258678436279,
-0.6424171924591064,
0.8341334462165833,
-0.1957879364490509,
0.12330181896686554,
-0.0015339808305725455
] | [
-0.9566476941108704,
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0.8277362585067749,
-0.16342328488826752,
0.12028706073760986,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.005239 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 27 | 270 | 72 | 24,392 | 0 | ||
[
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0
] | [
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58.73286437988281,
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3.7713444232940674,
0
] | [
0.19617034494876862,
0.2289825826883316,
0.19514800608158112,
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1.4971803426742554,
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] | 1 | [
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] | [
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0.8218943476676941,
-0.13549520075321198,
0.11768436431884766,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.013179 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
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0,
0
] | 27.1 | 271 | 72 | 24,393 | 0 | ||
[
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3.865338087081909,
0
] | [
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58.30202865600586,
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3.6677067279815674,
0
] | [
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0.22662514448165894,
0.1943979561328888,
-1.742375135421753,
1.4977723360061646,
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] | 1 | [
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0.8284031748771667,
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0.12063653767108917,
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] | [
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0.814588189125061,
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0.1144292801618576,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.025441 | [
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
] | 27.200001 | 272 | 72 | 24,394 | 0 | ||
[
-61.31102752685547,
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58.82608413696289,
-3.3950934410095215,
3.7947309017181396,
0
] | [
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57.7895622253418,
1.3406496047973633,
3.5444328784942627,
0
] | [
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0.22329431772232056,
0.19341278076171875,
-1.926008701324463,
1.4964317083358765,
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] | 1 | [
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0.823475182056427,
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0.11841889470815659,
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] | [
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0.8058977127075195,
-0.05902033671736717,
0.11055746674537659,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.042291 | [
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
] | 27.299999 | 273 | 72 | 24,395 | 0 | ||
[
-59.885311126708984,
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58.453182220458984,
-1.6843093633651733,
3.7046868801116943,
0
] | [
-55.11287307739258,
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57.20108413696289,
4.026431083679199,
3.4028737545013428,
0
] | [
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0.21890614926815033,
0.19218118488788605,
-2.1406238079071045,
1.4913793802261353,
-1.220630407333374
] | 1 | [
-0.9185500144958496,
-0.661573588848114,
0.8171514868736267,
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0.11559076607227325,
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] | [
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-0.6853867173194885,
0.7959181666374207,
-0.011311464011669159,
0.10611134022474289,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.063785 | [
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
] | 27.4 | 274 | 72 | 24,396 | 0 | ||
[
-58.15647506713867,
-36.65907669067383,
58.00008010864258,
0.3877064287662506,
3.5955708026885986,
0
] | [
-52.60554122924805,
-38.190673828125,
56.54303741455078,
7.029710292816162,
3.2445805072784424,
0
] | [
0.2125331312417984,
0.21339116990566254,
0.19070395827293396,
-2.3559343814849854,
1.4811623096466064,
-1.4630762338638306
] | 1 | [
-0.8908365964889526,
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0.8094676733016968,
-0.07594794034957886,
0.11216361820697784,
-0.0015339808305725455
] | [
-0.8018545508384705,
-0.6978983879089355,
0.7847589254379272,
0.04203727841377258,
0.1011396273970604,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.089833 | [
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
] | 27.5 | 275 | 72 | 24,397 | 0 | ||
[
-56.1378288269043,
-37.215187072753906,
57.470489501953125,
2.8055434226989746,
3.4682211875915527,
0
] | [
-49.86061096191406,
-38.94770812988281,
55.8226318359375,
10.317591667175293,
3.071286916732788,
0
] | [
0.21847255527973175,
0.2066962867975235,
0.18899154663085938,
-2.544564723968506,
1.4652599096298218,
-1.6834803819656372
] | 1 | [
-0.8584774732589722,
-0.6802485585212708,
0.8004868030548096,
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0.10816378891468048,
-0.0015339808305725455
] | [
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-0.7115955948829651,
0.7725421786308289,
0.10044155269861221,
0.09569677710533142,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.120239 | [
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
] | 27.6 | 276 | 72 | 24,398 | 0 | ||
[
-53.84807205200195,
-37.846134185791016,
56.869449615478516,
5.547108173370361,
3.3237576484680176,
0
] | [
-46.90816116333008,
-39.7619743347168,
55.04776382446289,
13.854037284851074,
2.884892225265503,
0
] | [
0.22479601204395294,
0.19879059493541718,
0.18706141412258148,
-2.6954662799835205,
1.4440100193023682,
-1.8705384731292725
] | 1 | [
-0.8217724561691284,
-0.6916645169258118,
0.7902942895889282,
0.01570107974112034,
0.10362644493579865,
-0.0015339808305725455
] | [
-0.7105249762535095,
-0.7263283729553223,
0.7594018578529358,
0.16326119005680084,
0.08984244614839554,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.154722 | [
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
] | 27.700001 | 277 | 72 | 24,399 | 0 |
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